Kumars Vibe

* relc

* so picky

* clean up

* switch to distance based

* same calls

* all you brother i'm just here to red diff

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

openpilot/cereal/custom.capnp

@@ -351,6 +351,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -457,6 +458,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

openpilot/common/params_keys.h

@@ -179,6 +179,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ScreenSaverEnabled", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"ScreenSaverTimeout", {PERSISTENT | BACKUP, INT, "300"}},

openpilot/selfdrive/controls/lib/desire_helper.py

@@ -33,7 +33,7 @@ class DesireHelper:
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -64,8 +64,8 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 

openpilot/selfdrive/modeld/modeld.py

@@ -29,6 +29,7 @@ from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -213,6 +214,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -313,7 +315,8 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
-size 1757355221

openpilot/selfdrive/modeld/models/driving_policy.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b85e82079a2d31c5ce8616f2b429ccfcdcb8ebb5aefd72a62b8bd78aa9c7621
+size 15583592

openpilot/selfdrive/modeld/models/driving_supercombo.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
-size 60881999

openpilot/selfdrive/modeld/models/driving_vision.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
+size 46265993

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -327,9 +327,16 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)

openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py

@@ -51,11 +51,18 @@ class LaneChangeSettingsLayout(Widget):
       description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                              "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
     )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )
 
     items = [
       self._lane_change_timer,
       LineSeparatorSP(40),
       self._bsm_delay,
+      LineSeparatorSP(40),
+      self._road_edge_block,
     ]
 
     return items

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -49,6 +49,7 @@ from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, mak
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld_tinygrad"
 
@@ -367,6 +368,7 @@ def main(demo=False):
 
   DH = DesireHelper()
   meta_constants = load_meta_constants()
+  RELC = RoadEdgeLaneChangeController()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -479,7 +481,8 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

openpilot/sunnypilot/selfdrive/controls/lib/dec/dec.py

@@ -1,5 +1,5 @@
 """
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
 
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.

openpilot/sunnypilot/selfdrive/controls/lib/relc.py

@@ -0,0 +1,98 @@
+"""
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+NEARSIDE_PROB = 0.2
+EDGE_PROB = 0.35
+EDGE_REACTION_TIME = 1.0
+EDGE_CLEAR_TIME = 0.3
+MIN_SPEED = 20 * CV.MPH_TO_MS
+VEHICLE_EDGE_MARGIN = 1.08
+EDGE_CLEARANCE = 3.7
+
+
+class RoadEdgeLaneChangeController:
+  def __init__(self):
+    self.params = Params()
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+    self.param_read_counter = 0
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def read_params(self) -> None:
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def reset(self) -> None:
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def update(self, road_edge_stds, lane_line_probs, v_ego: float, road_edges=None) -> None:
+    self.update_params()
+
+    if not self.enabled or v_ego < MIN_SPEED:
+      self.reset()
+      return
+
+    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    left_lane_prob = lane_line_probs[0]
+    right_lane_prob = lane_line_probs[3]
+
+    if road_edges is not None and len(road_edges) == 2 and len(road_edges[0].y) > 0 and len(road_edges[1].y) > 0:
+      left_clearance = abs(road_edges[0].y[0]) - VEHICLE_EDGE_MARGIN
+      right_clearance = abs(road_edges[1].y[0]) - VEHICLE_EDGE_MARGIN
+    else:
+      left_clearance = 0.0
+      right_clearance = 0.0
+
+    left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and left_clearance < EDGE_CLEARANCE
+    right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and right_clearance < EDGE_CLEARANCE
+
+    if left_cond:
+      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.left_clear_timer = 0.0
+      if self.left_edge_timer > EDGE_REACTION_TIME:
+        self.left_edge_detected = True
+    else:
+      self.left_clear_timer += DT_MDL
+      if self.left_clear_timer > EDGE_CLEAR_TIME:
+        self.left_edge_timer = 0.0
+        self.left_edge_detected = False
+
+    if right_cond:
+      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.right_clear_timer = 0.0
+      if self.right_edge_timer > EDGE_REACTION_TIME:
+        self.right_edge_detected = True
+    else:
+      self.right_clear_timer += DT_MDL
+      if self.right_clear_timer > EDGE_CLEAR_TIME:
+        self.right_edge_timer = 0.0
+        self.right_edge_detected = False
+
+  def update_and_fill(self, modelv2, mdv2sp, v_ego):
+    self.update(modelv2.roadEdgeStds, modelv2.laneLineProbs, v_ego, modelv2.roadEdges)
+    mdv2sp.leftLaneChangeEdgeBlock = self.left_edge_detected
+    mdv2sp.rightLaneChangeEdgeBlock = self.right_edge_detected
+    return self.left_edge_detected, self.right_edge_detected

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -2,10 +2,11 @@ import pytest
 from openpilot.cereal import log, custom
 from openpilot.common.params import Params
 
-from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
 
+
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 
@@ -109,5 +110,17 @@ def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, e
   dh = DesireHelper()
   dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
   for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
-  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+    dh.update(carstate, lateral_active, lane_change_prob,
+              left_edge_detected=False, right_edge_detected=False)
+  assert dh.desire == expected_desire
+
+
+def test_edge_blocks_lane_change(set_lane_turn_params):
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
+  for _ in range(10):
+    dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
+  assert dh.lane_change_state == LaneChangeState.preLaneChange
+  assert dh.lane_change_direction == LaneChangeDirection.left
+  assert dh.desire == log.Desire.none

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py

@@ -0,0 +1,169 @@
+"""
+Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
+  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
+  VEHICLE_EDGE_MARGIN, EDGE_CLEARANCE,
+)
+
+V_HIGH = MIN_SPEED + 2.0
+V_LOW = MIN_SPEED - 1.0
+
+
+class MockEdge:
+  def __init__(self, y_val):
+    self.y = [y_val] * 33
+
+
+def edges(left_y, right_y):
+  return [MockEdge(left_y), MockEdge(right_y)]
+
+
+CLOSE_EDGES = edges(-2.0, 1.5)
+FAR_EDGES = edges(-10.0, 10.0)
+
+
+@pytest.fixture
+def relc(mocker):
+  mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
+  controller = RoadEdgeLaneChangeController()
+  controller.enabled = True
+  return controller
+
+
+def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, road_edges=CLOSE_EDGES):
+  for _ in range(int(seconds / DT_MDL) + 1):
+    controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
+
+
+@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
+  ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
+  ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
+])
+def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
+  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+  assert getattr(relc, attr)
+
+
+def test_edge_detection_requires_time(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+  assert not relc.left_edge_detected
+
+
+def test_both_edges_detected(relc):
+  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_noise_doesnt_clear(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update(*clear, V_HIGH, CLOSE_EDGES)
+  relc.update(*edge, V_HIGH, CLOSE_EDGES)
+  assert relc.left_edge_detected
+
+
+def test_clears_after_window(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_low_speed_skips(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_speed_drop_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
+  assert not relc.left_edge_detected
+
+
+def test_param_off_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.params.get_bool.return_value = False
+  relc.read_params()
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+def test_lane_line_prevents_detection(relc):
+  drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert not relc.left_edge_detected
+
+
+def test_one_side_blocks_other_allows(relc):
+  drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert relc.right_edge_detected
+  assert not relc.left_edge_detected
+
+
+def test_disabled_no_detection(relc):
+  relc.enabled = False
+  relc.params.get_bool.return_value = False
+  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+def test_far_edge_no_block(relc):
+  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
+  assert not relc.left_edge_detected
+
+
+def test_close_edge_blocks(relc):
+  drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-8.0, 1.5))
+  assert relc.right_edge_detected
+  assert not relc.left_edge_detected
+
+
+def test_wide_road_no_lines_no_block(relc):
+  drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-8.0, 8.0))
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+def test_narrow_road_both_block(relc):
+  drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-2.5, 2.5))
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_clearance_boundary(relc):
+  boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE  # 4.78m
+  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-(boundary - 0.1), 10.0))
+  assert relc.left_edge_detected
+
+  relc.reset()
+
+  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+        road_edges=edges(-(boundary + 0.1), 10.0))
+  assert not relc.left_edge_detected

openpilot/sunnypilot/selfdrive/selfdrived/events.py

@@ -244,4 +244,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       AlertStatus.normal, AlertSize.none,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
+
+  EventNameSP.laneChangeRoadEdge: {
+    ET.WARNING: Alert(
+      "Lane Change Unavailable: Road Edge",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -545,6 +545,12 @@
                 }
               ]
             },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks lane change when the model sees a road edge on the side you signal."
+            },
             {
               "key": "AutoLaneChangeBsmDelay",
               "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml

@@ -257,6 +257,10 @@ sections:
       label: 2 seconds
     - value: 5
       label: 3 seconds
+  - key: RoadEdgeLaneChangeEnabled
+    widget: toggle
+    title: 'Block Lane Change: Road Edge Detection'
+    description: Blocks lane change when the model sees a road edge on the side you signal.
   - key: AutoLaneChangeBsmDelay
     widget: toggle
     title: 'Auto Lane Change: Delay with Blind Spot'

openpilot/system/manager/process_config.py

@@ -88,7 +88,7 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   return use_sunnylink_uploader(params)
 
 def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
+  """Check if the active model runner is tinygrad."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
 
 def is_stock_model(started, params, CP: car.CarParams) -> bool: