From bacb49d8ee5043053288b95f0875827bc14c65b0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 6 Aug 2024 23:42:31 -0400 Subject: [PATCH] fix --- cereal/custom.capnp | 1 + selfdrive/controls/controlsd.py | 17 +++++++++++++++-- .../lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 14 +------------- .../qt/offroad/settings/sunnypilot_settings.cc | 1 + 5 files changed, 19 insertions(+), 16 deletions(-) diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8bcf50f34e..0ef005b07f 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -40,6 +40,7 @@ struct ControlsStateSP @0x81c2f05a394cf4af { personality @8 :LongitudinalPersonalitySP; dynamicPersonality @9 :Bool; accelPersonality @10 :AccelerationPersonality; + overtakingAccelerationAssist @11 :Bool; lateralControlState :union { indiState @1 :LateralINDIState; diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6c5cf6ee5a..7b5d90cbbc 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -185,6 +185,7 @@ class Controls: self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution self.dynamic_personality = self.params.get_bool("DynamicPersonality") + self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist") self.accel_personality = self.read_accel_personality_param() @@ -811,11 +812,21 @@ class Controls: # Curvature & Steering angle lp = self.sm['liveParameters'] - lp_mono_time_svs = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2' + dh = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2' steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) + lc_svs = self.sm[dh] + long_plan = self.sm['longitudinalPlan'].hasLead + dm_state = self.sm['driverMonitoringState'] + overtaking_accel_allowed = ((lc_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or + (lc_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \ + (lc_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) + overtaking_accel_engaged = self.overtaking_accel and overtaking_accel_allowed and \ + CS.vEgo > (60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS) and long_plan.hasLead and \ + long_plan.aTarget > -0.2 and not (CS.leftBlinker and CS.rightBlinker) + # controlsState dat = messaging.new_message('controlsState') dat.valid = CS.canValid @@ -830,7 +841,7 @@ class Controls: controlsState.alertSound = current_alert.audible_alert controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan'] - controlsState.lateralPlanMonoTime = self.sm.logMonoTime[lp_mono_time_svs] + controlsState.lateralPlanMonoTime = self.sm.logMonoTime[dh] controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse] controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled) controlsState.curvature = curvature @@ -868,6 +879,7 @@ class Controls: controlsStateSP.personality = self.personality controlsStateSP.dynamicPersonality = self.dynamic_personality controlsStateSP.accelPersonality = self.accel_personality + controlsStateSP.overtakingAccelerationAssist = overtaking_accel_engaged if self.enable_nnff and lat_tuning == 'torque': controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp @@ -934,6 +946,7 @@ class Controls: self.reverse_acc_change = self.params.get_bool("ReverseAccChange") self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl") + self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist") if self.sm.frame % int(2.5 / DT_CTRL) == 0: self.live_torque = self.params.get_bool("LiveTorque") diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 0c67119d14..cfc1f6cf09 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -67,7 +67,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): elif personality==custom.LongitudinalPersonalitySP.aggressive: return 0.6 elif personality==custom.LongitudinalPersonalitySP.overtake: - return 0.25 + return 0.1 else: raise NotImplementedError("Longitudinal personality not supported") diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 5536b0c1c8..f17f8df8b1 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -36,8 +36,6 @@ _A_TOTAL_MAX_BP = [20., 40.] EventName = car.CarEvent.EventName -LaneChangeState = log.LaneChangeState -LaneChangeDirection = log.LaneChangeDirection def get_max_accel(v_ego): @@ -104,8 +102,6 @@ class LongitudinalPlanner: self.dynamic_experimental_controller = DynamicExperimentalController() self.accel_controller = AccelController() - self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist") - def read_param(self): try: self.dynamic_experimental_controller.set_enabled(self.params.get_bool("DynamicExperimentalControl")) @@ -113,8 +109,6 @@ class LongitudinalPlanner: self.dynamic_experimental_controller = DynamicExperimentalController() self.accel_controller = AccelController() - self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist") - @staticmethod def parse_model(model_msg, model_error): if (len(model_msg.position.x) == ModelConstants.IDX_N and @@ -174,13 +168,6 @@ class LongitudinalPlanner: accel_limits = [ACCEL_MIN, ACCEL_MAX] accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] - lat_plan = sm['lateralPlanDEPRECATED'] - dm_state = sm['driverMonitoringState'] - overtaking_accel_allowed = ((lat_plan.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or - (lat_plan.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \ - (lat_plan.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) - overtaking_accel_engaged = self.overtaking_accel and overtaking_accel_allowed and v_ego > 40 * CV.MPH_TO_MS - if reset_state: self.v_desired_filter.x = v_ego # Clip aEgo to cruise limits to prevent large accelerations when becoming active @@ -203,6 +190,7 @@ class LongitudinalPlanner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) + overtaking_accel_engaged = sm['controlsStateSP'].overtakingAccelerationAssist self.mpc.set_weights(prev_accel_constraint, personality=custom.LongitudinalPersonalitySP.overtake if overtaking_accel_engaged else sm['controlsStateSP'].personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc index 2bbbbc8872..17be24764f 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc +++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc @@ -372,6 +372,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) { toggles["EnableMads"]->setConfirmation(true, false); toggles["EndToEndLongAlertLight"]->setConfirmation(true, false); toggles["CustomOffsets"]->showDescription(); + toggles["OvertakingAccelerationAssist"]->setConfirmation(true, false); connect(toggles["EnableMads"], &ToggleControlSP::toggleFlipped, mads_settings, &MadsSettings::updateToggles); connect(toggles["EnableMads"], &ToggleControlSP::toggleFlipped, [=](bool state) {