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| Author | SHA1 | Date | |
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 rav4kumar
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0268dfe79a | ||
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rav4kumar
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bfe5c079a6 | ||
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Kumar
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f7543e47a0 | ||
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Jason Wen
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01a843e0ac | ||
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Jason Wen
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097dd9b5f2 | ||
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github-actions[bot]
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122ac986de | ||
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MVL
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bc27262a92 | ||
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James Vecellio-Grant
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066ba92e77 | ||
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github-actions[bot]
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dfb21bd53e | ||
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Kumar
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b94f8eaecb | ||
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Jason Wen
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c41d953be5 | ||
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Jason Wen
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c603d07012 | ||
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Jason Wen
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d2ab08eaf2 | ||
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Jason Wen
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1086abcf6b | ||
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Jason Wen
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617a98d769 | ||
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rav4kumar
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7e9de97596 | ||
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Kumar
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21ab8c9daf | ||
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Jason Wen
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d671c7e03a | ||
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Jason Wen
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7cd9a76a25 | ||
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rav4kumar
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7292d409a7 | ||
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rav4kumar
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78009bdf39 | ||
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rav4kumar
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5e097b2682 | ||
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rav4kumar
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rav4kumar
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000c6ce261 | ||
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rav4kumar
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f6998b3d98 | ||
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rav4kumar
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c197a1a45a | ||
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rav4kumar
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33e3809330 | ||
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rav4kumar
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df5c0a2690 | ||
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rav4kumar
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cce352cccb |
@@ -4,7 +4,6 @@
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||||
[submodule "opendbc"]
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path = opendbc_repo
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url = https://github.com/sunnypilot/opendbc.git
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branch = tn
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[submodule "msgq"]
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path = msgq_repo
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url = https://github.com/commaai/msgq.git
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@@ -194,7 +194,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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aTarget @5 :Float32;
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events @6 :List(OnroadEventSP.Event);
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e2eAlerts @7 :E2eAlerts;
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accelController @8 :AccelController;
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struct DynamicExperimentalControl {
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state @0 :DynamicExperimentalControlState;
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@@ -297,35 +296,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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greenLightAlert @0 :Bool;
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leadDepartAlert @1 :Bool;
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}
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struct AccelController {
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enabled @0 :Bool;
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active @1 :Bool;
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shadowOnlyDEPRECATED @2 :Bool;
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profile @3 :Profile;
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state @4 :State;
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enum Profile {
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eco @0;
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normal @1;
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sport @2;
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}
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enum State {
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inactive @0;
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free @1;
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restrict @2;
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hold @3;
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release @4;
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stopHold @5;
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}
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}
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enum AccelerationPersonality {
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eco @0;
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normal @1;
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sport @2;
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}
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}
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struct OnroadEventSP @0xda96579883444c35 {
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@@ -372,7 +342,6 @@ struct OnroadEventSP @0xda96579883444c35 {
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speedLimitChanged @21;
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speedLimitPending @22;
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e2eChime @23;
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laneChangeRoadEdge @24;
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}
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}
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@@ -479,8 +448,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
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struct ModelDataV2SP @0xa1680744031fdb2d {
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laneTurnDirection @0 :TurnDirection;
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leftLaneChangeEdgeBlock @1 :Bool;
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rightLaneChangeEdgeBlock @2 :Bool;
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enum TurnDirection {
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none @0;
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@@ -179,19 +179,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
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// toyota specific params
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{"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
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// MADS params
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{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
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{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
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@@ -235,10 +228,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
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// Accel Controller profiles (Eco / Normal / Sport)
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{"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
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// sunnypilot model params
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{"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
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{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
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@@ -112,16 +112,12 @@ class TestParams:
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def test_params_default_value(self):
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self.params.remove("LanguageSetting")
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self.params.remove("LongitudinalPersonality")
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self.params.remove("AccelPersonalityEnabled")
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self.params.remove("AccelPersonality")
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self.params.remove("LiveParameters")
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assert self.params.get("LanguageSetting") is None
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assert self.params.get("LanguageSetting", return_default=False) is None
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assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
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assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
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assert self.params.get("AccelPersonalityEnabled", return_default=True) is False
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assert self.params.get("AccelPersonality", return_default=True) == 1
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assert self.params.get("LiveParameters") is None
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assert self.params.get("LiveParameters", return_default=True) is None
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+119
-117
@@ -4,24 +4,24 @@
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||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 340 Supported Cars
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# 341 Supported Cars
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||||
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||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
@@ -279,8 +280,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -312,60 +313,61 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 730b5781c7...b9712d20ef
@@ -10,7 +10,7 @@ from cereal import car, log, custom
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
@@ -121,13 +121,7 @@ class Car:
|
||||
self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
|
||||
self.RI = RI
|
||||
|
||||
# set alternative experiences from parameters
|
||||
sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
|
||||
self.CP.alternativeExperience = 0
|
||||
if sp_toyota_auto_brake_hold:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
|
||||
|
||||
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.honda.values import HondaFlags
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.structs import car
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from opendbc.car.values import Platform, PLATFORMS
|
||||
@@ -358,7 +358,13 @@ class TestCarModelBase(unittest.TestCase):
|
||||
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
|
||||
|
||||
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
|
||||
self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
|
||||
brake_pressed = False
|
||||
|
||||
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
|
||||
|
||||
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
@@ -442,7 +448,12 @@ class TestCarModelBase(unittest.TestCase):
|
||||
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
|
||||
angle_can < (self.safety.get_angle_meas_min() - 1))
|
||||
|
||||
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
|
||||
|
||||
|
||||
@@ -56,7 +56,7 @@ 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, left_edge_detected=False, right_edge_detected=False):
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
@@ -88,8 +88,8 @@ 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 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))
|
||||
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
|
||||
|
||||
|
||||
@@ -9,7 +9,6 @@ from openpilot.common.swaglog import cloudlog
|
||||
# WARNING: imports outside of constants will not trigger a rebuild
|
||||
from openpilot.selfdrive.modeld.constants import index_function
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpcSP
|
||||
|
||||
if __name__ == '__main__': # generating code
|
||||
from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
|
||||
@@ -214,9 +213,8 @@ def gen_long_ocp():
|
||||
return ocp
|
||||
|
||||
|
||||
class LongitudinalMpc(LongitudinalMpcSP):
|
||||
class LongitudinalMpc:
|
||||
def __init__(self, dt=DT_MDL):
|
||||
LongitudinalMpcSP.__init__(self)
|
||||
self.dt = dt
|
||||
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
|
||||
self.reset()
|
||||
@@ -272,8 +270,7 @@ class LongitudinalMpc(LongitudinalMpcSP):
|
||||
def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
|
||||
jerk_factor = get_jerk_factor(personality)
|
||||
a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
|
||||
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost,
|
||||
LongitudinalMpcSP.scale_jerk_cost(self, jerk_factor * J_EGO_COST)]
|
||||
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
|
||||
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
|
||||
self.set_cost_weights(cost_weights, constraint_cost_weights)
|
||||
|
||||
@@ -334,7 +331,7 @@ class LongitudinalMpc(LongitudinalMpcSP):
|
||||
# when the leads are no factor.
|
||||
v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
|
||||
# TODO does this make sense when max_a is negative?
|
||||
v_upper = v_ego + (T_IDXS * self.cruise_accel_max(CRUISE_MAX_ACCEL) * 1.05)
|
||||
v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
|
||||
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
|
||||
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
|
||||
|
||||
@@ -348,7 +345,6 @@ class LongitudinalMpc(LongitudinalMpcSP):
|
||||
|
||||
self.params[:,0] = ACCEL_MIN
|
||||
self.params[:,1] = ACCEL_MAX
|
||||
LongitudinalMpcSP.apply_accel_limits(self)
|
||||
self.params[:,2] = np.min(x_obstacles, axis=1)
|
||||
self.params[:,3] = np.copy(self.a_prev)
|
||||
self.params[:,4] = t_follow
|
||||
@@ -368,7 +364,6 @@ class LongitudinalMpc(LongitudinalMpcSP):
|
||||
self.solver.constraints_set(0, "ubx", self.x0)
|
||||
|
||||
self.solution_status = self.solver.solve()
|
||||
LongitudinalMpcSP.save_solution_status(self)
|
||||
self.solve_time = float(self.solver.get_stats('time_tot')[0])
|
||||
self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
|
||||
self.time_linearization = float(self.solver.get_stats('time_lin')[0])
|
||||
|
||||
@@ -51,7 +51,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
|
||||
self.CP = CP
|
||||
self.mpc = LongitudinalMpc(dt=dt)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc, dt=dt)
|
||||
LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
@@ -129,12 +129,16 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
clipped_accel_coast = max(accel_coast, accel_clip[0])
|
||||
clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
|
||||
accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
|
||||
|
||||
# Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
|
||||
v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
|
||||
|
||||
if force_slow_decel:
|
||||
v_cruise = 0.0
|
||||
|
||||
is_e2e = LongitudinalPlannerSP.update_mpc(self, sm, v_cruise, prev_accel_constraint, accel_clip[1], reset_state)
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -150,14 +154,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
|
||||
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
|
||||
|
||||
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
|
||||
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(
|
||||
self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping,
|
||||
)
|
||||
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
|
||||
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
|
||||
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
if is_e2e:
|
||||
if self.is_e2e(sm):
|
||||
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
|
||||
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
|
||||
if output_a_target < output_a_target_mpc:
|
||||
@@ -165,7 +168,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
else:
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
self.output_should_stop = LongitudinalPlannerSP.update_should_stop(self, self.output_should_stop)
|
||||
|
||||
for idx in range(2):
|
||||
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
|
||||
|
||||
@@ -321,16 +321,9 @@ 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):
|
||||
(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)
|
||||
|
||||
@@ -11,14 +11,6 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPl
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
|
||||
|
||||
class PlannerSM(dict):
|
||||
def __init__(self, radar_frame: int, services: dict):
|
||||
super().__init__(services)
|
||||
self.logMonoTime = {"radarState": radar_frame}
|
||||
self.valid = {"radarState": True}
|
||||
self.alive = {"radarState": True}
|
||||
|
||||
|
||||
class Plant:
|
||||
messaging_initialized = False
|
||||
|
||||
@@ -140,7 +132,7 @@ class Plant:
|
||||
car_control.carControl.orientationNED = [0., float(pitch), 0.]
|
||||
|
||||
# ******** get controlsState messages for plotting ***
|
||||
sm = PlannerSM(self.rk.frame, {'radarState': radar.radarState,
|
||||
sm = {'radarState': radar.radarState,
|
||||
'carState': car_state.carState,
|
||||
'carControl': car_control.carControl,
|
||||
'controlsState': control.controlsState,
|
||||
@@ -149,7 +141,7 @@ class Plant:
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation})
|
||||
'gpsLocation': gps_data.gpsLocation}
|
||||
self.planner.update(sm)
|
||||
self.acceleration = self.planner.output_a_target
|
||||
if self.planner.output_should_stop:
|
||||
|
||||
@@ -27,12 +27,6 @@ DESCRIPTIONS = {
|
||||
"In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
|
||||
"your steering wheel distance button."
|
||||
),
|
||||
"AccelPersonalityEnabled": tr_noop(
|
||||
"Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking and stopping authority."
|
||||
),
|
||||
"AccelPersonality": tr_noop(
|
||||
"Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts and recovers more quickly."
|
||||
),
|
||||
"IsLdwEnabled": tr_noop(
|
||||
"Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
|
||||
"without a turn signal activated while driving over 31 mph (50 km/h)."
|
||||
@@ -112,24 +106,6 @@ class TogglesLayout(Widget):
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._accel_personality_enabled = toggle_item(
|
||||
lambda: tr("Enable Accel Controller"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
|
||||
self._params.get_bool("AccelPersonalityEnabled"),
|
||||
callback=self._set_accel_personality_enabled,
|
||||
icon="speed_limit.png",
|
||||
)
|
||||
|
||||
self._accel_personality_setting = multiple_button_item(
|
||||
lambda: tr("Acceleration Profile"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonality"]),
|
||||
buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
|
||||
button_width=300,
|
||||
callback=self._set_accel_personality,
|
||||
selected_index=self._params.get("AccelPersonality", return_default=True),
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._toggles = {}
|
||||
self._locked_toggles = set()
|
||||
for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
|
||||
@@ -159,11 +135,9 @@ class TogglesLayout(Widget):
|
||||
|
||||
self._toggles[param] = toggle
|
||||
|
||||
# insert longitudinal personality and Accel Controller settings after NDOG toggle
|
||||
# insert longitudinal personality after NDOG toggle
|
||||
if param == "DisengageOnAccelerator":
|
||||
self._toggles["LongitudinalPersonality"] = self._long_personality_setting
|
||||
self._toggles["AccelPersonalityEnabled"] = self._accel_personality_enabled
|
||||
self._toggles["AccelPersonality"] = self._accel_personality_setting
|
||||
|
||||
self._update_experimental_mode_icon()
|
||||
self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
|
||||
@@ -184,7 +158,6 @@ class TogglesLayout(Widget):
|
||||
|
||||
def _update_toggles(self):
|
||||
ui_state.update_params()
|
||||
accel_personality_enabled = self._params.get_bool("AccelPersonalityEnabled")
|
||||
|
||||
e2e_description = tr(
|
||||
"sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
|
||||
@@ -203,15 +176,11 @@ class TogglesLayout(Widget):
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(True)
|
||||
self._toggles["ExperimentalMode"].set_description(e2e_description)
|
||||
self._long_personality_setting.action_item.set_enabled(True)
|
||||
self._accel_personality_enabled.action_item.set_enabled(True)
|
||||
self._accel_personality_setting.action_item.set_enabled(accel_personality_enabled)
|
||||
else:
|
||||
# no long for now
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(False)
|
||||
self._toggles["ExperimentalMode"].action_item.set_state(False)
|
||||
self._long_personality_setting.action_item.set_enabled(False)
|
||||
self._accel_personality_enabled.action_item.set_enabled(False)
|
||||
self._accel_personality_setting.action_item.set_enabled(False)
|
||||
self._params.remove("ExperimentalMode")
|
||||
|
||||
unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
|
||||
@@ -234,10 +203,6 @@ class TogglesLayout(Widget):
|
||||
# refresh toggles from params to mirror external changes
|
||||
for param in self._toggle_defs:
|
||||
self._toggles[param].action_item.set_state(self._params.get_bool(param))
|
||||
self._accel_personality_enabled.action_item.set_state(accel_personality_enabled)
|
||||
self._accel_personality_setting.action_item.set_selected_button(
|
||||
self._params.get("AccelPersonality", return_default=True)
|
||||
)
|
||||
|
||||
# these toggles need restart, block while engaged
|
||||
for toggle_def in self._toggle_defs:
|
||||
@@ -282,10 +247,3 @@ class TogglesLayout(Widget):
|
||||
|
||||
def _set_longitudinal_personality(self, button_index: int):
|
||||
self._params.put("LongitudinalPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_personality(self, button_index: int):
|
||||
self._params.put("AccelPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_personality_enabled(self, state: bool):
|
||||
self._params.put_bool("AccelPersonalityEnabled", state, block=True)
|
||||
self._accel_personality_setting.action_item.set_enabled(state and ui_state.has_longitudinal_control)
|
||||
|
||||
@@ -69,6 +69,9 @@ class MiciMainLayout(Scroller):
|
||||
# For scroll_to
|
||||
return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
|
||||
|
||||
def _should_auto_scroll_to_onroad(self) -> bool:
|
||||
return True
|
||||
|
||||
def _setup_callbacks(self):
|
||||
self._home_layout.set_callbacks(
|
||||
on_settings=lambda: gui_app.push_widget(self._settings_layout),
|
||||
|
||||
@@ -14,8 +14,6 @@ class TogglesLayoutMici(NavScroller):
|
||||
super().__init__()
|
||||
|
||||
self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
|
||||
self._accel_personality_enabled = BigParamControl("enable accel controller", "AccelPersonalityEnabled")
|
||||
self._accel_personality_toggle = BigMultiParamToggle("acceleration profile", "AccelPersonality", ["eco", "normal", "sport"])
|
||||
self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
|
||||
is_metric_toggle = BigParamControl("use metric units", "IsMetric")
|
||||
ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
|
||||
@@ -26,8 +24,6 @@ class TogglesLayoutMici(NavScroller):
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self._personality_toggle,
|
||||
self._accel_personality_enabled,
|
||||
self._accel_personality_toggle,
|
||||
self._experimental_btn,
|
||||
is_metric_toggle,
|
||||
ldw_toggle,
|
||||
@@ -40,7 +36,6 @@ class TogglesLayoutMici(NavScroller):
|
||||
# Toggle lists
|
||||
self._refresh_toggles = (
|
||||
("ExperimentalMode", self._experimental_btn),
|
||||
("AccelPersonalityEnabled", self._accel_personality_enabled),
|
||||
("IsMetric", is_metric_toggle),
|
||||
("IsLdwEnabled", ldw_toggle),
|
||||
("AlwaysOnDM", always_on_dm_toggle),
|
||||
@@ -50,9 +45,6 @@ class TogglesLayoutMici(NavScroller):
|
||||
)
|
||||
|
||||
enable_openpilot.set_enabled(lambda: not ui_state.engaged)
|
||||
self._accel_personality_toggle.set_enabled(
|
||||
lambda: ui_state.has_longitudinal_control and ui_state.params.get_bool("AccelPersonalityEnabled")
|
||||
)
|
||||
record_front.set_enabled(False if ui_state.params.get_bool("RecordFrontLock") else (lambda: not ui_state.engaged))
|
||||
record_mic.set_enabled(lambda: not ui_state.engaged)
|
||||
|
||||
@@ -83,18 +75,13 @@ class TogglesLayoutMici(NavScroller):
|
||||
if ui_state.has_longitudinal_control:
|
||||
self._experimental_btn.set_visible(True)
|
||||
self._personality_toggle.set_visible(True)
|
||||
self._accel_personality_enabled.set_visible(True)
|
||||
self._accel_personality_toggle.set_visible(True)
|
||||
else:
|
||||
# no long for now
|
||||
self._experimental_btn.set_visible(False)
|
||||
self._experimental_btn.set_checked(False)
|
||||
self._personality_toggle.set_visible(False)
|
||||
self._accel_personality_enabled.set_visible(False)
|
||||
self._accel_personality_toggle.set_visible(False)
|
||||
ui_state.params.remove("ExperimentalMode")
|
||||
|
||||
# Refresh toggles from params to mirror external changes
|
||||
for key, item in self._refresh_toggles:
|
||||
item.set_checked(ui_state.params.get_bool(key))
|
||||
self._accel_personality_toggle.refresh()
|
||||
|
||||
@@ -382,18 +382,13 @@ class BigMultiParamToggle(BigMultiToggle):
|
||||
self._load_value()
|
||||
|
||||
def _load_value(self):
|
||||
value = self._params.get(self._param, return_default=True)
|
||||
index = value if isinstance(value, int) else 0
|
||||
self.set_value(self._options[max(0, min(index, len(self._options) - 1))])
|
||||
self.set_value(self._options[self._params.get(self._param) or 0])
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
new_idx = self._options.index(self.value)
|
||||
self._params.put(self._param, new_idx)
|
||||
|
||||
def refresh(self):
|
||||
self._load_value()
|
||||
|
||||
|
||||
class BigParamControl(BigToggle):
|
||||
def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
|
||||
|
||||
@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
|
||||
|
||||
enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
|
||||
nnlc_enabled = self._nnlc_toggle.action_item.get_state()
|
||||
if enforce_torque_enabled and nnlc_enabled:
|
||||
self._torque_control_toggle.action_item.set_state(False)
|
||||
self._nnlc_toggle.action_item.set_state(False)
|
||||
enforce_torque_enabled = False
|
||||
nnlc_enabled = False
|
||||
self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
|
||||
self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
|
||||
self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
|
||||
|
||||
@@ -51,17 +51,11 @@ 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,
|
||||
self._road_edge_block,
|
||||
]
|
||||
|
||||
return items
|
||||
|
||||
@@ -6,8 +6,14 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class MiciMainLayoutSP(MiciMainLayout):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
scroller = self._scroller
|
||||
scroller.scroll_panel = GuiScrollPanel2SP(scroller._horizontal, handle_out_of_bounds=not scroller._snap_items)
|
||||
|
||||
def _should_auto_scroll_to_onroad(self) -> bool:
|
||||
return not self._onroad_layout.is_on_info_panel()
|
||||
|
||||
@@ -10,10 +10,9 @@ from dataclasses import dataclass
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.application import MousePos
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
|
||||
@@ -21,6 +20,26 @@ from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
|
||||
METER_TO_KM = 0.001
|
||||
METER_TO_MILE = 0.000621371
|
||||
|
||||
CONTENT_MARGIN = 16
|
||||
SPEED_LIMIT_SIGN_WIDTH = 146
|
||||
VIENNA_SIGN_SIZE = 146
|
||||
MUTCD_SIGN_HEIGHT = 178
|
||||
OFFSET_BADGE_SIZE = 50
|
||||
OFFSET_BADGE_PANEL_PADDING = 4
|
||||
MUTCD_OFFSET_SIGN_Y_SHIFT = 6
|
||||
VIENNA_BADGE_X_RATIO = 0.80
|
||||
VIENNA_BADGE_UPCOMING_X_RATIO = 0.70
|
||||
VIENNA_BADGE_Y_RATIO = -0.82
|
||||
UPCOMING_SIGN_SIZE_RATIO = 0.76
|
||||
UPCOMING_SIGN_OVERLAP_RATIO = 0.05
|
||||
UNIT_FONT_SIZE = 40
|
||||
SPEED_FONT_SIZE = 114
|
||||
ROAD_FONT_SIZE = 32
|
||||
SCC_TAG_WIDTH = 78
|
||||
SCC_TAG_HEIGHT = 30
|
||||
SCC_TAG_GAP = 5
|
||||
COLUMN_GAP = 12
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class OnroadInfoPanelColors:
|
||||
@@ -107,10 +126,8 @@ class OnroadInfoPanel(Widget):
|
||||
self._update_state()
|
||||
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
|
||||
margin = 20
|
||||
mid_y = rect.y + rect.height / 2
|
||||
|
||||
left_x = rect.x + margin
|
||||
left_x = rect.x + CONTENT_MARGIN
|
||||
|
||||
if self.cruise_enabled:
|
||||
unit = tr("MAX")
|
||||
@@ -119,81 +136,90 @@ class OnroadInfoPanel(Widget):
|
||||
unit = tr("km/h") if ui_state.is_metric else tr("MPH")
|
||||
display_speed = self.current_speed
|
||||
|
||||
speed_val = str(round(display_speed))
|
||||
display_speed_text = str(round(display_speed))
|
||||
if self.speed_limit_valid and display_speed > self.speed_limit:
|
||||
speed_color = COLORS.red
|
||||
else:
|
||||
speed_color = COLORS.white
|
||||
|
||||
rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, mid_y - 95), 38, 0, COLORS.grey)
|
||||
rl.draw_text_ex(self._font_bold, speed_val, rl.Vector2(left_x, mid_y - 60), 110, 0, speed_color)
|
||||
sign_width = min(SPEED_LIMIT_SIGN_WIDTH, rect.width * 0.30)
|
||||
sign_height = VIENNA_SIGN_SIZE if ui_state.is_metric else MUTCD_SIGN_HEIGHT
|
||||
|
||||
sign_width = 135
|
||||
sign_height = 135 if ui_state.is_metric else 175
|
||||
|
||||
has_next = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
|
||||
target_slide = 1.0 if has_next else 0.0
|
||||
has_upcoming_limit = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
|
||||
target_sign_slide = 1.0 if has_upcoming_limit else 0.0
|
||||
slide_speed = 3.0 * rl.get_frame_time()
|
||||
if self._sign_slide < target_slide:
|
||||
self._sign_slide = min(self._sign_slide + slide_speed, target_slide)
|
||||
elif self._sign_slide > target_slide:
|
||||
self._sign_slide = max(self._sign_slide - slide_speed, target_slide)
|
||||
if self._sign_slide < target_sign_slide:
|
||||
self._sign_slide = min(self._sign_slide + slide_speed, target_sign_slide)
|
||||
elif self._sign_slide > target_sign_slide:
|
||||
self._sign_slide = max(self._sign_slide - slide_speed, target_sign_slide)
|
||||
|
||||
next_w = int(sign_width * 0.7)
|
||||
next_h = int(sign_height * 0.7)
|
||||
next_peek = int(next_w * 0.85) + 5
|
||||
centered_x = rect.x + rect.width - sign_width - margin
|
||||
shifted_x = rect.x + rect.width - sign_width - margin - next_peek
|
||||
sign_x = centered_x + (shifted_x - centered_x) * self._sign_slide
|
||||
upcoming_width = int(sign_width * UPCOMING_SIGN_SIZE_RATIO)
|
||||
upcoming_height = int(sign_height * UPCOMING_SIGN_SIZE_RATIO)
|
||||
upcoming_reserved_width = int(upcoming_width * 0.85) + 5
|
||||
sign_x_without_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN
|
||||
sign_x_with_upcoming = rect.x + rect.width - sign_width - CONTENT_MARGIN - upcoming_reserved_width
|
||||
sign_x = sign_x_without_upcoming + (sign_x_with_upcoming - sign_x_without_upcoming) * self._sign_slide
|
||||
sign_y = rect.y + (rect.height - sign_height) / 2
|
||||
if not ui_state.is_metric and self.speed_limit_offset != 0 and self.speed_limit_valid:
|
||||
sign_y += MUTCD_OFFSET_SIGN_Y_SHIFT
|
||||
|
||||
road_y = mid_y + 55
|
||||
road_width = sign_x - left_x - margin
|
||||
self._draw_road_name(left_x, road_y, road_width)
|
||||
readout_right = sign_x - COLUMN_GAP
|
||||
readout_width = max(1, readout_right - left_x)
|
||||
road_y = rect.y + rect.height - 44
|
||||
|
||||
if has_next and self._sign_slide > 0.01:
|
||||
next_val = str(round(self.next_speed_limit))
|
||||
dist_str = self._format_distance(self.next_speed_limit_distance)
|
||||
next_x = sign_x + sign_width - int(next_w * 0.15)
|
||||
next_y = sign_y + (sign_height - next_h) / 2
|
||||
unit_font_size = self._fit_font_size(self._font_semi_bold, unit, readout_width, 46, UNIT_FONT_SIZE, 28)
|
||||
speed_font_size = self._fit_font_size(self._font_bold, display_speed_text, readout_width, road_y - (rect.y + 54) - 8,
|
||||
SPEED_FONT_SIZE, 76)
|
||||
speed_size = measure_text_cached(self._font_bold, display_speed_text, speed_font_size)
|
||||
speed_y = min(rect.y + 54, road_y - speed_size.y - 8)
|
||||
unit_y = max(rect.y + 14, speed_y - unit_font_size - 6)
|
||||
|
||||
next_speed_color = COLORS.black
|
||||
rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, unit_y), unit_font_size, 0, COLORS.grey)
|
||||
rl.draw_text_ex(self._font_bold, display_speed_text, rl.Vector2(left_x, speed_y), speed_font_size, 0, speed_color)
|
||||
self._draw_road_name(left_x, road_y, readout_width)
|
||||
|
||||
if has_upcoming_limit and self._sign_slide > 0.01:
|
||||
upcoming_speed_text = str(round(self.next_speed_limit))
|
||||
distance_text = self._format_distance(self.next_speed_limit_distance)
|
||||
upcoming_x = sign_x + sign_width - int(upcoming_width * UPCOMING_SIGN_OVERLAP_RATIO)
|
||||
upcoming_y = sign_y + (sign_height - upcoming_height) / 2
|
||||
|
||||
upcoming_speed_color = COLORS.black
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
|
||||
self._draw_vienna_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
|
||||
else:
|
||||
self._draw_mutcd_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
|
||||
self._draw_mutcd_sign(upcoming_x, upcoming_y, upcoming_width, upcoming_height, upcoming_speed_text, upcoming_speed_color, is_upcoming=True)
|
||||
|
||||
dist_size = measure_text_cached(self._font_medium, dist_str, 24)
|
||||
rl.draw_text_ex(self._font_medium, dist_str, rl.Vector2(next_x + next_w / 2 - dist_size.x / 2, next_y + next_h + 4), 24, 0, COLORS.grey)
|
||||
distance_font_size = self._fit_font_size(self._font_medium, distance_text, upcoming_width, 30, 24, 16)
|
||||
distance_size = measure_text_cached(self._font_medium, distance_text, distance_font_size)
|
||||
rl.draw_text_ex(self._font_medium, distance_text, rl.Vector2(upcoming_x + upcoming_width / 2 - distance_size.x / 2, upcoming_y + upcoming_height),
|
||||
distance_font_size, 0, COLORS.grey)
|
||||
|
||||
self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
|
||||
|
||||
if self.speed_limit_offset != 0 and self.speed_limit_valid:
|
||||
offset_val = str(abs(round(self.speed_limit_offset)))
|
||||
badge_sz = 42
|
||||
badge_x = sign_x + sign_width - badge_sz * 0.85
|
||||
badge_y = sign_y - badge_sz * 0.25
|
||||
offset_text = str(abs(round(self.speed_limit_offset)))
|
||||
badge_size = OFFSET_BADGE_SIZE
|
||||
badge_rect = self._offset_badge_rect(rect, sign_x, sign_y, sign_width, sign_height, badge_size, has_upcoming_limit)
|
||||
|
||||
if ui_state.is_metric:
|
||||
badge_r = badge_sz / 2
|
||||
badge_cx = badge_x + badge_r
|
||||
badge_cy = badge_y + badge_r
|
||||
rl.draw_circle(int(badge_cx), int(badge_cy), badge_r + 2, COLORS.dark_grey)
|
||||
rl.draw_circle(int(badge_cx), int(badge_cy), badge_r, COLORS.badge_bg)
|
||||
self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(badge_cx, badge_cy), COLORS.white)
|
||||
badge_radius = badge_size / 2
|
||||
badge_center_x = badge_rect.x + badge_radius
|
||||
badge_center_y = badge_rect.y + badge_radius
|
||||
rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius + 2, COLORS.dark_grey)
|
||||
rl.draw_circle(int(badge_center_x), int(badge_center_y), badge_radius, COLORS.badge_bg)
|
||||
self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_center_x, badge_center_y), COLORS.white,
|
||||
badge_size - 10, badge_size - 8, min_size=24)
|
||||
else:
|
||||
mutcd_badge_x = sign_x + sign_width - badge_sz * 0.65
|
||||
mutcd_badge_y = sign_y - badge_sz * 0.50
|
||||
badge_rect = rl.Rectangle(mutcd_badge_x, mutcd_badge_y, badge_sz, badge_sz)
|
||||
rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
|
||||
rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
|
||||
self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(mutcd_badge_x + badge_sz / 2, mutcd_badge_y + badge_sz / 2), COLORS.white)
|
||||
self._draw_text_centered_fit(self._font_bold, offset_text, 32, rl.Vector2(badge_rect.x + badge_size / 2, badge_rect.y + badge_size / 2),
|
||||
COLORS.white, badge_size - 10, badge_size - 8, min_size=24)
|
||||
|
||||
# SCC
|
||||
speed_size = measure_text_cached(self._font_bold, speed_val, 110)
|
||||
scc_x = left_x + speed_size.x + 30
|
||||
scc_y = mid_y - 50
|
||||
self._draw_scc_icons(scc_x, scc_y)
|
||||
scc_tag_x = min(left_x + speed_size.x + COLUMN_GAP, readout_right - SCC_TAG_WIDTH)
|
||||
scc_tag_y = speed_y + (speed_size.y - (SCC_TAG_HEIGHT * 2 + SCC_TAG_GAP)) / 2
|
||||
if scc_tag_x >= left_x + speed_size.x + 8:
|
||||
self._draw_scc_icons(scc_tag_x, scc_tag_y, readout_right)
|
||||
|
||||
self._bookmark_icon.render(rect)
|
||||
|
||||
@@ -205,23 +231,24 @@ class OnroadInfoPanel(Widget):
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
|
||||
self._alert_renderer.render(rect)
|
||||
|
||||
def _draw_scc_icons(self, x: float, y: float) -> None:
|
||||
def _draw_scc_icons(self, x: float, y: float, right_limit: float) -> None:
|
||||
sm = ui_state.sm
|
||||
if not sm.valid["longitudinalPlanSP"]:
|
||||
return
|
||||
scc = sm["longitudinalPlanSP"].smartCruiseControl
|
||||
|
||||
box_w, box_h = 100, 36
|
||||
gap = 6
|
||||
drawn = 0
|
||||
|
||||
for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
|
||||
if not active:
|
||||
continue
|
||||
bx = x
|
||||
by = y + drawn * (box_h + gap)
|
||||
rl.draw_rectangle_rounded(rl.Rectangle(bx, by, box_w, box_h), 0.3, 10, COLORS.green)
|
||||
self._draw_text_centered(self._font_bold, label, 20, rl.Vector2(bx + box_w / 2, by + box_h / 2), COLORS.black)
|
||||
tag_x = x
|
||||
if tag_x + SCC_TAG_WIDTH > right_limit:
|
||||
return
|
||||
tag_y = y + drawn * (SCC_TAG_HEIGHT + SCC_TAG_GAP)
|
||||
rl.draw_rectangle_rounded(rl.Rectangle(tag_x, tag_y, SCC_TAG_WIDTH, SCC_TAG_HEIGHT), 0.3, 10, COLORS.green)
|
||||
self._draw_text_centered_fit(self._font_bold, label, 18, rl.Vector2(tag_x + SCC_TAG_WIDTH / 2, tag_y + SCC_TAG_HEIGHT / 2), COLORS.black,
|
||||
SCC_TAG_WIDTH - 10, SCC_TAG_HEIGHT - 4, min_size=14)
|
||||
drawn += 1
|
||||
|
||||
def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
|
||||
@@ -234,8 +261,11 @@ class OnroadInfoPanel(Widget):
|
||||
self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
|
||||
def _draw_road_name(self, x: float, y: float, width: float) -> None:
|
||||
if width <= 0:
|
||||
return
|
||||
|
||||
road_display = self.road_name if self.road_name else "--"
|
||||
font_size = 30
|
||||
font_size = self._fit_font_size(self._font_semi_bold, road_display, width, 38, ROAD_FONT_SIZE, 28)
|
||||
road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
|
||||
text_width = road_size.x
|
||||
|
||||
@@ -276,9 +306,7 @@ class OnroadInfoPanel(Widget):
|
||||
rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
|
||||
|
||||
font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
|
||||
text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
|
||||
text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
|
||||
self._draw_text_centered_fit(self._font_bold, speed_str, int(font_size), center, speed_color, width * 0.72, height * 0.50, min_size=24)
|
||||
|
||||
def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
sign_rect = rl.Rectangle(x, y, width, height)
|
||||
@@ -294,18 +322,69 @@ class OnroadInfoPanel(Widget):
|
||||
mid_x = x + width / 2
|
||||
label_size = max(18, int(width * 0.26))
|
||||
if is_upcoming:
|
||||
self._draw_text_centered(self._font_bold, tr("AHEAD"), label_size, rl.Vector2(mid_x, y + height * 0.27), COLORS.black)
|
||||
self._draw_text_centered_fit(self._font_bold, tr("AHEAD"), int(width * 0.34), rl.Vector2(mid_x, y + height * 0.28), COLORS.black,
|
||||
width * 0.94, height * 0.32, min_size=20)
|
||||
else:
|
||||
self._draw_text_centered(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black)
|
||||
self._draw_text_centered(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black)
|
||||
self._draw_text_centered_fit(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black,
|
||||
width * 0.84, height * 0.24, min_size=16)
|
||||
self._draw_text_centered_fit(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black,
|
||||
width * 0.84, height * 0.24, min_size=16)
|
||||
|
||||
speed_font_size = int(width * 0.52) if len(speed_str) >= 3 else int(width * 0.62)
|
||||
self._draw_text_centered(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color)
|
||||
speed_font_size = int(width * 0.60) if len(speed_str) >= 3 else int(width * 0.72)
|
||||
self._draw_text_centered_fit(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color,
|
||||
width * 0.90, height * 0.52, min_size=32)
|
||||
|
||||
def _draw_text_centered(self, font, text, size, pos_center, color):
|
||||
sz = measure_text_cached(font, text, size)
|
||||
rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
|
||||
|
||||
def _draw_text_centered_fit(self, font, text, size, pos_center, color, max_width: float, max_height: float, min_size: int = 10):
|
||||
size = self._fit_font_size(font, text, max_width, max_height, size, min_size)
|
||||
self._draw_text_centered(font, text, size, pos_center, color)
|
||||
|
||||
def _fit_font_size(self, font, text: str, max_width: float, max_height: float, max_size: int | float, min_size: int) -> int:
|
||||
size = int(max_size)
|
||||
while size > min_size:
|
||||
text_size = measure_text_cached(font, text, size)
|
||||
if text_size.x <= max_width and text_size.y <= max_height:
|
||||
return size
|
||||
size -= 2
|
||||
return min_size
|
||||
|
||||
def _offset_badge_rect(self, panel_rect: rl.Rectangle, sign_x: float, sign_y: float, sign_width: float, sign_height: float,
|
||||
badge_size: float, has_upcoming_limit: bool) -> rl.Rectangle:
|
||||
if ui_state.is_metric:
|
||||
radius = min(sign_width, sign_height) / 2
|
||||
center_x = sign_x + sign_width / 2
|
||||
center_y = sign_y + sign_height / 2
|
||||
badge_x_ratio = VIENNA_BADGE_UPCOMING_X_RATIO if has_upcoming_limit else VIENNA_BADGE_X_RATIO
|
||||
badge_center_x = center_x + radius * badge_x_ratio
|
||||
badge_center_y = center_y + radius * VIENNA_BADGE_Y_RATIO
|
||||
badge_x = badge_center_x - badge_size / 2
|
||||
badge_y = badge_center_y - badge_size / 2
|
||||
else:
|
||||
badge_x = sign_x + sign_width - badge_size * 0.45
|
||||
badge_y = sign_y - badge_size * 0.75
|
||||
|
||||
return rl.Rectangle(
|
||||
self._clamp(
|
||||
badge_x,
|
||||
panel_rect.x + OFFSET_BADGE_PANEL_PADDING,
|
||||
panel_rect.x + panel_rect.width - badge_size - OFFSET_BADGE_PANEL_PADDING,
|
||||
),
|
||||
self._clamp(
|
||||
badge_y,
|
||||
panel_rect.y + OFFSET_BADGE_PANEL_PADDING,
|
||||
panel_rect.y + panel_rect.height - badge_size - OFFSET_BADGE_PANEL_PADDING,
|
||||
),
|
||||
badge_size,
|
||||
badge_size,
|
||||
)
|
||||
|
||||
@staticmethod
|
||||
def _clamp(value: float, min_value: float, max_value: float) -> float:
|
||||
return max(min_value, min(max_value, value))
|
||||
|
||||
def _format_distance(self, distance: float) -> str:
|
||||
if ui_state.is_metric:
|
||||
if distance < 50:
|
||||
|
||||
@@ -0,0 +1,83 @@
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.system.ui.lib.application import MouseEvent, MousePos, gui_app
|
||||
from openpilot.system.ui.lib.scroll_panel2 import ScrollState
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets import scroller as scroller_mod
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class DummyScrollIndicator:
|
||||
def update(self, *_) -> None:
|
||||
pass
|
||||
|
||||
def render(self) -> None:
|
||||
pass
|
||||
|
||||
|
||||
class DummyWidget(Widget):
|
||||
def __init__(self, rect: rl.Rectangle):
|
||||
super().__init__()
|
||||
self.set_rect(rect)
|
||||
|
||||
def _render(self, _) -> None:
|
||||
pass
|
||||
|
||||
|
||||
def _mouse_event(x: float, y: float, *, pressed: bool = False, released: bool = False,
|
||||
down: bool = True, t: float = 0.0) -> MouseEvent:
|
||||
return MouseEvent(MousePos(x, y), 0, pressed, released, down, t)
|
||||
|
||||
|
||||
def test_vertical_snap_items_are_supported(monkeypatch):
|
||||
monkeypatch.setattr(scroller_mod, "ScrollIndicator", DummyScrollIndicator)
|
||||
|
||||
scroller = scroller_mod._Scroller([], horizontal=False, snap_items=True, scroll_indicator=False)
|
||||
scroller.set_rect(rl.Rectangle(0, 0, 100, 100))
|
||||
scroller.scroll_panel.set_offset(-60)
|
||||
|
||||
captured_snap_target = None
|
||||
|
||||
def update(_, __, snap_target=None):
|
||||
nonlocal captured_snap_target
|
||||
captured_snap_target = snap_target
|
||||
return scroller.scroll_panel.get_offset()
|
||||
|
||||
monkeypatch.setattr(scroller.scroll_panel, "update", update)
|
||||
|
||||
visible_items = [
|
||||
DummyWidget(rl.Rectangle(0, -60, 100, 100)),
|
||||
DummyWidget(rl.Rectangle(0, 40, 100, 100)),
|
||||
]
|
||||
scroller._get_scroll(visible_items, 200)
|
||||
|
||||
assert captured_snap_target == -100
|
||||
|
||||
|
||||
def test_scroll_panel_sp_rejects_orthogonal_drags(monkeypatch):
|
||||
panel = GuiScrollPanel2SP(horizontal=True)
|
||||
bounds = rl.Rectangle(0, 0, 100, 100)
|
||||
|
||||
monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(10, 10, pressed=True, t=1.0)])
|
||||
panel.update(bounds, 200)
|
||||
assert panel.state == ScrollState.PRESSED
|
||||
|
||||
monkeypatch.setattr(gui_app, "_mouse_events", [_mouse_event(23, 60, t=1.1)])
|
||||
panel.update(bounds, 200)
|
||||
|
||||
assert panel.state == ScrollState.STEADY
|
||||
assert panel.get_offset() == 0
|
||||
|
||||
|
||||
def test_scroll_panel_sp_can_disable_out_of_bounds_handling(monkeypatch):
|
||||
panel = GuiScrollPanel2SP(horizontal=False, handle_out_of_bounds=False)
|
||||
bounds = rl.Rectangle(0, 0, 100, 100)
|
||||
monkeypatch.setattr(gui_app, "_mouse_events", [])
|
||||
|
||||
panel.set_offset(20)
|
||||
panel.update(bounds, 200)
|
||||
assert panel.get_offset() == 0
|
||||
|
||||
panel.set_offset(-150)
|
||||
panel.update(bounds, 200)
|
||||
assert panel.get_offset() == -100
|
||||
@@ -11,24 +11,23 @@ from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
|
||||
|
||||
|
||||
class GuiScrollPanel2SP(GuiScrollPanel2):
|
||||
"""Reject orthogonal-dominant drags so nested scrollers (outer horizontal +
|
||||
inner vertical) don't both engage on a slightly diagonal swipe.
|
||||
"""Scroll panel behavior for nested Mici pagers."""
|
||||
|
||||
Implemented as a post-super state rollback rather than reimplementing the
|
||||
PRESSED state machine — keeps stock behaviour authoritative."""
|
||||
def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
|
||||
super().__init__(horizontal, handle_out_of_bounds=handle_out_of_bounds)
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
|
||||
content_size: float) -> None:
|
||||
pre_state = self._state
|
||||
state_before_update = self._state
|
||||
super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
|
||||
|
||||
if self._state == ScrollState.MANUAL_SCROLL and pre_state == ScrollState.PRESSED and \
|
||||
if self._state == ScrollState.MANUAL_SCROLL and state_before_update == ScrollState.PRESSED and \
|
||||
self._initial_click_event is not None:
|
||||
diff_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
|
||||
diff_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
|
||||
along = diff_x if self._horizontal else diff_y
|
||||
anti = diff_y if self._horizontal else diff_x
|
||||
if anti > along:
|
||||
drag_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
|
||||
drag_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
|
||||
primary_drag = drag_x if self._horizontal else drag_y
|
||||
cross_drag = drag_y if self._horizontal else drag_x
|
||||
if cross_drag > primary_drag:
|
||||
self._state = ScrollState.STEADY
|
||||
self._velocity = 0.0
|
||||
self._velocity_buffer.clear()
|
||||
|
||||
@@ -179,6 +179,10 @@ class UIStateSP:
|
||||
CP = self.CP
|
||||
|
||||
if CP is not None:
|
||||
if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
|
||||
self.params.put_bool("EnforceTorqueControl", False, block=True)
|
||||
self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
|
||||
|
||||
# Angle steering: no torque-based lateral controls
|
||||
if CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
|
||||
@@ -188,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
n_frames = img_shape[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
|
||||
|
||||
npy_keys = {}
|
||||
numpy_keys = {}
|
||||
queue_keys = {}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
@@ -196,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
continue
|
||||
if len(shape) == 3 and shape[1] > 1:
|
||||
if key.startswith('desire'):
|
||||
npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
queue_keys[f'{key}_q'] = Tensor(
|
||||
np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
@@ -205,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
else:
|
||||
npy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
elif len(shape) == 2:
|
||||
npy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
if 'traffic_convention' not in npy_keys:
|
||||
if 'traffic_convention' not in numpy_keys:
|
||||
tc_shape = input_shapes.get('traffic_convention', (1, 2))
|
||||
npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
|
||||
npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**queue_keys,
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
|
||||
}
|
||||
return input_queues, npy_keys
|
||||
return input_queues, numpy_keys
|
||||
|
||||
|
||||
def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
|
||||
|
||||
@@ -40,7 +40,6 @@ from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelp
|
||||
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 = "selfdrive.modeld.modeld_tinygrad"
|
||||
|
||||
@@ -63,11 +62,6 @@ def _find_driving_pkl(bundle):
|
||||
if _pkl_exists(pkl_path):
|
||||
return pkl_path
|
||||
|
||||
fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
|
||||
if _pkl_exists(fallback):
|
||||
return fallback
|
||||
return None
|
||||
|
||||
|
||||
class FrameMeta:
|
||||
frame_id: int = 0
|
||||
@@ -126,7 +120,7 @@ class ModelState(ModelStateBase):
|
||||
self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
|
||||
frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
|
||||
self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
else:
|
||||
vision_metadata = metadata['vision']
|
||||
policy_keys = [k for k in metadata if k != 'vision']
|
||||
@@ -144,7 +138,7 @@ class ModelState(ModelStateBase):
|
||||
policy_input_shapes = first_policy_metadata['input_shapes']
|
||||
self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
|
||||
frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
|
||||
self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
|
||||
@@ -184,7 +178,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
@property
|
||||
def desire_key(self) -> str:
|
||||
return next(k for k in self.npy if k.startswith('desire'))
|
||||
return next(k for k in self.numpy_inputs if k.startswith('desire'))
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
@@ -200,16 +194,16 @@ class ModelState(ModelStateBase):
|
||||
|
||||
desire_key = self.desire_key
|
||||
inputs[desire_key][0] = 0
|
||||
self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.prev_desire[:] = inputs[desire_key]
|
||||
for key in ('traffic_convention', 'lateral_control_params'):
|
||||
if key in self.npy and key in inputs:
|
||||
self.npy[key][:] = inputs[key]
|
||||
if key in self.numpy_inputs and key in inputs:
|
||||
self.numpy_inputs[key][:] = inputs[key]
|
||||
|
||||
road_key = next(n for n in bufs if 'big' not in n)
|
||||
wide_key = next(n for n in bufs if 'big' in n)
|
||||
self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
|
||||
if prepare_only:
|
||||
self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
@@ -237,8 +231,8 @@ class ModelState(ModelStateBase):
|
||||
if 'planplus' in outputs and 'plan' in outputs:
|
||||
outputs['plan'] = outputs['plan'] + outputs['planplus']
|
||||
|
||||
if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
|
||||
buf = self.npy['prev_desired_curv']
|
||||
if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
|
||||
buf = self.numpy_inputs['prev_desired_curv']
|
||||
buf[0, :-1] = buf[0, 1:]
|
||||
buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
|
||||
|
||||
@@ -330,7 +324,6 @@ def main(demo=False):
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
DH = DesireHelper()
|
||||
RELC = RoadEdgeLaneChangeController(DH)
|
||||
meta_constants = load_meta_constants()
|
||||
|
||||
while True:
|
||||
@@ -411,7 +404,7 @@ def main(demo=False):
|
||||
'traffic_convention': traffic_convention,
|
||||
}
|
||||
|
||||
if 'lateral_control_params' in model.npy:
|
||||
if 'lateral_control_params' in model.numpy_inputs:
|
||||
inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
@@ -435,10 +428,7 @@ 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
|
||||
RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
|
||||
mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
|
||||
mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
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
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
## Neural networks in openpilot
|
||||
To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
|
||||
|
||||
## Supercombo
|
||||
### Supercombo input format (Full size: 799906 x float32)
|
||||
* **image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **wide image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **desire**
|
||||
* one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
|
||||
* **traffic convention**
|
||||
* one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
|
||||
* **feature buffer**
|
||||
* A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
|
||||
|
||||
|
||||
### Supercombo output format (Full size: XXX x float32)
|
||||
Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
|
||||
|
||||
|
||||
## Driver Monitoring Model
|
||||
* .onnx model can be run with onnx runtimes
|
||||
* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
|
||||
|
||||
### input format
|
||||
* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
|
||||
* full input size is 1440 * 960 = 1382400
|
||||
* normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
|
||||
* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
|
||||
|
||||
### output format
|
||||
* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
|
||||
* for each person in the front seats (2 * 41)
|
||||
* face pose: 12 = 6 + 6
|
||||
* face orientation [pitch, yaw, roll] in camera frame: 3
|
||||
* face position [dx, dy] relative to image center: 2
|
||||
* normalized face size: 1
|
||||
* standard deviations for above outputs: 6
|
||||
* face visible probability: 1
|
||||
* eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
|
||||
* eye position and size, and their standard deviations: 8
|
||||
* eye visible probability: 1
|
||||
* eye closed probability: 1
|
||||
* wearing sunglasses probability: 1
|
||||
* face occluded probability: 1
|
||||
* touching wheel probability: 1
|
||||
* paying attention probability: 1
|
||||
* (deprecated) distracted probabilities: 2
|
||||
* using phone probability: 1
|
||||
* distracted probability: 1
|
||||
* common outputs 2
|
||||
* poor camera vision probability: 1
|
||||
* left hand drive probability: 1
|
||||
@@ -1,101 +0,0 @@
|
||||
// clang++ -O2 repro.cc && ./a.out
|
||||
|
||||
#include <sched.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <ctime>
|
||||
|
||||
static inline double millis_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
|
||||
}
|
||||
|
||||
#define MODEL_WIDTH 320
|
||||
#define MODEL_HEIGHT 640
|
||||
|
||||
// null function still breaks it
|
||||
#define input_lambda(x) x
|
||||
|
||||
// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
|
||||
void inner(uint8_t *resized_buf, float *net_input_buf) {
|
||||
int resized_width = MODEL_WIDTH;
|
||||
int resized_height = MODEL_HEIGHT;
|
||||
|
||||
// one shot conversion, O(n) anyway
|
||||
// yuvframe2tensor, normalize
|
||||
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
|
||||
for (int c = 0; c < MODEL_WIDTH/2; c++) {
|
||||
// Y_ul
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
|
||||
// Y_ur
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
|
||||
// Y_dl
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
|
||||
// Y_dr
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
|
||||
// U
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
|
||||
// V
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float trial() {
|
||||
int resized_width = MODEL_WIDTH;
|
||||
int resized_height = MODEL_HEIGHT;
|
||||
|
||||
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
|
||||
|
||||
// allocate the buffers
|
||||
uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
|
||||
float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
|
||||
printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
|
||||
|
||||
// test for bad buffers
|
||||
static int CNT = 20;
|
||||
float avg = 0.0;
|
||||
for (int i = 0; i < CNT; i++) {
|
||||
double s4 = millis_since_boot();
|
||||
inner(resized_buf, net_input_buf);
|
||||
double s5 = millis_since_boot();
|
||||
avg += s5-s4;
|
||||
}
|
||||
avg /= CNT;
|
||||
|
||||
// once it's bad, it's reliably bad
|
||||
if (avg > 10) {
|
||||
printf("HIT %f\n", avg);
|
||||
printf("BAD\n");
|
||||
|
||||
for (int i = 0; i < 200; i++) {
|
||||
double s4 = millis_since_boot();
|
||||
inner(resized_buf, net_input_buf);
|
||||
double s5 = millis_since_boot();
|
||||
printf("%.2f ", s5-s4);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
// don't free so we get a different buffer each time
|
||||
//free(resized_buf);
|
||||
//free(net_input_buf);
|
||||
|
||||
return avg;
|
||||
}
|
||||
|
||||
int main() {
|
||||
while (true) {
|
||||
float ret = trial();
|
||||
printf("got %f\n", ret);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -46,16 +46,6 @@ class TestFindDrivingPkl:
|
||||
assert result is not None
|
||||
assert 'driving_fof_tinygrad.pkl' in result
|
||||
|
||||
def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
|
||||
(tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
|
||||
from openpilot.system.hardware import hw
|
||||
monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
|
||||
|
||||
bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
|
||||
result = _find_driving_pkl(bundle)
|
||||
assert result is not None
|
||||
assert 'driving_tinygrad.pkl' in result
|
||||
|
||||
|
||||
# Init — assertion guard
|
||||
|
||||
@@ -84,8 +74,8 @@ class TestStockEquivalence:
|
||||
skip_keys = {'action_t'}
|
||||
assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
|
||||
f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
|
||||
assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
|
||||
f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
|
||||
assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
|
||||
f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
|
||||
|
||||
def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
|
||||
@@ -188,16 +178,16 @@ class TestInputQueueCreation:
|
||||
def test_npy_contains_transforms(self, archetype_name, model_state_factory):
|
||||
arch = ARCHETYPES[archetype_name]
|
||||
state = model_state_factory(arch)
|
||||
assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
|
||||
assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
|
||||
assert state.npy['tfm'].shape == (3, 3)
|
||||
assert state.npy['big_tfm'].shape == (3, 3)
|
||||
assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
|
||||
assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
|
||||
assert state.numpy_inputs['tfm'].shape == (3, 3)
|
||||
assert state.numpy_inputs['big_tfm'].shape == (3, 3)
|
||||
|
||||
@pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
|
||||
def test_npy_contains_desire(self, archetype_name, model_state_factory):
|
||||
arch = ARCHETYPES[archetype_name]
|
||||
state = model_state_factory(arch)
|
||||
assert arch.expected_desire_key in state.npy, \
|
||||
assert arch.expected_desire_key in state.numpy_inputs, \
|
||||
f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
|
||||
|
||||
|
||||
|
||||
@@ -1,2 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
|
||||
@@ -1,69 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include "tensorflow/c/c_api.h"
|
||||
|
||||
void* read_file(const char* path, size_t* out_len) {
|
||||
FILE* f = fopen(path, "r");
|
||||
if (!f) {
|
||||
return NULL;
|
||||
}
|
||||
fseek(f, 0, SEEK_END);
|
||||
long f_len = ftell(f);
|
||||
rewind(f);
|
||||
|
||||
char* buf = (char*)calloc(f_len, 1);
|
||||
assert(buf);
|
||||
|
||||
size_t num_read = fread(buf, f_len, 1, f);
|
||||
fclose(f);
|
||||
|
||||
if (num_read != 1) {
|
||||
free(buf);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (out_len) {
|
||||
*out_len = f_len;
|
||||
}
|
||||
|
||||
return buf;
|
||||
}
|
||||
|
||||
static void DeallocateBuffer(void* data, size_t) {
|
||||
free(data);
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
TF_Buffer* buf;
|
||||
TF_Graph* graph;
|
||||
TF_Status* status;
|
||||
char *path = argv[1];
|
||||
|
||||
// load model
|
||||
{
|
||||
size_t model_size;
|
||||
char tmp[1024];
|
||||
snprintf(tmp, sizeof(tmp), "%s.pb", path);
|
||||
printf("loading model %s\n", tmp);
|
||||
uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
|
||||
buf = TF_NewBuffer();
|
||||
buf->data = model_data;
|
||||
buf->length = model_size;
|
||||
buf->data_deallocator = DeallocateBuffer;
|
||||
printf("loaded model of size %d\n", model_size);
|
||||
}
|
||||
|
||||
// import graph
|
||||
status = TF_NewStatus();
|
||||
graph = TF_NewGraph();
|
||||
TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
|
||||
TF_GraphImportGraphDef(graph, buf, opts, status);
|
||||
TF_DeleteImportGraphDefOptions(opts);
|
||||
TF_DeleteBuffer(buf);
|
||||
if (TF_GetCode(status) != TF_OK) {
|
||||
printf("FAIL: %s\n", TF_Message(status));
|
||||
} else {
|
||||
printf("SUCCESS\n");
|
||||
}
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import tensorflow as tf
|
||||
|
||||
with open(sys.argv[1], "rb") as f:
|
||||
graph_def = tf.compat.v1.GraphDef()
|
||||
graph_def.ParseFromString(f.read())
|
||||
#tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
|
||||
@@ -1,38 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import os
|
||||
import time
|
||||
import numpy as np
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
|
||||
|
||||
N = int(os.getenv("N", "5"))
|
||||
TIME = int(os.getenv("TIME", "30"))
|
||||
|
||||
if __name__ == "__main__":
|
||||
sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
|
||||
|
||||
execution_times = []
|
||||
|
||||
for _ in range(N):
|
||||
os.environ['LOGPRINT'] = 'debug'
|
||||
managed_processes['modeld'].start()
|
||||
time.sleep(5)
|
||||
|
||||
t = []
|
||||
start = time.monotonic()
|
||||
while time.monotonic() - start < TIME:
|
||||
msgs = messaging.drain_sock(sock, wait_for_one=True)
|
||||
for m in msgs:
|
||||
t.append(m.modelV2.modelExecutionTime)
|
||||
|
||||
execution_times.append(np.array(t[10:]) * 1000)
|
||||
managed_processes['modeld'].stop()
|
||||
|
||||
print("\n\n")
|
||||
print(f"ran modeld {N} times for {TIME}s each")
|
||||
for _, t in enumerate(execution_times):
|
||||
print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
|
||||
print("\n\n")
|
||||
+117
-85
@@ -6,80 +6,138 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import hashlib
|
||||
import os
|
||||
import pickle
|
||||
from pathlib import Path
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from pathlib import Path
|
||||
|
||||
# see the README.md for more details on the model selector versioning
|
||||
CURRENT_SELECTOR_VERSION = 15
|
||||
REQUIRED_MIN_SELECTOR_VERSION = 14
|
||||
|
||||
# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
|
||||
REQUIRED_JSON_VERSION = 15
|
||||
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
|
||||
|
||||
ModelManager = custom.ModelManagerSP
|
||||
_LAST_VALIDATED_RAW = None
|
||||
|
||||
|
||||
def _compute_hash(file_path: str) -> str | None:
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
try:
|
||||
return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
|
||||
except FileNotFoundError:
|
||||
return None
|
||||
|
||||
|
||||
async def verify_file(file_path: str, expected_hash: str) -> bool:
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
try:
|
||||
data = read_file_chunked(file_path)
|
||||
except FileNotFoundError:
|
||||
return False
|
||||
return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
|
||||
file_hash = _compute_hash(file_path)
|
||||
return file_hash == expected_hash.lower() if file_hash else False
|
||||
|
||||
|
||||
def _verify_file(file_path: str, expected_hash: str) -> bool:
|
||||
file_hash = _compute_hash(file_path)
|
||||
return file_hash == expected_hash.lower() if file_hash else False
|
||||
|
||||
|
||||
def is_bundle_version_compatible(bundle: dict) -> bool:
|
||||
"""
|
||||
Checks whether the model bundle is compatible with the current selector version constraints.
|
||||
|
||||
The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
|
||||
The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
|
||||
required to load the model. This function ensures that:
|
||||
|
||||
1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
|
||||
2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
|
||||
|
||||
This allows the selector to enforce both a minimum and maximum range of supported models,
|
||||
even if a model would otherwise be compatible.
|
||||
|
||||
:param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
|
||||
:type bundle: Dict
|
||||
:return: True if the selector version is within the accepted range for the bundle; otherwise False.
|
||||
:rtype: Bool
|
||||
the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
|
||||
"""
|
||||
return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
|
||||
return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
|
||||
|
||||
|
||||
def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
|
||||
"""Gets the active model bundle from cache"""
|
||||
if params is None:
|
||||
params = Params()
|
||||
def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
|
||||
artifacts = []
|
||||
for model in getattr(bundle, 'models', []) or []:
|
||||
for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
|
||||
if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
|
||||
sha256 = getattr(artifact.downloadUri, 'sha256', None)
|
||||
if sha256:
|
||||
artifacts.append((artifact.fileName, sha256))
|
||||
return artifacts
|
||||
|
||||
|
||||
def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
|
||||
model_root = Paths.model_root()
|
||||
return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
|
||||
for file_name, expected_hash in _bundle_artifacts(bundle))
|
||||
|
||||
|
||||
def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
|
||||
if active_bundle is None:
|
||||
return False
|
||||
|
||||
if available_bundles is not None:
|
||||
matching_bundle = None
|
||||
for bundle in available_bundles:
|
||||
if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
|
||||
if active_bundle.ref == bundle.ref:
|
||||
matching_bundle = bundle
|
||||
break
|
||||
elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
|
||||
matching_bundle = bundle
|
||||
break
|
||||
|
||||
if matching_bundle is None:
|
||||
return True
|
||||
if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
|
||||
return True
|
||||
|
||||
active_runner = getattr(active_bundle, 'runner', None)
|
||||
matching_runner = getattr(matching_bundle, 'runner', None)
|
||||
if active_runner is not None and matching_runner is not None:
|
||||
if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
|
||||
return True
|
||||
if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
|
||||
return True
|
||||
|
||||
return not _bundle_is_valid_locally(active_bundle)
|
||||
|
||||
|
||||
def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
|
||||
global _LAST_VALIDATED_RAW
|
||||
|
||||
raw_bundle = params.get("ModelManager_ActiveBundle")
|
||||
if not raw_bundle:
|
||||
return
|
||||
|
||||
if raw_bundle == _LAST_VALIDATED_RAW:
|
||||
return
|
||||
|
||||
active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
|
||||
if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
|
||||
cloudlog.warning("Active model bundle invalid; resetting to default")
|
||||
params.remove("ModelManager_ActiveBundle")
|
||||
params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
|
||||
_LAST_VALIDATED_RAW = None
|
||||
else:
|
||||
_LAST_VALIDATED_RAW = raw_bundle
|
||||
|
||||
|
||||
def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
|
||||
params = params or Params()
|
||||
try:
|
||||
if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
|
||||
return custom.ModelManagerSP.ModelBundle(**active_bundle)
|
||||
active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
|
||||
if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
|
||||
return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
return None
|
||||
|
||||
|
||||
def get_active_model_runner(params: Params = None, force_check=False) -> int:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
|
||||
params = params or Params()
|
||||
cached_runner_type = params.get("ModelRunnerTypeCache")
|
||||
if cached_runner_type is not None and not force_check:
|
||||
return cached_runner_type
|
||||
|
||||
runner_type = custom.ModelManagerSP.Runner.stock
|
||||
|
||||
if active_bundle := get_active_bundle(params):
|
||||
runner_type = active_bundle.runner.raw
|
||||
|
||||
@@ -88,66 +146,40 @@ def get_active_model_runner(params: Params = None, force_check=False) -> int:
|
||||
|
||||
return runner_type
|
||||
|
||||
|
||||
def _get_model():
|
||||
if bundle := get_active_bundle():
|
||||
drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
|
||||
return drive_model
|
||||
|
||||
return None
|
||||
|
||||
def load_metadata():
|
||||
metadata_path = METADATA_PATH
|
||||
|
||||
if model := _get_model():
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
|
||||
def load_metadata():
|
||||
model = _get_model()
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
|
||||
|
||||
with open(metadata_path, 'rb') as f:
|
||||
return pickle.load(f)
|
||||
|
||||
|
||||
def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
|
||||
# img buffers are managed in openCL transform code so we don't pass them as inputs
|
||||
inputs = {
|
||||
k: np.zeros(v, dtype=np.float32).flatten()
|
||||
for k, v in model_metadata['input_shapes'].items()
|
||||
if 'img' not in k
|
||||
def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
|
||||
return {
|
||||
key: np.zeros(shape, dtype=np.float32).flatten()
|
||||
for key, shape in model_metadata['input_shapes'].items()
|
||||
if 'img' not in key
|
||||
}
|
||||
|
||||
return inputs
|
||||
|
||||
def load_meta_constants(model_metadata: dict):
|
||||
""" Loads the appropriate meta model class based on key shapes"""
|
||||
if 'sim_pose' in model_metadata['input_shapes']:
|
||||
return MetaSimPose
|
||||
|
||||
def load_meta_constants(model_metadata):
|
||||
"""
|
||||
Determines and loads the appropriate meta model class based on the metadata provided. The function checks
|
||||
specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
|
||||
model class to return.
|
||||
meta_slice = model_metadata['output_slices']['meta']
|
||||
if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
|
||||
return MetaTombRaider
|
||||
|
||||
:param model_metadata: Dictionary containing metadata about the model. It includes
|
||||
details such as input shapes, output slices, and other configurations for identifying
|
||||
metadata-dependent meta model classes.
|
||||
:type model_metadata: dict
|
||||
:return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
|
||||
based on the conditions and metadata provided.
|
||||
:rtype: type
|
||||
"""
|
||||
meta = Meta # Default Meta
|
||||
|
||||
if 'sim_pose' in model_metadata['input_shapes'].keys():
|
||||
# Meta for models with sim_pose input
|
||||
meta = MetaSimPose
|
||||
else:
|
||||
# Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
|
||||
meta_slice = model_metadata['output_slices']['meta']
|
||||
meta_tf_slice = slice(5868, 5921, None)
|
||||
|
||||
if (
|
||||
meta_slice.start == meta_tf_slice.start and
|
||||
meta_slice.stop == meta_tf_slice.stop and
|
||||
meta_slice.step == meta_tf_slice.step
|
||||
):
|
||||
meta = MetaTombRaider
|
||||
|
||||
return meta
|
||||
return Meta
|
||||
|
||||
|
||||
# The following method(s) are modeld helper methods
|
||||
|
||||
@@ -17,7 +17,7 @@ from openpilot.system.hardware.hw import Paths
|
||||
|
||||
from cereal import messaging, custom
|
||||
from openpilot.sunnypilot.models.fetcher import ModelFetcher
|
||||
from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
|
||||
|
||||
|
||||
class ModelManagerSP:
|
||||
@@ -239,6 +239,7 @@ class ModelManagerSP:
|
||||
while True:
|
||||
try:
|
||||
self.available_models = self.model_fetcher.get_available_bundles()
|
||||
validate_active_bundle(self.params, self.available_models)
|
||||
self.active_bundle = get_active_bundle(self.params)
|
||||
|
||||
if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
|
||||
@@ -252,8 +253,8 @@ class ModelManagerSP:
|
||||
self.selected_bundle = None
|
||||
|
||||
if self.params.get("ModelManager_ClearCache"):
|
||||
self.clear_model_cache()
|
||||
self.params.remove("ModelManager_ClearCache")
|
||||
self.clear_model_cache()
|
||||
self.params.remove("ModelManager_ClearCache")
|
||||
|
||||
self._report_status()
|
||||
rk.keep_time()
|
||||
|
||||
@@ -129,7 +129,6 @@ def initialize_params(params) -> list[dict[str, Any]]:
|
||||
keys.extend([
|
||||
"ToyotaEnforceStockLongitudinal",
|
||||
"ToyotaStopAndGoHack",
|
||||
"ToyotaEnhancedBsm",
|
||||
])
|
||||
|
||||
return [{k: params.get(k, return_default=True)} for k in keys]
|
||||
|
||||
@@ -1,429 +0,0 @@
|
||||
import math
|
||||
|
||||
import numpy as np
|
||||
|
||||
from opendbc.car.interfaces import ACCEL_MAX
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalPlanSource
|
||||
from openpilot.sunnypilot import get_sanitize_int_param
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.constants import (
|
||||
CAP_FILTER_FRAMES, COMFORT_DECEL, DEPARTURE_MOTION_NOISE_FLOOR, LAUNCH_END_SPEED, LAUNCH_TARGET_HEADROOM, LAUNCH_TARGET_SLEW,
|
||||
LEAD_BRAKING_ACCEL_THRESHOLD, LEAD_LOSS_HOLD_TIME, LEAD_MATCH_ACCEL_SLEW, LEAD_MATCH_GAP_GAIN, LEAD_MATCH_SPEED_HEADROOM,
|
||||
LEAD_SWITCH_MAX_HOLD_TIME,
|
||||
MATCHED_SPEED_DECEL_RATE, MPC_DECEL_JERK_COST_MULTIPLIER, MPC_DECEL_JERK_MAX_REQUIRED_DECEL, MPC_DECEL_JERK_MAX_REQUIRED_DECEL_RATE,
|
||||
MPC_DECEL_JERK_MAX_TARGET_REDUCTION, MPC_DECEL_TREND_FRAMES, SPEED_RELIEF_DEADBAND, SPEED_RESTRICT_DEADBAND, TARGET_SPEED_ARM_MARGIN,
|
||||
TARGET_RELEASE_SLEW, TARGET_SPEED_RESERVE, PLANNER_BRAKING_ACCEL_THRESHOLD, RADAR_STALE_TIMEOUT, STOP_HOLD_CREEP_DISTANCE, STOP_HOLD_EGO_SPEED,
|
||||
STOP_HOLD_EXIT_FRAMES, STOP_HOLD_EXIT_SPEED, STOP_HOLD_MAX_LEAD_DISTANCE, VEGO_NOISE_TOLERANCE, PARAM_READ_INTERVAL, AccelProfile,
|
||||
profile_accel_max, sanitize_profile,
|
||||
)
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.helpers import build_accel_ceiling, is_valid_context
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.lead import LeadPlan, calculate_lead_plan, has_radar_lead, is_lead_source
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.state import AccelControllerState, TargetState
|
||||
|
||||
|
||||
class AccelController:
|
||||
def __init__(self, CP, dt: float = DT_MDL):
|
||||
if not math.isfinite(dt) or dt <= 0.0:
|
||||
raise ValueError("dt must be finite and positive")
|
||||
|
||||
self.dt = dt
|
||||
self.delay = float(CP.longitudinalActuatorDelay) + DT_MDL
|
||||
self.lead_loss_hold_frames = max(CAP_FILTER_FRAMES, math.ceil(LEAD_LOSS_HOLD_TIME / dt))
|
||||
self.lead_switch_max_hold_frames = max(self.lead_loss_hold_frames, math.ceil(LEAD_SWITCH_MAX_HOLD_TIME / dt))
|
||||
self.radar_stale_frames = max(1, math.ceil(RADAR_STALE_TIMEOUT / dt))
|
||||
self.params = Params()
|
||||
self.available = bool(CP.openpilotLongitudinalControl)
|
||||
self.enabled = False
|
||||
self.profile = AccelProfile.normal
|
||||
self._param_read_frames = max(1, int(round(PARAM_READ_INTERVAL / dt)))
|
||||
self._param_frame = 0
|
||||
self._jerk_smoothing_blocked = False
|
||||
self._required_decel_samples: list[float] = []
|
||||
self._required_decel_lead = -1
|
||||
self._required_decel_lead_track_id = -1
|
||||
self._lead_trend_warmup = False
|
||||
self._cruise_accel_limited = False
|
||||
self.target_state = TargetState()
|
||||
self._held_lead_plan: LeadPlan | None = None
|
||||
self.is_active = self.launching = self.departure_launching = False
|
||||
self.output_v_target = 0.0
|
||||
self.mpc_accel_max: tuple[float, ...] | None = None
|
||||
self.cruise_accel_max: float | None = None
|
||||
self.state = AccelControllerState.inactive
|
||||
self.selected_lead = -1
|
||||
self.selected_lead_track_id = -1
|
||||
self.required_decel = 0.0
|
||||
|
||||
@property
|
||||
def is_enabled(self) -> bool:
|
||||
return self.available and self.enabled
|
||||
|
||||
def update_params(self) -> None:
|
||||
if self._param_frame % self._param_read_frames == 0:
|
||||
self.enabled = self.params.get_bool("AccelPersonalityEnabled")
|
||||
self.profile = get_sanitize_int_param("AccelPersonality", AccelProfile.eco, AccelProfile.sport, self.params)
|
||||
self._param_frame += 1
|
||||
|
||||
@staticmethod
|
||||
def _profile(profile: int) -> int:
|
||||
return sanitize_profile(profile)
|
||||
|
||||
@staticmethod
|
||||
def get_profile_accel_max(profile: int, v_ego: float) -> float:
|
||||
return profile_accel_max(profile, v_ego)
|
||||
|
||||
def _update_target(self, lead_plan: LeadPlan, base_speed: float, v_ego: float, profile: int, profile_max_accel: float,
|
||||
previous_should_stop: bool, previous_mpc_source, planner_speed: float, planner_accel: float) -> float:
|
||||
state = self.target_state
|
||||
lead_filter_ready = state.update_samples(lead_plan, self.dt)
|
||||
state.active_frames += 1
|
||||
has_lead = lead_plan.selected_lead >= 0
|
||||
filtered_cap = state.filtered_cap
|
||||
slot_changed = has_lead and state.selected_lead >= 0 and lead_plan.selected_lead != state.selected_lead
|
||||
track_changed = (has_lead and state.selected_lead >= 0 and lead_plan.selected_lead == state.selected_lead
|
||||
and lead_plan.selected_lead_track_id != state.selected_lead_track_id
|
||||
and (state.selected_lead_track_id >= 0 or lead_plan.selected_lead_track_id >= 0))
|
||||
false_relief = has_lead and math.isfinite(filtered_cap) and lead_plan.cap >= filtered_cap + SPEED_RELIEF_DEADBAND
|
||||
guarded_restriction = state.state in (AccelControllerState.restrict, AccelControllerState.hold, AccelControllerState.release)
|
||||
switched_to_relief = ((slot_changed or track_changed) and false_relief
|
||||
and (guarded_restriction or planner_accel <= PLANNER_BRAKING_ACCEL_THRESHOLD))
|
||||
confirmed_relief = (not has_lead or (state.target_speed is not None and lead_plan.closing_speed <= 0.0
|
||||
and lead_plan.cap >= state.target_speed + SPEED_RELIEF_DEADBAND))
|
||||
state.update_lead_switch_guard(switched_to_relief, confirmed_relief, slot_changed or track_changed or false_relief,
|
||||
self.lead_loss_hold_frames, self.lead_switch_max_hold_frames)
|
||||
if slot_changed or track_changed:
|
||||
state.matched_lead = False
|
||||
state.matched_accel_limit = None
|
||||
if has_lead:
|
||||
state.selected_lead = lead_plan.selected_lead
|
||||
state.selected_lead_track_id = lead_plan.selected_lead_track_id
|
||||
elif state.lead_loss_frames >= self.lead_loss_hold_frames:
|
||||
state.reset_lead_switch_guard()
|
||||
state.selected_lead = state.selected_lead_track_id = -1
|
||||
departure_separation = (lead_plan.departure_lead_separations[lead_plan.departure_lead_index]
|
||||
if lead_plan.departure_lead_index >= 0 else math.inf)
|
||||
stopped_lead_hold = (has_lead and lead_plan.has_nearly_stopped_lead
|
||||
and (lead_plan.departure_cap < 0.50 or (state.lead_braking and departure_separation <= STOP_HOLD_MAX_LEAD_DISTANCE)))
|
||||
invalid_lead = lead_plan.lead_status and not has_lead
|
||||
prior_lead_context = is_lead_source(previous_mpc_source) or math.isfinite(filtered_cap) or state.lead_braking
|
||||
previous_stop = previous_should_stop and prior_lead_context and (not has_lead or lead_plan.departure_lead_speed < STOP_HOLD_EXIT_SPEED)
|
||||
stop_evidence = stopped_lead_hold or lead_plan.cap < 0.50 or filtered_cap < 0.50 or (previous_stop and not state.launching) or invalid_lead
|
||||
departure_motion_confirmed = (state.launching and state.departure_launch and has_lead
|
||||
and (state.departure.progress(lead_plan, DEPARTURE_MOTION_NOISE_FLOOR) or state.departure.recent_motion()))
|
||||
if state.active_frames >= self.lead_loss_hold_frames and math.isfinite(filtered_cap) and has_lead and planner_accel <= PLANNER_BRAKING_ACCEL_THRESHOLD:
|
||||
state.lead_braking = True
|
||||
elif not has_lead and state.lead_loss_frames >= self.lead_loss_hold_frames:
|
||||
state.lead_braking = False
|
||||
|
||||
if state.target_speed is None:
|
||||
e2e_handoff = previous_mpc_source == LongitudinalPlanSource.e2e
|
||||
seed_from_ego = has_lead and planner_accel > PLANNER_BRAKING_ACCEL_THRESHOLD and not e2e_handoff
|
||||
state.target_speed = min(base_speed, v_ego) if seed_from_ego else base_speed
|
||||
if seed_from_ego and v_ego >= LAUNCH_END_SPEED and lead_plan.closing_speed > 0.0:
|
||||
state.arm_release_slew()
|
||||
state.e2e_braking_handoff = e2e_handoff and planner_accel < 0.0
|
||||
state.state = AccelControllerState.free
|
||||
if v_ego < STOP_HOLD_EGO_SPEED and not stop_evidence:
|
||||
state.target_speed = min(base_speed, v_ego + LAUNCH_TARGET_HEADROOM)
|
||||
state.state = AccelControllerState.release
|
||||
state.launching = True
|
||||
state.departure_launch = False
|
||||
elif state.e2e_braking_handoff and planner_accel >= 0.0:
|
||||
state.e2e_braking_handoff = False
|
||||
|
||||
state.target_speed = min(state.target_speed, base_speed)
|
||||
if v_ego < STOP_HOLD_EGO_SPEED and stop_evidence and not departure_motion_confirmed and state.state != AccelControllerState.stopHold:
|
||||
state.enter_stop_hold(lead_plan)
|
||||
return state.target_speed
|
||||
|
||||
if state.state == AccelControllerState.stopHold:
|
||||
state.departure.backfill_references()
|
||||
fast_departure = (has_lead and min(lead_plan.selected_lead_speed, lead_plan.departure_lead_speed) > STOP_HOLD_EXIT_SPEED
|
||||
and lead_plan.departure_cap > STOP_HOLD_EXIT_SPEED)
|
||||
raw_departure = fast_departure or not lead_plan.lead_status and state.lead_loss_frames >= self.lead_loss_hold_frames
|
||||
departed = state.departure.progress(lead_plan, STOP_HOLD_CREEP_DISTANCE) or raw_departure
|
||||
if fast_departure and state.departure_frames == 0:
|
||||
state.departure.keep_latest_motion_sample()
|
||||
state.departure_frames = state.departure_frames + 1 if departed else 0
|
||||
state.target_speed = 0.0
|
||||
fast_departure_confirmed = fast_departure and state.departure.recent_motion()
|
||||
if state.departure_frames < STOP_HOLD_EXIT_FRAMES or fast_departure and not fast_departure_confirmed:
|
||||
return state.target_speed
|
||||
state.target_speed = base_speed
|
||||
state.state = AccelControllerState.release
|
||||
state.departure_frames = 0
|
||||
state.launching = True
|
||||
state.departure_launch = has_lead
|
||||
return state.target_speed
|
||||
|
||||
if state.launching:
|
||||
renewed_stop = (has_lead and not departure_motion_confirmed
|
||||
and (lead_plan.cap < STOP_HOLD_EXIT_SPEED
|
||||
or (lead_plan.has_nearly_stopped_lead and lead_plan.departure_cap < STOP_HOLD_EXIT_SPEED)))
|
||||
guarded_departure_loss = state.departure_launch and not lead_plan.lead_status and state.lead_loss_frames < self.lead_loss_hold_frames
|
||||
if invalid_lead:
|
||||
state.launching = state.departure_launch = False
|
||||
if v_ego < STOP_HOLD_EGO_SPEED:
|
||||
state.enter_stop_hold(lead_plan)
|
||||
return state.target_speed
|
||||
state.state = AccelControllerState.hold
|
||||
return state.target_speed
|
||||
if guarded_departure_loss:
|
||||
state.state = AccelControllerState.hold
|
||||
return state.target_speed
|
||||
if state.departure_launch and not has_lead:
|
||||
state.departure_launch = False
|
||||
if renewed_stop:
|
||||
state.launching = state.departure_launch = False
|
||||
if v_ego < STOP_HOLD_EGO_SPEED:
|
||||
state.enter_stop_hold(lead_plan)
|
||||
return state.target_speed
|
||||
if state.launching:
|
||||
if state.departure_launch:
|
||||
state.target_speed = base_speed
|
||||
else:
|
||||
launch_target = min(base_speed, v_ego + LAUNCH_TARGET_HEADROOM)
|
||||
state.target_speed = min(base_speed, max(state.target_speed, launch_target) + LAUNCH_TARGET_SLEW * self.dt)
|
||||
if v_ego >= LAUNCH_END_SPEED:
|
||||
state.launching = state.departure_launch = False
|
||||
|
||||
comfort_decel = COMFORT_DECEL[profile]
|
||||
if (has_lead and not state.launching and state.state == AccelControllerState.restrict
|
||||
and lead_plan.closing_speed <= 0.0 and v_ego >= state.filtered_lead_speed - VEGO_NOISE_TOLERANCE):
|
||||
state.matched_lead = True
|
||||
elif not has_lead and state.lead_loss_frames >= self.lead_loss_hold_frames:
|
||||
state.matched_lead = False
|
||||
|
||||
lost_lead_source = is_lead_source(previous_mpc_source) and not has_lead and planner_speed < state.target_speed
|
||||
if not has_lead and (state.matched_lead or lost_lead_source):
|
||||
if lost_lead_source:
|
||||
state.target_speed = max(planner_speed, state.target_speed - MATCHED_SPEED_DECEL_RATE * self.dt)
|
||||
state.arm_release_slew()
|
||||
state.state = AccelControllerState.hold
|
||||
return state.target_speed
|
||||
|
||||
if state.matched_lead:
|
||||
if math.isfinite(state.filtered_lead_speed):
|
||||
recovery_speed = min(base_speed, state.filtered_lead_speed + min(LEAD_MATCH_SPEED_HEADROOM, LEAD_MATCH_GAP_GAIN * lead_plan.usable_gap))
|
||||
desired_accel_limit = min(profile_max_accel, max(recovery_speed - v_ego, 0.0))
|
||||
else:
|
||||
desired_accel_limit = 0.0
|
||||
if state.filtered_lead_accel < LEAD_BRAKING_ACCEL_THRESHOLD:
|
||||
desired_accel_limit = profile_max_accel
|
||||
if state.matched_accel_limit is None:
|
||||
state.matched_accel_limit = profile_max_accel
|
||||
if state.lead_switch_guard_frames > 0:
|
||||
desired_accel_limit = min(desired_accel_limit, state.matched_accel_limit)
|
||||
state.matched_accel_limit = min(profile_max_accel, float(np.clip(
|
||||
desired_accel_limit, state.matched_accel_limit - LEAD_MATCH_ACCEL_SLEW * self.dt,
|
||||
state.matched_accel_limit + LEAD_MATCH_ACCEL_SLEW * self.dt,
|
||||
)))
|
||||
matched_ceiling = min(base_speed, filtered_cap)
|
||||
if matched_ceiling <= state.target_speed - SPEED_RESTRICT_DEADBAND:
|
||||
state.target_speed = max(matched_ceiling, state.target_speed - MATCHED_SPEED_DECEL_RATE * self.dt)
|
||||
state.arm_release_slew()
|
||||
state.state = AccelControllerState.restrict
|
||||
elif (state.lead_switch_guard_frames == 0 and matched_ceiling >= state.target_speed + SPEED_RELIEF_DEADBAND
|
||||
and (state.lead_switch_elapsed_frames < self.lead_switch_max_hold_frames or planner_accel > PLANNER_BRAKING_ACCEL_THRESHOLD)):
|
||||
state.target_speed = min(matched_ceiling, state.target_speed + profile_max_accel * self.dt)
|
||||
state.state = AccelControllerState.free if state.target_speed >= base_speed - SPEED_RESTRICT_DEADBAND else AccelControllerState.release
|
||||
else:
|
||||
state.state = AccelControllerState.free if state.target_speed >= base_speed - SPEED_RESTRICT_DEADBAND else AccelControllerState.hold
|
||||
if state.state == AccelControllerState.free:
|
||||
state.reset_release_slew(state.target_speed)
|
||||
else:
|
||||
state.update_release_slew(matched_ceiling, math.isfinite(matched_ceiling) and state.target_speed == matched_ceiling)
|
||||
return state.target_speed
|
||||
state.matched_accel_limit = None
|
||||
|
||||
ceiling = min(base_speed, filtered_cap)
|
||||
if lead_filter_ready and state.active_frames == CAP_FILTER_FRAMES // 2 + 1 and not state.launching and planner_speed < state.target_speed:
|
||||
state.target_speed = max(planner_speed, state.target_speed - comfort_decel * self.dt)
|
||||
|
||||
if ceiling <= state.target_speed - SPEED_RESTRICT_DEADBAND or (state.state == AccelControllerState.restrict and ceiling < state.target_speed):
|
||||
state.target_speed = max(ceiling, state.target_speed - comfort_decel * self.dt)
|
||||
state.arm_release_slew()
|
||||
state.state = AccelControllerState.restrict
|
||||
return state.target_speed
|
||||
|
||||
filter_warmup = has_lead and not math.isfinite(filtered_cap)
|
||||
guarded_lead_loss = not has_lead and state.lead_loss_frames < self.lead_loss_hold_frames
|
||||
if (filter_warmup or guarded_lead_loss) and state.target_speed < base_speed - SPEED_RESTRICT_DEADBAND:
|
||||
state.state = AccelControllerState.hold
|
||||
return state.target_speed
|
||||
|
||||
confirmed_clear_road = not math.isfinite(filtered_cap) and not guarded_lead_loss
|
||||
relief = (not has_lead or lead_plan.closing_speed <= 0.0) and planner_accel > PLANNER_BRAKING_ACCEL_THRESHOLD
|
||||
continuing_release = state.release_slew_armed and ceiling > state.target_speed
|
||||
if relief and (continuing_release or ceiling >= state.target_speed + SPEED_RELIEF_DEADBAND
|
||||
or (confirmed_clear_road and ceiling > state.target_speed)):
|
||||
if state.lead_switch_guard_frames == 0:
|
||||
timed_out = state.lead_switch_elapsed_frames >= self.lead_switch_max_hold_frames
|
||||
if not state.release_slew_armed and (timed_out or (state.release_settle_speed is not None
|
||||
and ceiling - state.target_speed > TARGET_RELEASE_SLEW * self.dt)):
|
||||
state.arm_release_slew(force=True)
|
||||
release_rate = comfort_decel if timed_out else TARGET_RELEASE_SLEW
|
||||
state.target_speed = min(ceiling, state.target_speed + release_rate * self.dt) if state.release_slew_armed else ceiling
|
||||
if state.release_slew_armed and state.target_speed < ceiling:
|
||||
state.state = AccelControllerState.release
|
||||
else:
|
||||
state.state = AccelControllerState.free if state.target_speed >= base_speed - SPEED_RESTRICT_DEADBAND else AccelControllerState.hold
|
||||
else:
|
||||
state.state = AccelControllerState.free if state.target_speed >= base_speed - SPEED_RESTRICT_DEADBAND else AccelControllerState.hold
|
||||
if state.target_speed >= base_speed:
|
||||
state.reset_release_slew(state.target_speed)
|
||||
else:
|
||||
state.update_release_slew(ceiling, math.isfinite(ceiling) and state.target_speed == ceiling)
|
||||
return state.target_speed
|
||||
|
||||
def _update_freshness(self, radar_fresh: bool) -> None:
|
||||
self.target_state.stale_frames = 0 if radar_fresh else self.target_state.stale_frames + 1
|
||||
if self.target_state.stale_frames >= self.radar_stale_frames:
|
||||
self.target_state = TargetState()
|
||||
|
||||
def reset(self) -> None:
|
||||
self.target_state = TargetState()
|
||||
self._held_lead_plan = None
|
||||
self._jerk_smoothing_blocked = False
|
||||
self._required_decel_samples.clear()
|
||||
self._required_decel_lead = self._required_decel_lead_track_id = -1
|
||||
self._lead_trend_warmup = False
|
||||
self._cruise_accel_limited = False
|
||||
self.is_active = self.launching = self.departure_launching = False
|
||||
self.output_v_target = 0.0
|
||||
self.mpc_accel_max = None
|
||||
self.cruise_accel_max = None
|
||||
self.state = AccelControllerState.inactive
|
||||
self.selected_lead = -1
|
||||
self.selected_lead_track_id = -1
|
||||
self.required_decel = 0.0
|
||||
|
||||
def update(self, radar_state, *, base_speed: float, v_ego: float, a_ego: float, follow_personality, acc_selected: bool,
|
||||
engaged: bool, cruise_initialized: bool, stock_accel_max: float, previous_should_stop: bool, radar_fresh: bool = True,
|
||||
previous_mpc_source=None, planner_speed: float | None = None, planner_accel: float = 0.0) -> None:
|
||||
self.profile = self._profile(self.profile)
|
||||
sanitized_v_ego = max(v_ego, 0.0) if math.isfinite(v_ego) and v_ego >= -VEGO_NOISE_TOLERANCE else v_ego
|
||||
profile_max_accel = self.get_profile_accel_max(self.profile, sanitized_v_ego)
|
||||
stock_accel_max = float(stock_accel_max)
|
||||
positive_accel_max = (max(0.0, min(profile_max_accel, stock_accel_max, ACCEL_MAX))
|
||||
if math.isfinite(profile_max_accel) and math.isfinite(stock_accel_max) else math.nan)
|
||||
planner_speed = sanitized_v_ego if planner_speed is None else planner_speed
|
||||
valid_context = is_valid_context(base_speed, sanitized_v_ego, a_ego, planner_speed, planner_accel, stock_accel_max, self.delay,
|
||||
engaged, cruise_initialized)
|
||||
enabled_context = valid_context and self.is_enabled and bool(acc_selected)
|
||||
if enabled_context and radar_fresh:
|
||||
lead_plan = calculate_lead_plan(radar_state, sanitized_v_ego, a_ego, self.delay, self.profile, follow_personality)
|
||||
self._held_lead_plan = lead_plan
|
||||
elif enabled_context and self._held_lead_plan is not None:
|
||||
lead_plan = self._held_lead_plan
|
||||
else:
|
||||
lead_plan = LeadPlan(lead_status=has_radar_lead(radar_state))
|
||||
self._held_lead_plan = None
|
||||
|
||||
if enabled_context:
|
||||
self._update_freshness(radar_fresh)
|
||||
active = enabled_context and (radar_fresh or self.target_state.target_speed is not None)
|
||||
if active and radar_fresh:
|
||||
target_speed = self._update_target(
|
||||
lead_plan, base_speed, sanitized_v_ego, self.profile, profile_max_accel, previous_should_stop,
|
||||
previous_mpc_source, planner_speed, planner_accel,
|
||||
)
|
||||
elif active:
|
||||
target_speed = self.target_state.target_speed
|
||||
else:
|
||||
self.target_state = TargetState()
|
||||
target_speed = base_speed
|
||||
|
||||
if not radar_fresh and not active:
|
||||
self._held_lead_plan = None
|
||||
lead_plan = LeadPlan(lead_status=has_radar_lead(radar_state))
|
||||
|
||||
state = self.target_state
|
||||
stop_hold_active = active and state.state == AccelControllerState.stopHold
|
||||
matched_limit_active = active and state.matched_lead and state.matched_accel_limit is not None and not state.e2e_braking_handoff
|
||||
lead_accel_request = active and lead_plan.selected_lead >= 0 and lead_plan.closing_speed <= 0.0 and planner_accel >= 0.0
|
||||
profile_limit_active = active and not stop_hold_active and (state.launching or not lead_plan.lead_status or lead_accel_request)
|
||||
if matched_limit_active:
|
||||
effective_accel_max = min(positive_accel_max, state.matched_accel_limit)
|
||||
elif profile_limit_active:
|
||||
effective_accel_max = positive_accel_max
|
||||
else:
|
||||
effective_accel_max = math.inf
|
||||
mpc_accel_max = build_accel_ceiling(effective_accel_max, planner_accel) if matched_limit_active or profile_limit_active else None
|
||||
guarded_lead_loss = not lead_plan.lead_status and state.selected_lead >= 0 and state.lead_loss_frames < self.lead_loss_hold_frames
|
||||
lead_context = lead_plan.lead_status or math.isfinite(state.filtered_cap) or guarded_lead_loss
|
||||
reserve_eligible = active and lead_context and not stop_hold_active and not state.launching and not state.e2e_braking_handoff
|
||||
reserve_can_arm = reserve_eligible and state.lead_switch_guard_frames == 0
|
||||
if not lead_context:
|
||||
state.speed_reserve_armed = state.speed_reserve_suppressed = False
|
||||
else:
|
||||
if state.lead_switch_guard_frames > 0 and planner_accel <= PLANNER_BRAKING_ACCEL_THRESHOLD:
|
||||
state.speed_reserve_suppressed = True
|
||||
elif state.lead_switch_guard_frames == 0 and state.state != AccelControllerState.restrict:
|
||||
state.speed_reserve_suppressed = False
|
||||
if (reserve_can_arm and not state.speed_reserve_armed and math.isfinite(state.filtered_cap)
|
||||
and state.filtered_cap <= target_speed + TARGET_SPEED_ARM_MARGIN):
|
||||
state.speed_reserve_armed = True
|
||||
|
||||
output_target = 0.0 if stop_hold_active else target_speed
|
||||
if reserve_eligible and state.speed_reserve_armed and not state.speed_reserve_suppressed:
|
||||
output_target = max(0.0, output_target - TARGET_SPEED_RESERVE)
|
||||
|
||||
self.is_active = active
|
||||
self.launching = active and state.launching
|
||||
self.departure_launching = self.launching and state.departure_launch
|
||||
self.output_v_target = output_target
|
||||
self.mpc_accel_max = mpc_accel_max
|
||||
start_cruise_accel_limit = (active and state.state == AccelControllerState.free and lead_plan.lead_status
|
||||
and lead_plan.closing_speed > 0.0 and planner_accel >= 0.0
|
||||
and previous_mpc_source == LongitudinalPlanSource.cruise)
|
||||
keep_cruise_accel_limit = (self._cruise_accel_limited and active and lead_context and state.state == AccelControllerState.free
|
||||
and not state.e2e_braking_handoff)
|
||||
self._cruise_accel_limited = start_cruise_accel_limit or keep_cruise_accel_limit
|
||||
self.cruise_accel_max = positive_accel_max if self._cruise_accel_limited else None
|
||||
self.state = state.state
|
||||
self.selected_lead = lead_plan.selected_lead
|
||||
self.selected_lead_track_id = lead_plan.selected_lead_track_id
|
||||
self.required_decel = lead_plan.required_decel
|
||||
|
||||
def get_jerk_cost_multiplier(self, actuating: bool, prev_accel_constraint: bool, target_reduction: float, previous_mpc_failed: bool) -> float:
|
||||
lead_restriction = (actuating and prev_accel_constraint and self.state == AccelControllerState.restrict and self.selected_lead >= 0
|
||||
and not self.launching and target_reduction > 1e-6)
|
||||
same_lead = self.selected_lead == self._required_decel_lead and self.selected_lead_track_id == self._required_decel_lead_track_id
|
||||
lead_changed = lead_restriction and self._required_decel_lead >= 0 and not same_lead
|
||||
if lead_changed:
|
||||
self._lead_trend_warmup = True
|
||||
elif not lead_restriction:
|
||||
self._lead_trend_warmup = False
|
||||
if not lead_restriction or not same_lead or not math.isfinite(self.required_decel):
|
||||
self._required_decel_samples.clear()
|
||||
if lead_restriction and math.isfinite(self.required_decel):
|
||||
self._required_decel_samples.append(self.required_decel)
|
||||
if len(self._required_decel_samples) > MPC_DECEL_TREND_FRAMES:
|
||||
self._required_decel_samples.pop(0)
|
||||
self._required_decel_lead = self.selected_lead if lead_restriction else -1
|
||||
self._required_decel_lead_track_id = self.selected_lead_track_id if lead_restriction else -1
|
||||
|
||||
history = self._required_decel_samples
|
||||
history_ready = len(history) == MPC_DECEL_TREND_FRAMES
|
||||
tightening_lead = (history_ready
|
||||
and (history[-1] - history[0]) / (self.dt * (len(history) - 1)) > MPC_DECEL_JERK_MAX_REQUIRED_DECEL_RATE
|
||||
and sum(after > before for before, after in zip(history[:-1], history[1:], strict=True)) >= 2)
|
||||
modest_decel = (lead_restriction and target_reduction < MPC_DECEL_JERK_MAX_TARGET_REDUCTION
|
||||
and 0.0 < self.required_decel < MPC_DECEL_JERK_MAX_REQUIRED_DECEL)
|
||||
smoothing_eligible = modest_decel and (not self._lead_trend_warmup or history_ready) and not tightening_lead
|
||||
if history_ready:
|
||||
self._lead_trend_warmup = False
|
||||
if previous_mpc_failed or (lead_restriction and not self._jerk_smoothing_blocked and (not modest_decel or tightening_lead)):
|
||||
self._jerk_smoothing_blocked = True
|
||||
elif not lead_restriction:
|
||||
self._jerk_smoothing_blocked = False
|
||||
return MPC_DECEL_JERK_COST_MULTIPLIER if smoothing_eligible and not self._jerk_smoothing_blocked else 1.0
|
||||
|
||||
def update_should_stop(self, should_stop: bool) -> bool:
|
||||
if not self.is_active:
|
||||
return should_stop
|
||||
if self.departure_launching:
|
||||
return False
|
||||
return should_stop or self.state == AccelControllerState.stopHold
|
||||
@@ -1,75 +0,0 @@
|
||||
import math
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import custom
|
||||
|
||||
|
||||
AccelProfile = custom.LongitudinalPlanSP.AccelController.Profile
|
||||
ACCEL_PROFILES = tuple(AccelProfile.schema.enumerants.values())
|
||||
|
||||
COMFORT_DECEL = {
|
||||
AccelProfile.eco: 0.25,
|
||||
AccelProfile.normal: 0.30,
|
||||
AccelProfile.sport: 0.35,
|
||||
}
|
||||
|
||||
ACCEL_PROFILE_MAX_BP = [0.0, 3.0, 10.0, 25.0, 40.0]
|
||||
ACCEL_PROFILE_MAX_V = {
|
||||
AccelProfile.eco: [1.65, 1.30, 0.72, 0.32, 0.16],
|
||||
AccelProfile.normal: [1.80, 1.50, 0.97, 0.48, 0.30],
|
||||
AccelProfile.sport: [2.00, 1.90, 1.15, 0.68, 0.42],
|
||||
}
|
||||
|
||||
CAP_FILTER_FRAMES = 5
|
||||
LEAD_LOSS_HOLD_TIME = 0.50
|
||||
LEAD_SWITCH_MAX_HOLD_TIME = 6.0
|
||||
SPEED_RESTRICT_DEADBAND = 0.15
|
||||
SPEED_RELIEF_DEADBAND = 0.35
|
||||
TARGET_RELEASE_SLEW = 8.75
|
||||
TARGET_SPEED_ARM_MARGIN = 1.0
|
||||
TARGET_SPEED_RESERVE = 0.10
|
||||
LAUNCH_TARGET_HEADROOM = 3.0
|
||||
LAUNCH_TARGET_SLEW = 8.75
|
||||
LAUNCH_END_SPEED = 3.0
|
||||
ACCEL_LIMIT_HORIZON_JERK = 1.0
|
||||
LEAD_MATCH_GAP_GAIN = 0.04
|
||||
LEAD_MATCH_SPEED_HEADROOM = 1.25
|
||||
LEAD_MATCH_ACCEL_SLEW = 0.25
|
||||
MATCHED_SPEED_DECEL_RATE = 0.50
|
||||
PLANNER_BRAKING_ACCEL_THRESHOLD = -0.11
|
||||
LEAD_BRAKING_ACCEL_THRESHOLD = -0.11
|
||||
MPC_DECEL_JERK_COST_MULTIPLIER = 1.05
|
||||
MPC_DECEL_JERK_MAX_REQUIRED_DECEL = 0.80
|
||||
MPC_DECEL_JERK_MAX_REQUIRED_DECEL_RATE = 0.35
|
||||
MPC_DECEL_JERK_MAX_TARGET_REDUCTION = 9.0
|
||||
MPC_DECEL_TREND_FRAMES = 4
|
||||
|
||||
STOP_HOLD_EGO_SPEED = 0.30
|
||||
STOPPED_LEAD_SPEED = 0.30
|
||||
STOP_HOLD_EXIT_SPEED = 0.80
|
||||
STOP_HOLD_EXIT_FRAMES = 4
|
||||
STOP_HOLD_CREEP_SPEED = 0.15
|
||||
STOP_HOLD_CREEP_DISTANCE = 0.30
|
||||
DEPARTURE_MOTION_NOISE_FLOOR = 0.03
|
||||
DEPARTURE_MOTION_STEP_MIN = 0.005
|
||||
STOP_HOLD_MAX_LEAD_DISTANCE = 30.0
|
||||
STOP_GAP_RESERVE = 0.75
|
||||
STOP_GAP_RESERVE_LEAD_SPEED = 2.0
|
||||
STOP_GAP_RESERVE_DECEL_BP = (0.30, 0.80)
|
||||
|
||||
RADAR_STALE_TIMEOUT = 0.50
|
||||
MAX_LEAD_ACCEL_TAU = 10.0
|
||||
MIN_LEAD_SPEED = -1.0
|
||||
VEGO_NOISE_TOLERANCE = 0.10
|
||||
PARAM_READ_INTERVAL = 0.25
|
||||
|
||||
|
||||
def sanitize_profile(profile: int) -> int:
|
||||
return profile if profile in ACCEL_PROFILES else AccelProfile.normal
|
||||
|
||||
|
||||
def profile_accel_max(profile: int, v_ego: float) -> float:
|
||||
if not math.isfinite(v_ego):
|
||||
return math.nan
|
||||
return float(np.interp(max(v_ego, 0.0), ACCEL_PROFILE_MAX_BP, ACCEL_PROFILE_MAX_V[sanitize_profile(profile)]))
|
||||
@@ -1,22 +0,0 @@
|
||||
import math
|
||||
|
||||
import numpy as np
|
||||
|
||||
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.constants import ACCEL_LIMIT_HORIZON_JERK, VEGO_NOISE_TOLERANCE
|
||||
|
||||
|
||||
def is_valid_context(base_speed: float, v_ego: float, a_ego: float, planner_speed: float, planner_accel: float, stock_accel_max: float,
|
||||
delay: float, engaged: bool, cruise_initialized: bool) -> bool:
|
||||
values = (base_speed, v_ego, a_ego, planner_speed, planner_accel, stock_accel_max, delay)
|
||||
return (engaged and cruise_initialized and base_speed >= 0.0 and v_ego >= -VEGO_NOISE_TOLERANCE
|
||||
and planner_speed >= 0.0 and stock_accel_max >= 0.0 and delay >= 0.0 and all(math.isfinite(value) for value in values))
|
||||
|
||||
|
||||
def build_accel_ceiling(limit: float, planner_accel: float) -> tuple[float, ...] | None:
|
||||
if limit >= ACCEL_MAX - 1e-9:
|
||||
return None
|
||||
a0 = float(np.clip(planner_accel, ACCEL_MIN, ACCEL_MAX))
|
||||
ceiling = np.clip(np.maximum(limit, a0 - ACCEL_LIMIT_HORIZON_JERK * T_IDXS), 0.0, ACCEL_MAX)
|
||||
return tuple(float(value) for value in ceiling)
|
||||
@@ -1,147 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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 math
|
||||
from typing import NamedTuple
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
|
||||
LongitudinalMpc, LongitudinalPlanSource, STOP_DISTANCE, T_IDXS, get_T_FOLLOW, get_stopped_equivalence_factor,
|
||||
)
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.constants import (
|
||||
COMFORT_DECEL, MAX_LEAD_ACCEL_TAU, MIN_LEAD_SPEED, STOP_GAP_RESERVE, STOP_GAP_RESERVE_DECEL_BP,
|
||||
STOP_GAP_RESERVE_LEAD_SPEED, STOPPED_LEAD_SPEED, sanitize_profile,
|
||||
)
|
||||
|
||||
|
||||
class LeadPlan(NamedTuple):
|
||||
cap: float = math.inf
|
||||
selected_lead: int = -1
|
||||
selected_lead_track_id: int = -1
|
||||
selected_lead_speed: float = math.inf
|
||||
selected_lead_accel: float = 0.0
|
||||
departure_lead_index: int = -1
|
||||
departure_lead_speed: float = math.inf
|
||||
departure_cap: float = math.inf
|
||||
departure_lead_speeds: tuple[float, float] = (math.inf, math.inf)
|
||||
departure_lead_distances: tuple[float, float] = (-math.inf, -math.inf)
|
||||
departure_lead_track_ids: tuple[int, int] = (-1, -1)
|
||||
departure_lead_separations: tuple[float, float] = (-math.inf, -math.inf)
|
||||
usable_gap: float = math.inf
|
||||
closing_speed: float = 0.0
|
||||
required_decel: float = 0.0
|
||||
has_nearly_stopped_lead: bool = False
|
||||
lead_status: bool = False
|
||||
|
||||
|
||||
def is_lead_source(source) -> bool:
|
||||
return source in (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1)
|
||||
|
||||
|
||||
def has_radar_lead(radar_state) -> bool:
|
||||
return bool(radar_state.leadOne.status or radar_state.leadTwo.status)
|
||||
|
||||
|
||||
def _project_ego(v_ego: float, a_ego: float, delay: float) -> tuple[float, float]:
|
||||
if a_ego < 0.0:
|
||||
stop_time = -v_ego / a_ego if v_ego > 0.0 else 0.0
|
||||
if stop_time <= delay:
|
||||
distance = -v_ego**2 / (2.0 * a_ego) if v_ego > 0.0 else 0.0
|
||||
return distance, 0.0
|
||||
return max(v_ego * delay + 0.5 * a_ego * delay**2, 0.0), max(v_ego + a_ego * delay, 0.0)
|
||||
|
||||
|
||||
def _lead_values(lead) -> tuple[float, float, float, float] | None:
|
||||
if not lead.status:
|
||||
return None
|
||||
d_rel, v_lead = float(lead.dRel), float(lead.vLeadK)
|
||||
if not math.isfinite(d_rel) or d_rel < 0.0 or not math.isfinite(v_lead) or v_lead < MIN_LEAD_SPEED:
|
||||
return None
|
||||
|
||||
a_lead = float(lead.aLeadK)
|
||||
if not math.isfinite(a_lead):
|
||||
a_lead = 0.0
|
||||
a_lead_tau = float(lead.aLeadTau)
|
||||
if not math.isfinite(a_lead_tau) or not 0.0 < a_lead_tau <= MAX_LEAD_ACCEL_TAU:
|
||||
a_lead_tau = _LEAD_ACCEL_TAU
|
||||
return d_rel, max(v_lead, 0.0), float(np.clip(a_lead, -10.0, 5.0)), a_lead_tau
|
||||
|
||||
|
||||
def calculate_lead_plan(radar_state, v_ego: float, a_ego: float, delay: float, profile: int,
|
||||
follow_personality=log.LongitudinalPersonality.standard) -> LeadPlan:
|
||||
if not all(math.isfinite(value) for value in (v_ego, a_ego, delay)) or v_ego < 0.0 or delay < 0.0:
|
||||
return LeadPlan()
|
||||
|
||||
leads = (radar_state.leadOne, radar_state.leadTwo)
|
||||
lead_status = any(lead.status for lead in leads)
|
||||
t_follow = get_T_FOLLOW(follow_personality)
|
||||
if not math.isfinite(t_follow) or t_follow < 0.0:
|
||||
return LeadPlan(lead_status=lead_status)
|
||||
|
||||
profile = sanitize_profile(profile)
|
||||
x_ego, v_ego_delay = _project_ego(v_ego, a_ego, delay)
|
||||
comfort_decel = COMFORT_DECEL[profile]
|
||||
candidates: list[LeadPlan] = []
|
||||
departure_candidates: list[tuple[float, int]] = []
|
||||
departure_speeds = [math.inf, math.inf]
|
||||
departure_distances = [-math.inf, -math.inf]
|
||||
departure_track_ids = [-1, -1]
|
||||
departure_separations = [-math.inf, -math.inf]
|
||||
departure_caps = [math.inf, math.inf]
|
||||
|
||||
for lead_index, lead in enumerate(leads):
|
||||
values = _lead_values(lead)
|
||||
if values is None:
|
||||
continue
|
||||
|
||||
d_rel, v_lead, a_lead, a_lead_tau = values
|
||||
lead_xv = LongitudinalMpc.extrapolate_lead(d_rel, v_lead, a_lead, a_lead_tau)
|
||||
x_lead = float(np.interp(delay, T_IDXS, lead_xv[:, 0]))
|
||||
v_lead_delay = float(np.interp(delay, T_IDXS, lead_xv[:, 1]))
|
||||
safety_gap = max(x_lead - x_ego - STOP_DISTANCE - t_follow * v_lead_delay, 0.0)
|
||||
closing_speed = max(v_ego_delay - v_lead_delay, 0.0)
|
||||
required_decel = 0.0 if closing_speed == 0.0 else math.inf if safety_gap == 0.0 else closing_speed**2 / (2.0 * safety_gap)
|
||||
reserve = float(np.interp(v_lead_delay, (0.0, STOP_GAP_RESERVE_LEAD_SPEED), (STOP_GAP_RESERVE, 0.0)))
|
||||
reserve_scale = float(np.interp(required_decel, STOP_GAP_RESERVE_DECEL_BP, (1.0, 0.0)))
|
||||
usable_gap = max(safety_gap - reserve * reserve_scale, 0.0)
|
||||
cap = v_lead_delay + math.sqrt(2.0 * comfort_decel * usable_gap)
|
||||
departure_cap = v_lead_delay + math.sqrt(2.0 * comfort_decel * safety_gap)
|
||||
separation = x_lead - x_ego
|
||||
departure_distance = x_lead + float(get_stopped_equivalence_factor(v_lead_delay))
|
||||
|
||||
finite_values = (x_lead, v_lead_delay, safety_gap, usable_gap, closing_speed, cap, departure_cap, departure_distance)
|
||||
if (not all(math.isfinite(value) and value >= 0.0 for value in finite_values) or math.isnan(required_decel)
|
||||
or required_decel < 0.0 or not math.isfinite(separation)):
|
||||
continue
|
||||
|
||||
track_id = max(int(lead.radarTrackId), -1) if math.isfinite(lead.radarTrackId) else -1
|
||||
candidates.append(LeadPlan(
|
||||
cap=cap, selected_lead=lead_index, selected_lead_track_id=track_id, selected_lead_speed=v_lead_delay, selected_lead_accel=a_lead,
|
||||
usable_gap=usable_gap, closing_speed=closing_speed, required_decel=required_decel, lead_status=lead_status,
|
||||
))
|
||||
departure_candidates.append((departure_distance, lead_index))
|
||||
departure_speeds[lead_index] = v_lead_delay
|
||||
departure_distances[lead_index] = d_rel
|
||||
departure_track_ids[lead_index] = track_id
|
||||
departure_separations[lead_index] = separation
|
||||
departure_caps[lead_index] = departure_cap
|
||||
|
||||
if not candidates:
|
||||
return LeadPlan(lead_status=lead_status)
|
||||
|
||||
selected = min(candidates, key=lambda candidate: candidate.cap)
|
||||
departure_lead_index = min(departure_candidates, key=lambda candidate: candidate[0])[1]
|
||||
departure_lead_speed = departure_speeds[departure_lead_index]
|
||||
return selected._replace(
|
||||
departure_lead_index=departure_lead_index, departure_lead_speed=departure_lead_speed,
|
||||
departure_cap=departure_caps[departure_lead_index], departure_lead_speeds=tuple(departure_speeds),
|
||||
departure_lead_distances=tuple(departure_distances), departure_lead_track_ids=tuple(departure_track_ids),
|
||||
departure_lead_separations=tuple(departure_separations), has_nearly_stopped_lead=departure_lead_speed < STOPPED_LEAD_SPEED,
|
||||
)
|
||||
@@ -1,191 +0,0 @@
|
||||
import math
|
||||
from statistics import median
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.constants import (
|
||||
CAP_FILTER_FRAMES, DEPARTURE_MOTION_NOISE_FLOOR, DEPARTURE_MOTION_STEP_MIN, SPEED_RELIEF_DEADBAND, STOP_HOLD_CREEP_DISTANCE,
|
||||
STOP_HOLD_CREEP_SPEED, STOP_HOLD_EXIT_FRAMES,
|
||||
)
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.lead import LeadPlan
|
||||
|
||||
|
||||
AccelControllerState = custom.LongitudinalPlanSP.AccelController.State
|
||||
|
||||
|
||||
class DepartureTracker:
|
||||
def __init__(self) -> None:
|
||||
self.samples: list[list[float]] = [[], []]
|
||||
self.motion_samples: list[float] = []
|
||||
self.references: list[float | None] = [None, None]
|
||||
self.track_ids = [-1, -1]
|
||||
|
||||
def separation(self, lead_index: int) -> float:
|
||||
samples = self.samples[lead_index]
|
||||
return float(median(samples)) if samples else -math.inf
|
||||
|
||||
def update(self, lead_plan: LeadPlan, dt: float) -> None:
|
||||
for lead_index, distance in enumerate(lead_plan.departure_lead_distances):
|
||||
if not math.isfinite(distance):
|
||||
continue
|
||||
samples = self.samples[lead_index]
|
||||
track_id = lead_plan.departure_lead_track_ids[lead_index]
|
||||
identity_changed = bool(samples) and track_id != self.track_ids[lead_index] and (track_id >= 0 or self.track_ids[lead_index] >= 0)
|
||||
max_distance_step = max(STOP_HOLD_CREEP_DISTANCE / 2.0, 3.0 * lead_plan.departure_lead_speeds[lead_index] * dt)
|
||||
geometry_jump = bool(samples) and abs(distance - samples[-1]) > max_distance_step
|
||||
if identity_changed or geometry_jump:
|
||||
samples.clear()
|
||||
self.references[lead_index] = distance
|
||||
samples.append(distance)
|
||||
if len(samples) > CAP_FILTER_FRAMES:
|
||||
samples.pop(0)
|
||||
self.track_ids[lead_index] = track_id
|
||||
lead_index = lead_plan.departure_lead_index
|
||||
if lead_index >= 0:
|
||||
distance = lead_plan.departure_lead_distances[lead_index]
|
||||
samples = self.motion_samples
|
||||
max_distance_step = max(STOP_HOLD_CREEP_DISTANCE / 2.0, 3.0 * lead_plan.departure_lead_speed * dt)
|
||||
if samples and abs(distance - samples[-1]) > max_distance_step:
|
||||
samples.clear()
|
||||
samples.append(distance)
|
||||
if len(samples) > CAP_FILTER_FRAMES:
|
||||
samples.pop(0)
|
||||
|
||||
def seed(self, lead_plan: LeadPlan) -> None:
|
||||
self.samples = [[], []]
|
||||
self.motion_samples = []
|
||||
self.references = [None, None]
|
||||
self.track_ids = list(lead_plan.departure_lead_track_ids)
|
||||
for lead_index, distance in enumerate(lead_plan.departure_lead_distances):
|
||||
if math.isfinite(distance):
|
||||
self.samples[lead_index].append(distance)
|
||||
self.references[lead_index] = distance
|
||||
if lead_plan.departure_lead_index >= 0:
|
||||
self.motion_samples.append(lead_plan.departure_lead_distances[lead_plan.departure_lead_index])
|
||||
|
||||
def progress(self, lead_plan: LeadPlan, minimum_distance: float) -> bool:
|
||||
lead_index = lead_plan.departure_lead_index
|
||||
if lead_index < 0 or lead_plan.departure_lead_speed <= STOP_HOLD_CREEP_SPEED:
|
||||
return False
|
||||
reference = self.references[lead_index]
|
||||
distance = self.separation(lead_index)
|
||||
return reference is not None and distance - reference >= minimum_distance
|
||||
|
||||
def recent_motion(self) -> bool:
|
||||
samples = self.motion_samples[-STOP_HOLD_EXIT_FRAMES:]
|
||||
if len(samples) < STOP_HOLD_EXIT_FRAMES:
|
||||
return False
|
||||
deltas = np.diff(samples)
|
||||
return bool(samples[-1] - samples[0] >= DEPARTURE_MOTION_NOISE_FLOOR and np.count_nonzero(deltas > DEPARTURE_MOTION_STEP_MIN) >= 2)
|
||||
|
||||
def backfill_references(self) -> None:
|
||||
for lead_index in range(len(self.references)):
|
||||
separation = self.separation(lead_index)
|
||||
if math.isfinite(separation) and self.references[lead_index] is None:
|
||||
self.references[lead_index] = separation
|
||||
|
||||
def keep_latest_motion_sample(self) -> None:
|
||||
if self.motion_samples:
|
||||
self.motion_samples = self.motion_samples[-1:]
|
||||
|
||||
|
||||
class TargetState:
|
||||
def __init__(self) -> None:
|
||||
self.cap_samples = [math.inf] * CAP_FILTER_FRAMES
|
||||
self.lead_speed_samples = [math.inf] * CAP_FILTER_FRAMES
|
||||
self.lead_accel_samples = [0.0] * CAP_FILTER_FRAMES
|
||||
self.departure = DepartureTracker()
|
||||
self.target_speed: float | None = None
|
||||
self.state = AccelControllerState.inactive
|
||||
self.departure_frames = self.active_frames = self.lead_loss_frames = self.release_settle_frames = 0
|
||||
self.lead_switch_guard_frames = self.lead_switch_elapsed_frames = self.lead_switch_stable_frames = self.stale_frames = 0
|
||||
self.selected_lead = self.selected_lead_track_id = -1
|
||||
self.launching = self.departure_launch = self.matched_lead = self.release_slew_armed = False
|
||||
self.lead_braking = self.e2e_braking_handoff = self.speed_reserve_armed = False
|
||||
self.speed_reserve_suppressed = False
|
||||
self.matched_accel_limit: float | None = None
|
||||
self.release_settle_speed: float | None = None
|
||||
|
||||
def reset_lead_switch_guard(self) -> None:
|
||||
self.lead_switch_guard_frames = self.lead_switch_elapsed_frames = self.lead_switch_stable_frames = 0
|
||||
|
||||
def arm_release_slew(self, force: bool = False) -> None:
|
||||
if self.release_slew_armed:
|
||||
self.release_settle_frames = 0
|
||||
return
|
||||
if not force and self.release_settle_speed is not None and self.target_speed is not None:
|
||||
if self.release_settle_speed - self.target_speed < SPEED_RELIEF_DEADBAND:
|
||||
return
|
||||
self.release_slew_armed = True
|
||||
self.release_settle_frames = 0
|
||||
self.release_settle_speed = None
|
||||
|
||||
def reset_release_slew(self, settled_speed: float | None = None) -> None:
|
||||
self.release_slew_armed = False
|
||||
self.release_settle_frames = 0
|
||||
self.release_settle_speed = settled_speed
|
||||
|
||||
def update_release_slew(self, ceiling: float, settled: bool) -> None:
|
||||
if not self.release_slew_armed:
|
||||
return
|
||||
if not settled:
|
||||
self.release_settle_frames = 0
|
||||
elif self.release_settle_speed is None or ceiling > self.release_settle_speed:
|
||||
self.release_settle_frames = 1
|
||||
self.release_settle_speed = ceiling
|
||||
else:
|
||||
self.release_settle_frames += 1
|
||||
if self.release_settle_frames >= CAP_FILTER_FRAMES:
|
||||
self.release_slew_armed = False
|
||||
self.release_settle_frames = 0
|
||||
|
||||
def update_lead_switch_guard(self, arm: bool, confirmed: bool, unstable: bool, hold_frames: int, max_frames: int) -> None:
|
||||
if self.lead_switch_elapsed_frames > 0:
|
||||
self.lead_switch_stable_frames = 0 if unstable else self.lead_switch_stable_frames + 1
|
||||
if self.lead_switch_guard_frames == 0 and self.lead_switch_stable_frames >= hold_frames:
|
||||
self.reset_lead_switch_guard()
|
||||
if arm and self.lead_switch_elapsed_frames == 0:
|
||||
self.lead_switch_guard_frames, self.lead_switch_elapsed_frames = hold_frames, 1
|
||||
elif self.lead_switch_guard_frames > 0:
|
||||
self.lead_switch_elapsed_frames += 1
|
||||
if self.lead_switch_elapsed_frames >= max_frames:
|
||||
self.lead_switch_guard_frames = 0
|
||||
else:
|
||||
self.lead_switch_guard_frames = self.lead_switch_guard_frames - 1 if confirmed else hold_frames
|
||||
|
||||
@property
|
||||
def filtered_cap(self) -> float:
|
||||
return sorted(self.cap_samples)[CAP_FILTER_FRAMES // 2]
|
||||
|
||||
@property
|
||||
def filtered_lead_speed(self) -> float:
|
||||
return sorted(self.lead_speed_samples)[CAP_FILTER_FRAMES // 2]
|
||||
|
||||
@property
|
||||
def filtered_lead_accel(self) -> float:
|
||||
return sorted(self.lead_accel_samples)[CAP_FILTER_FRAMES // 2]
|
||||
|
||||
def update_samples(self, lead_plan: LeadPlan, dt: float) -> bool:
|
||||
had_filtered_lead = math.isfinite(self.filtered_cap)
|
||||
has_lead = lead_plan.selected_lead >= 0
|
||||
self.cap_samples.append(lead_plan.cap if has_lead else math.inf)
|
||||
self.lead_speed_samples.append(lead_plan.selected_lead_speed if has_lead else math.inf)
|
||||
self.lead_accel_samples.append(lead_plan.selected_lead_accel if has_lead else 0.0)
|
||||
self.cap_samples.pop(0)
|
||||
self.lead_speed_samples.pop(0)
|
||||
self.lead_accel_samples.pop(0)
|
||||
self.lead_loss_frames = 0 if has_lead else self.lead_loss_frames + 1
|
||||
self.departure.update(lead_plan, dt)
|
||||
return not had_filtered_lead and math.isfinite(self.filtered_cap)
|
||||
|
||||
def enter_stop_hold(self, lead_plan: LeadPlan) -> None:
|
||||
self.departure.seed(lead_plan)
|
||||
self.target_speed = 0.0
|
||||
self.state = AccelControllerState.stopHold
|
||||
self.departure_frames = 0
|
||||
self.launching = self.departure_launch = False
|
||||
self.reset_release_slew()
|
||||
self.matched_lead = self.speed_reserve_armed = self.speed_reserve_suppressed = False
|
||||
self.matched_accel_limit = None
|
||||
self.reset_lead_switch_guard()
|
||||
File diff suppressed because it is too large
Load Diff
-522
@@ -1,522 +0,0 @@
|
||||
import inspect
|
||||
import math
|
||||
from types import SimpleNamespace
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from cereal import custom, log, messaging
|
||||
from opendbc.car.interfaces import ACCEL_MAX, ACCEL_MIN
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import N, LongitudinalMpc
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalPlanSource as MpcLongitudinalPlanSource
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import AccelController, AccelControllerState
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.constants import (
|
||||
MPC_DECEL_JERK_COST_MULTIPLIER, MPC_DECEL_JERK_MAX_REQUIRED_DECEL, MPC_DECEL_JERK_MAX_TARGET_REDUCTION, AccelProfile,
|
||||
)
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpcSP
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP, LongitudinalPlanSource
|
||||
|
||||
|
||||
def radar_state():
|
||||
return messaging.new_message("radarState").radarState
|
||||
|
||||
|
||||
class PlannerSM(dict):
|
||||
def __init__(self, radar_log_mono_time: int):
|
||||
super().__init__(
|
||||
radarState=radar_state(),
|
||||
carState=SimpleNamespace(vEgo=10.0, aEgo=0.0, vCruise=20.0),
|
||||
selfdriveState=SimpleNamespace(personality=0),
|
||||
controlsState=SimpleNamespace(forceDecel=False),
|
||||
)
|
||||
self.valid = {"radarState": True}
|
||||
self.alive = {"radarState": True}
|
||||
self.logMonoTime = {"radarState": radar_log_mono_time}
|
||||
|
||||
|
||||
class ControllerStub:
|
||||
def __init__(self, *, target_speed=15.0, active=True, mpc_accel_max=None, cruise_accel_max=None,
|
||||
state=AccelControllerState.free, selected_lead=-1,
|
||||
selected_lead_track_id=-1, launching=False, departure_launching=False, required_decel=0.0):
|
||||
self.available = self.enabled = True
|
||||
self.profile = AccelProfile.normal
|
||||
self.output_v_target = target_speed
|
||||
self.is_active = active
|
||||
self.mpc_accel_max = mpc_accel_max
|
||||
self.cruise_accel_max = cruise_accel_max
|
||||
self.state = state
|
||||
self.selected_lead = selected_lead
|
||||
self.selected_lead_track_id = selected_lead_track_id
|
||||
self.launching = launching
|
||||
self.departure_launching = departure_launching
|
||||
self.required_decel = required_decel
|
||||
self.dt = DT_MDL
|
||||
self._jerk_smoothing_blocked = False
|
||||
self._required_decel_samples = []
|
||||
self._required_decel_lead = -1
|
||||
self._required_decel_lead_track_id = -1
|
||||
self._lead_trend_warmup = False
|
||||
self.update_kwargs = None
|
||||
self.reset_calls = 0
|
||||
|
||||
def update(self, _radar_state, **kwargs):
|
||||
self.update_kwargs = kwargs
|
||||
|
||||
@property
|
||||
def is_enabled(self):
|
||||
return self.available and self.enabled
|
||||
|
||||
def update_params(self):
|
||||
pass
|
||||
|
||||
def reset(self):
|
||||
self.reset_calls += 1
|
||||
|
||||
def get_jerk_cost_multiplier(self, *args):
|
||||
return AccelController.get_jerk_cost_multiplier(self, *args)
|
||||
|
||||
def update_should_stop(self, should_stop):
|
||||
return AccelController.update_should_stop(self, should_stop)
|
||||
|
||||
|
||||
def planner_for_mpc_test(*, target_speed=15.0, active=True, is_e2e=False, mpc_accel_max=None,
|
||||
state=AccelControllerState.free, selected_lead=-1, launching=False,
|
||||
departure_launching=False, required_decel=0.0,
|
||||
mpc_source=MpcLongitudinalPlanSource.lead0):
|
||||
planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
|
||||
is_e2e_calls = []
|
||||
planner.is_e2e = lambda _sm: is_e2e_calls.append(True) or is_e2e
|
||||
planner.output_v_target = 20.0
|
||||
planner.output_should_stop = False
|
||||
planner.allow_throttle = True
|
||||
planner.a_desired = 0.0
|
||||
planner.v_desired_filter = SimpleNamespace(x=10.0)
|
||||
planner._radar_fresh_this_cycle = True
|
||||
planner.mpc = SimpleNamespace(source=mpc_source, last_solution_status=0)
|
||||
planner.accel_controller = ControllerStub(
|
||||
target_speed=target_speed, active=active, state=state, selected_lead=selected_lead, launching=launching,
|
||||
departure_launching=departure_launching, required_decel=required_decel, mpc_accel_max=mpc_accel_max,
|
||||
)
|
||||
return planner, is_e2e_calls
|
||||
|
||||
|
||||
def run_controller_mpc(planner, *, mpc_v_cruise=20.0, force_decel=False):
|
||||
calls = []
|
||||
planner._run_mpc = lambda _sm, *args, cruise_accel_max=None, **kwargs: calls.append((({}, *args), kwargs))
|
||||
sm = {
|
||||
"radarState": radar_state(),
|
||||
"controlsState": SimpleNamespace(forceDecel=force_decel),
|
||||
"carState": SimpleNamespace(vCruise=20.0, vEgo=10.0, aEgo=0.0),
|
||||
"selfdriveState": SimpleNamespace(personality=0),
|
||||
}
|
||||
is_e2e = planner.update_mpc(sm, mpc_v_cruise, True, ACCEL_MAX, False)
|
||||
return is_e2e, calls
|
||||
|
||||
|
||||
def test_accel_controller_schema_contract():
|
||||
expected = {"eco": 0, "normal": 1, "sport": 2}
|
||||
state = {"inactive": 0, "free": 1, "restrict": 2, "hold": 3, "release": 4, "stopHold": 5}
|
||||
accel_controller = custom.LongitudinalPlanSP.schema.fields["accelController"]
|
||||
fields = custom.LongitudinalPlanSP.AccelController.schema.fields
|
||||
|
||||
assert accel_controller.proto.ordinal.explicit == 8
|
||||
assert {name: field.proto.ordinal.explicit for name, field in fields.items()} == {
|
||||
"enabled": 0, "active": 1, "shadowOnlyDEPRECATED": 2, "profile": 3, "state": 4,
|
||||
}
|
||||
assert fields["shadowOnlyDEPRECATED"].proto.slot.type.which() == "bool"
|
||||
assert custom.LongitudinalPlanSP.AccelerationPersonality.schema.enumerants == expected
|
||||
assert custom.LongitudinalPlanSP.AccelController.Profile.schema.enumerants == expected
|
||||
assert custom.LongitudinalPlanSP.AccelController.State.schema.enumerants == state
|
||||
|
||||
|
||||
def test_accel_controller_schema_round_trip_and_toyota_compatibility():
|
||||
message = custom.LongitudinalPlanSP.new_message()
|
||||
message.accelController.enabled = True
|
||||
message.accelController.active = True
|
||||
message.accelController.profile = custom.LongitudinalPlanSP.AccelController.Profile.sport
|
||||
message.accelController.state = custom.LongitudinalPlanSP.AccelController.State.release
|
||||
|
||||
with custom.LongitudinalPlanSP.from_bytes(message.to_bytes()) as reader:
|
||||
assert reader.accelController.enabled and reader.accelController.active
|
||||
assert reader.accelController.profile == custom.LongitudinalPlanSP.AccelController.Profile.sport
|
||||
assert reader.accelController.state == custom.LongitudinalPlanSP.AccelController.State.release
|
||||
|
||||
from opendbc.car.toyota.carstate import AccelPersonality, CarState
|
||||
|
||||
assert AccelPersonality.schema.enumerants == {"eco": 0, "normal": 1, "sport": 2}
|
||||
assert CarState.__module__ == "opendbc.car.toyota.carstate"
|
||||
|
||||
|
||||
def test_longitudinal_planner_sp_owns_accel_controller_integration():
|
||||
assert "update_mpc" in LongitudinalPlannerSP.__dict__
|
||||
assert "update_should_stop" in LongitudinalPlannerSP.__dict__
|
||||
|
||||
|
||||
def test_mpc_inherits_accel_controller_extension_without_changing_stock_signature_or_bounds():
|
||||
assert LongitudinalMpc.__bases__ == (LongitudinalMpcSP,)
|
||||
assert tuple(inspect.signature(LongitudinalMpc.update).parameters) == ("self", "radarstate", "v_cruise", "personality")
|
||||
mpc = LongitudinalMpc()
|
||||
radar = radar_state()
|
||||
mpc.run = lambda: None
|
||||
|
||||
mpc.set_cur_state(10.0, 0.8)
|
||||
mpc.update(radar, 30.0)
|
||||
np.testing.assert_array_equal(mpc.params[:, 0], ACCEL_MIN)
|
||||
np.testing.assert_array_equal(mpc.params[:, 1], ACCEL_MAX)
|
||||
assert mpc.cruise_accel_max(1.6) == 1.6
|
||||
|
||||
mpc.set_accel_controller_params(None, 1.0, 0.4)
|
||||
assert mpc.cruise_accel_max(1.6) == 0.4
|
||||
|
||||
requested_ceiling = tuple(np.full(N + 1, 0.4))
|
||||
mpc.set_accel_controller_params(requested_ceiling, 1.0)
|
||||
mpc.update(radar, 30.0)
|
||||
np.testing.assert_array_equal(mpc.params[:, 0], ACCEL_MIN)
|
||||
assert mpc.params[0, 1] == pytest.approx(0.8)
|
||||
np.testing.assert_array_equal(mpc.params[1:, 1], requested_ceiling[1:])
|
||||
|
||||
for malformed_ceiling in ("bad", [0.4] * N, np.full(N + 1, math.nan), [10**10000] * (N + 1)):
|
||||
mpc.set_accel_controller_params(malformed_ceiling, 1.0)
|
||||
mpc.update(radar, 30.0)
|
||||
np.testing.assert_array_equal(mpc.params[:, 0], ACCEL_MIN)
|
||||
np.testing.assert_array_equal(mpc.params[:, 1], ACCEL_MAX)
|
||||
|
||||
mpc.set_accel_controller_params(None, 1.0)
|
||||
mpc.update(radar, 30.0)
|
||||
np.testing.assert_array_equal(mpc.params[:, 1], ACCEL_MAX)
|
||||
|
||||
|
||||
def test_mpc_jerk_cost_multiplier_is_backward_compatible_and_does_not_change_other_costs():
|
||||
mpc = LongitudinalMpc.__new__(LongitudinalMpc)
|
||||
LongitudinalMpcSP.__init__(mpc)
|
||||
captured = []
|
||||
mpc.set_cost_weights = lambda costs, constraints: captured.append((np.asarray(costs), np.asarray(constraints)))
|
||||
|
||||
mpc.set_weights(True, personality=log.LongitudinalPersonality.standard)
|
||||
default_costs, default_constraints = captured[-1]
|
||||
mpc.set_accel_controller_params(None, 1.0)
|
||||
mpc.set_weights(True, personality=log.LongitudinalPersonality.standard)
|
||||
explicit_costs, explicit_constraints = captured[-1]
|
||||
mpc.set_accel_controller_params(None, 1.2)
|
||||
mpc.set_weights(True, personality=log.LongitudinalPersonality.standard)
|
||||
smoothed_costs, smoothed_constraints = captured[-1]
|
||||
|
||||
np.testing.assert_array_equal(explicit_costs, default_costs)
|
||||
np.testing.assert_array_equal(explicit_constraints, default_constraints)
|
||||
np.testing.assert_array_equal(smoothed_costs[:-1], default_costs[:-1])
|
||||
assert smoothed_costs[-1] == pytest.approx(default_costs[-1] * 1.2)
|
||||
np.testing.assert_array_equal(smoothed_constraints, default_constraints)
|
||||
|
||||
mpc.set_weights(False, personality=log.LongitudinalPersonality.standard)
|
||||
assert captured[-1][0][-2] == 0.0
|
||||
assert captured[-1][0][-1] == pytest.approx(default_costs[-1] * 1.2)
|
||||
|
||||
|
||||
def test_inherited_planner_uses_real_state_raw_radar_and_one_mpc_solve():
|
||||
radar = radar_state()
|
||||
planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
|
||||
planner.a_desired = -0.2
|
||||
planner.v_desired_filter = SimpleNamespace(x=12.0)
|
||||
calls = []
|
||||
|
||||
def update_mpc(radar_arg, target, *, personality):
|
||||
calls.append(("update", radar_arg, target, personality))
|
||||
|
||||
planner.mpc = SimpleNamespace(
|
||||
set_accel_controller_params=lambda accel_max, multiplier, cruise_accel_max: calls.append(
|
||||
("configure", accel_max, multiplier, cruise_accel_max)),
|
||||
set_weights=lambda constraint, personality: calls.append(("weights", constraint, personality)),
|
||||
set_cur_state=lambda speed, accel: calls.append(("state", speed, accel)),
|
||||
update=update_mpc,
|
||||
)
|
||||
ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
|
||||
sm = {"radarState": radar, "selfdriveState": SimpleNamespace(personality=2)}
|
||||
planner._run_mpc(sm, 17.5, True, ceiling, jerk_cost_multiplier=1.2)
|
||||
|
||||
assert calls == [
|
||||
("configure", ceiling, 1.2, None),
|
||||
("weights", True, 2),
|
||||
("state", 12.0, -0.2),
|
||||
("update", radar, 17.5, 2),
|
||||
]
|
||||
assert calls[-1][1] is radar
|
||||
|
||||
|
||||
def test_active_acc_uses_target_and_ceiling_in_exactly_one_solve():
|
||||
ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
|
||||
planner, mode_calls = planner_for_mpc_test(mpc_accel_max=ceiling)
|
||||
is_e2e, calls = run_controller_mpc(planner)
|
||||
|
||||
assert not is_e2e
|
||||
assert len(mode_calls) == 1
|
||||
assert calls == [(({}, 15.0, True, ceiling), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
|
||||
def test_valid_lead_stop_hold_preplans_from_raw_target_without_an_accel_ceiling():
|
||||
planner, _ = planner_for_mpc_test(
|
||||
target_speed=0.0, mpc_accel_max=None, state=AccelControllerState.stopHold, selected_lead=0,
|
||||
)
|
||||
_, calls = run_controller_mpc(planner)
|
||||
|
||||
assert calls == [(({}, 20.0, True, None), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
|
||||
def test_missing_lead_stop_hold_keeps_zero_mpc_target_without_an_accel_ceiling():
|
||||
planner, _ = planner_for_mpc_test(
|
||||
target_speed=0.0, mpc_accel_max=None, state=AccelControllerState.stopHold, selected_lead=-1,
|
||||
)
|
||||
_, calls = run_controller_mpc(planner)
|
||||
|
||||
assert calls == [(({}, 0.0, True, None), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
("active", "departure_launching", "expected"),
|
||||
[
|
||||
(True, True, False),
|
||||
(True, False, True),
|
||||
(False, True, True),
|
||||
],
|
||||
)
|
||||
def test_only_confirmed_live_acc_departure_clears_should_stop(active, departure_launching, expected):
|
||||
planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
|
||||
planner.accel_controller = ControllerStub(active=active, departure_launching=departure_launching, state=AccelControllerState.stopHold)
|
||||
assert planner.update_should_stop(True) is expected
|
||||
assert planner.update_should_stop(False) is (active and not departure_launching)
|
||||
|
||||
|
||||
@pytest.mark.parametrize(("active", "is_e2e"), [(False, False), (True, True)])
|
||||
def test_disabled_or_e2e_is_an_exact_mpc_bypass(active, is_e2e):
|
||||
ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
|
||||
planner, mode_calls = planner_for_mpc_test(active=active, is_e2e=is_e2e, mpc_accel_max=ceiling)
|
||||
returned_e2e, calls = run_controller_mpc(planner)
|
||||
|
||||
assert returned_e2e is is_e2e
|
||||
assert len(mode_calls) == 1
|
||||
assert calls == [(({}, 20.0, True, None), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
|
||||
def test_force_decel_target_remains_authoritative_and_disables_ceiling():
|
||||
ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
|
||||
planner, mode_calls = planner_for_mpc_test(mpc_accel_max=ceiling)
|
||||
_, calls = run_controller_mpc(planner, mpc_v_cruise=0.0, force_decel=True)
|
||||
|
||||
assert len(mode_calls) == 1
|
||||
assert calls == [(({}, 0.0, True, None), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
|
||||
def test_previous_mpc_failure_gets_one_stock_recovery_cycle():
|
||||
ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
|
||||
planner, mode_calls = planner_for_mpc_test(mpc_accel_max=ceiling)
|
||||
controller = planner.accel_controller
|
||||
planner.mpc.last_solution_status = 4
|
||||
|
||||
_, failed_recovery_calls = run_controller_mpc(planner)
|
||||
assert controller.reset_calls == 1
|
||||
assert len(mode_calls) == 1
|
||||
assert failed_recovery_calls == [(({}, 20.0, True, None), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
planner.mpc.last_solution_status = 0
|
||||
_, recovered_calls = run_controller_mpc(planner)
|
||||
assert controller.reset_calls == 1
|
||||
assert len(mode_calls) == 2
|
||||
assert recovered_calls == [(({}, 15.0, True, ceiling), {"jerk_cost_multiplier": 1.0})]
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"mpc_source",
|
||||
(MpcLongitudinalPlanSource.cruise, MpcLongitudinalPlanSource.lead0, MpcLongitudinalPlanSource.lead1),
|
||||
)
|
||||
def test_routine_governor_restriction_forwards_the_jerk_cost_multiplier(mpc_source):
|
||||
planner, _ = planner_for_mpc_test(
|
||||
state=AccelControllerState.restrict, selected_lead=0, required_decel=0.30,
|
||||
mpc_source=mpc_source,
|
||||
)
|
||||
_, calls = run_controller_mpc(planner)
|
||||
|
||||
assert calls == [(({}, 15.0, True, None), {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER})]
|
||||
|
||||
|
||||
def test_ineligible_required_decel_blocks_smoothing_only_until_the_restriction_episode_ends():
|
||||
planner, _ = planner_for_mpc_test(
|
||||
state=AccelControllerState.restrict, selected_lead=0, required_decel=0.30,
|
||||
)
|
||||
_, initial_calls = run_controller_mpc(planner)
|
||||
controller = planner.accel_controller
|
||||
assert initial_calls[0][1] == {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER}
|
||||
|
||||
controller.required_decel = MPC_DECEL_JERK_MAX_REQUIRED_DECEL
|
||||
_, ineligible_calls = run_controller_mpc(planner)
|
||||
assert ineligible_calls[0][1] == {"jerk_cost_multiplier": 1.0}
|
||||
|
||||
controller.required_decel = 0.30
|
||||
_, flicker_calls = run_controller_mpc(planner)
|
||||
assert flicker_calls[0][1] == {"jerk_cost_multiplier": 1.0}
|
||||
|
||||
controller.state = AccelControllerState.free
|
||||
controller.output_v_target = 20.0
|
||||
run_controller_mpc(planner)
|
||||
controller.state = AccelControllerState.restrict
|
||||
controller.output_v_target = 15.0
|
||||
_, rearmed_calls = run_controller_mpc(planner)
|
||||
assert rearmed_calls[0][1] == {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER}
|
||||
|
||||
|
||||
def test_consistently_tightening_lead_releases_smoothing_until_the_restriction_ends():
|
||||
planner, _ = planner_for_mpc_test(
|
||||
state=AccelControllerState.restrict, selected_lead=0, required_decel=0.18,
|
||||
)
|
||||
_, calls = run_controller_mpc(planner)
|
||||
controller = planner.accel_controller
|
||||
multipliers = [calls[0][1]["jerk_cost_multiplier"]]
|
||||
for required_decel in (0.20, 0.23, 0.25):
|
||||
controller.required_decel = required_decel
|
||||
_, calls = run_controller_mpc(planner)
|
||||
multipliers.append(calls[0][1]["jerk_cost_multiplier"])
|
||||
|
||||
assert multipliers == [MPC_DECEL_JERK_COST_MULTIPLIER] * 3 + [1.0]
|
||||
|
||||
controller.required_decel = 0.20
|
||||
_, calls = run_controller_mpc(planner)
|
||||
assert calls[0][1] == {"jerk_cost_multiplier": 1.0}
|
||||
|
||||
controller.state = AccelControllerState.free
|
||||
controller.output_v_target = 20.0
|
||||
run_controller_mpc(planner)
|
||||
controller.state = AccelControllerState.restrict
|
||||
controller.output_v_target = 15.0
|
||||
controller.required_decel = 0.18
|
||||
_, calls = run_controller_mpc(planner)
|
||||
assert calls[0][1] == {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER}
|
||||
|
||||
|
||||
def test_one_frame_required_decel_noise_does_not_disable_routine_smoothing():
|
||||
planner, _ = planner_for_mpc_test(
|
||||
state=AccelControllerState.restrict, selected_lead=0, required_decel=0.18,
|
||||
)
|
||||
_, calls = run_controller_mpc(planner)
|
||||
controller = planner.accel_controller
|
||||
multipliers = [calls[0][1]["jerk_cost_multiplier"]]
|
||||
for required_decel in (0.24, 0.19, 0.22):
|
||||
controller.required_decel = required_decel
|
||||
_, calls = run_controller_mpc(planner)
|
||||
multipliers.append(calls[0][1]["jerk_cost_multiplier"])
|
||||
|
||||
assert multipliers == [MPC_DECEL_JERK_COST_MULTIPLIER] * 4
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
("state", "selected_lead", "launching", "required_decel", "target_speed", "mpc_source"),
|
||||
[
|
||||
(AccelControllerState.free, 0, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.hold, 0, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.stopHold, 0, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, -1, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, True, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, MPC_DECEL_JERK_MAX_REQUIRED_DECEL, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, math.inf, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, math.nan, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, 0.0, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, -0.01, 15.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, 0.30, 20.0 - MPC_DECEL_JERK_MAX_TARGET_REDUCTION, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, 0.30, 20.0, MpcLongitudinalPlanSource.cruise),
|
||||
(AccelControllerState.restrict, 0, False, 0.30, 25.0, MpcLongitudinalPlanSource.cruise),
|
||||
],
|
||||
)
|
||||
def test_non_routine_or_stock_lead_states_keep_stock_jerk_cost(
|
||||
state, selected_lead, launching, required_decel, target_speed, mpc_source,
|
||||
):
|
||||
planner, _ = planner_for_mpc_test(
|
||||
state=state, selected_lead=selected_lead, launching=launching,
|
||||
required_decel=required_decel, target_speed=target_speed, mpc_source=mpc_source,
|
||||
)
|
||||
_, calls = run_controller_mpc(planner)
|
||||
|
||||
assert calls[0][1] == {"jerk_cost_multiplier": 1.0}
|
||||
|
||||
|
||||
def test_controller_receives_previous_mpc_state_and_cached_radar_freshness():
|
||||
planner, _ = planner_for_mpc_test(mpc_source=log.LongitudinalPlan.LongitudinalPlanSource.lead0)
|
||||
planner._radar_fresh_this_cycle = True
|
||||
planner.a_desired = -0.4
|
||||
planner.v_desired_filter = SimpleNamespace(x=9.5)
|
||||
run_controller_mpc(planner)
|
||||
received = planner.accel_controller.update_kwargs
|
||||
|
||||
assert received["previous_mpc_source"] == log.LongitudinalPlan.LongitudinalPlanSource.lead0
|
||||
assert received["planner_speed"] == 9.5
|
||||
assert received["planner_accel"] == -0.4
|
||||
assert received["radar_fresh"] is True
|
||||
|
||||
|
||||
def test_controller_is_disabled_when_openpilot_longitudinal_control_is_unavailable():
|
||||
controller = AccelController(SimpleNamespace(longitudinalActuatorDelay=0.1, openpilotLongitudinalControl=False))
|
||||
controller.enabled = True
|
||||
assert not controller.is_enabled
|
||||
|
||||
|
||||
def test_radar_freshness_is_computed_once_and_shared_with_dec_and_controller():
|
||||
planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
|
||||
planner._radar_log_mono_time = None
|
||||
planner._radar_fresh_this_cycle = True
|
||||
planner.events_sp = SimpleNamespace(clear=lambda: None)
|
||||
dec_freshness = []
|
||||
planner.dec = SimpleNamespace(update=lambda _sm, *, radar_fresh, planner_accel: dec_freshness.append(radar_fresh))
|
||||
planner.e2e_alerts_helper = SimpleNamespace(update=lambda *_args: None)
|
||||
planner.output_a_target = 0.0
|
||||
planner.output_v_target = 20.0
|
||||
planner.output_should_stop = False
|
||||
planner.allow_throttle = True
|
||||
planner.a_desired = 0.0
|
||||
planner.v_desired_filter = SimpleNamespace(x=10.0)
|
||||
planner.mpc = SimpleNamespace(source=log.LongitudinalPlan.LongitudinalPlanSource.cruise, last_solution_status=0)
|
||||
planner.is_e2e = lambda _sm: False
|
||||
planner._run_mpc = lambda *_args, **_kwargs: None
|
||||
planner.accel_controller = ControllerStub(target_speed=20.0, active=False)
|
||||
|
||||
sm = PlannerSM(100)
|
||||
for expected in (True, False):
|
||||
planner.update(sm)
|
||||
planner.update_mpc(sm, 20.0, True, ACCEL_MAX, False)
|
||||
assert dec_freshness[-1] is expected and planner.accel_controller.update_kwargs["radar_fresh"] is expected
|
||||
|
||||
sm.logMonoTime["radarState"] = 101
|
||||
planner.update(sm)
|
||||
planner.update_mpc(sm, 20.0, True, ACCEL_MAX, False)
|
||||
assert dec_freshness[-1] is True and planner.accel_controller.update_kwargs["radar_fresh"] is True
|
||||
|
||||
|
||||
def test_accel_controller_status_publishes_minimal_fields():
|
||||
planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
|
||||
planner.source = LongitudinalPlanSource.cruise
|
||||
planner.output_v_target = 20.0
|
||||
planner.output_a_target = 0.0
|
||||
planner.events_sp = SimpleNamespace(to_msg=list)
|
||||
planner.dec = SimpleNamespace(mode=lambda: "acc", enabled=lambda: False, active=lambda: False)
|
||||
planner.accel_controller = ControllerStub(active=False, state=AccelControllerState.restrict)
|
||||
planner.scc = SimpleNamespace(
|
||||
vision=SimpleNamespace(state=0, output_v_target=20.0, output_a_target=0.0, current_lat_acc=0.0, max_pred_lat_acc=0.0, is_enabled=False, is_active=False),
|
||||
map=SimpleNamespace(state=0, output_v_target=20.0, output_a_target=0.0, is_enabled=False, is_active=False),
|
||||
)
|
||||
planner.resolver = SimpleNamespace(
|
||||
speed_limit=0.0, speed_limit_last=0.0, speed_limit_final=0.0, speed_limit_final_last=0.0,
|
||||
speed_limit_valid=False, speed_limit_last_valid=False, speed_limit_offset=0.0, distance=0.0,
|
||||
source=custom.LongitudinalPlanSP.SpeedLimit.Source.none,
|
||||
)
|
||||
planner.sla = SimpleNamespace(
|
||||
state=custom.LongitudinalPlanSP.SpeedLimit.AssistState.disabled, is_enabled=False, is_active=False,
|
||||
output_v_target=20.0, output_a_target=0.0,
|
||||
)
|
||||
planner.e2e_alerts_helper = SimpleNamespace(green_light_alert=False, lead_depart_alert=False)
|
||||
sent = {}
|
||||
planner.publish_longitudinal_plan_sp(
|
||||
SimpleNamespace(all_checks=lambda service_list: True),
|
||||
SimpleNamespace(send=lambda service, message: sent.update({service: message})),
|
||||
)
|
||||
|
||||
telemetry = sent["longitudinalPlanSP"].longitudinalPlanSP.accelController
|
||||
assert telemetry.enabled and not telemetry.active
|
||||
assert telemetry.profile == int(AccelProfile.normal)
|
||||
assert telemetry.state == int(AccelControllerState.restrict)
|
||||
assert set(custom.LongitudinalPlanSP.AccelController.schema.fields) == {"enabled", "active", "shadowOnlyDEPRECATED", "profile", "state"}
|
||||
-83
@@ -1,83 +0,0 @@
|
||||
import pytest
|
||||
|
||||
from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.ford.values import CAR as FORD
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.hyundai.values import CAR as HYUNDAI
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
|
||||
|
||||
|
||||
VEHICLES = [
|
||||
pytest.param(TOYOTA.TOYOTA_RAV4_TSS2, (True, False, 0.0, -2.0, 0.25, 0.25, 0.3), id="toyota-rav4-tss2"),
|
||||
pytest.param(HONDA.HONDA_ACCORD, (True, False, 0.0, -2.0, 0.5, 0.5, 0.8), id="honda-accord"),
|
||||
pytest.param(GM.CHEVROLET_BOLT_EUV, (True, False, 0.0, -2.0, 0.25, 0.25, 2.0), id="gm-bolt-euv"),
|
||||
pytest.param(HYUNDAI.HYUNDAI_SONATA, (True, True, 1.0, -2.0, 0.1, 0.5, 0.8), id="hyundai-sonata"),
|
||||
pytest.param(FORD.FORD_ESCAPE_MK4, (True, False, 0.0, -2.0, 0.5, 0.5, 0.8), id="ford-escape"),
|
||||
]
|
||||
|
||||
|
||||
def get_car_params(candidate):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
interface = interfaces[candidate]
|
||||
CP = interface.get_params(candidate, fingerprint, [], True, False, False)
|
||||
CP_SP = interface.get_params_sp(CP, candidate, fingerprint, [], True, False, False)
|
||||
return CP, CP_SP
|
||||
|
||||
|
||||
@pytest.mark.parametrize(("candidate", "expected"), VEHICLES)
|
||||
def test_real_vehicle_longcontrol_stop_and_start(candidate, expected):
|
||||
CP, CP_SP = get_car_params(candidate)
|
||||
expected_long, expected_starting, *expected_tuning = expected
|
||||
|
||||
assert CP.openpilotLongitudinalControl is expected_long
|
||||
assert CP.startingState is expected_starting
|
||||
assert (CP.startAccel, CP.stopAccel, CP.vEgoStarting, CP.vEgoStopping, CP.stoppingDecelRate) == pytest.approx(expected_tuning)
|
||||
|
||||
stop_speeds = [CP.vEgoStopping - 0.01] * 2
|
||||
drive_speeds = [CP.vEgoStopping + 0.01] * 2
|
||||
_, should_stop = get_accel_from_plan(stop_speeds, [0.0, 0.0], [0.0, 1.0], vEgoStopping=CP.vEgoStopping)
|
||||
_, should_drive = get_accel_from_plan(drive_speeds, [0.0, 0.0], [0.0, 1.0], vEgoStopping=CP.vEgoStopping)
|
||||
assert should_stop
|
||||
assert not should_drive
|
||||
|
||||
departure_state = long_control_state_trans(
|
||||
CP,
|
||||
CP_SP,
|
||||
True,
|
||||
LongCtrlState.stopping,
|
||||
CP.vEgoStarting - 0.01,
|
||||
should_drive,
|
||||
brake_pressed=False,
|
||||
cruise_standstill=False,
|
||||
)
|
||||
assert departure_state == (LongCtrlState.starting if CP.startingState else LongCtrlState.pid)
|
||||
assert (
|
||||
long_control_state_trans(
|
||||
CP,
|
||||
CP_SP,
|
||||
True,
|
||||
departure_state,
|
||||
CP.vEgoStarting + 0.01,
|
||||
should_drive,
|
||||
brake_pressed=False,
|
||||
cruise_standstill=False,
|
||||
)
|
||||
== LongCtrlState.pid
|
||||
)
|
||||
|
||||
CS = structs.CarState()
|
||||
CS.vEgo = 0.0
|
||||
CS.aEgo = 0.0
|
||||
control = LongControl(CP, CP_SP)
|
||||
|
||||
stopping_accel = control.update(True, CS, 0.0, should_stop, (-3.0, 2.0))
|
||||
assert control.long_control_state == LongCtrlState.stopping
|
||||
assert stopping_accel == pytest.approx(-CP.stoppingDecelRate * DT_CTRL)
|
||||
|
||||
departure_accel = control.update(True, CS, 0.0, should_drive, (-3.0, 2.0))
|
||||
assert control.long_control_state == departure_state
|
||||
assert departure_accel == pytest.approx(CP.startAccel)
|
||||
@@ -1,48 +1,17 @@
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
|
||||
|
||||
class WMACConstants:
|
||||
TRAJECTORY_SIZE = 33
|
||||
PARAM_READ_FRAMES = max(1, int(round(1.0 / DT_MDL)))
|
||||
# Lead detection parameters
|
||||
LEAD_WINDOW_SIZE = 6 # Stable detection window
|
||||
LEAD_PROB = 0.45 # Balanced threshold for lead detection
|
||||
|
||||
EMERGENCY_HOLD_FRAMES = max(1, int(round(0.75 / DT_MDL)))
|
||||
MIN_MODE_DURATION = {'acc': max(1, int(round(0.6 / DT_MDL))), 'blended': max(1, int(round(0.5 / DT_MDL)))}
|
||||
ENTER_BLENDED_FRAMES = max(1, int(round(0.4 / DT_MDL)))
|
||||
EXIT_BLENDED_FRAMES = max(1, int(round(0.35 / DT_MDL)))
|
||||
STANDSTILL_FRAMES = max(1, int(round(0.2 / DT_MDL)))
|
||||
# Slow down detection parameters
|
||||
SLOW_DOWN_WINDOW_SIZE = 5 # Responsive but stable
|
||||
SLOW_DOWN_PROB = 0.3 # Balanced threshold for slow down scenarios
|
||||
|
||||
LEAD_PROB = 0.45
|
||||
LEAD_EXIT_PROB = 0.25
|
||||
LEAD_RISE_RATE = 1.0
|
||||
LEAD_FALL_RATE = 0.35
|
||||
RADAR_LEAD_CONTINUITY_FRAMES = max(1, int(round(1.0 / DT_MDL)))
|
||||
RADAR_LEAD_DROPOUT_FRAMES = max(1, int(round(0.2 / DT_MDL)))
|
||||
RADAR_STALE_FRAMES = max(1, int(round(0.5 / DT_MDL)))
|
||||
|
||||
SLOW_DOWN_PROB = 0.5
|
||||
SLOW_DOWN_EXIT_PROB = 0.4
|
||||
SLOW_DOWN_RISE_RATE = 0.65
|
||||
SLOW_DOWN_FALL_RATE = 0.15
|
||||
# Optimized slow down distance curve - smooth and progressive
|
||||
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
|
||||
SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
|
||||
URGENT_SLOW_DOWN_PROB = 0.85
|
||||
|
||||
MODEL_DECEL_START = -0.5
|
||||
MODEL_DECEL_RANGE = 2.0
|
||||
MODEL_DECEL_TREND_FRAMES = 4
|
||||
MODEL_DECEL_TREND_ACCEL = -0.075
|
||||
MODEL_DECEL_TREND_RATE = 0.35
|
||||
MODEL_DECEL_TREND_MAX_MPC_ACCEL = 0.075
|
||||
MODEL_DECEL_TREND_MAX_COMMAND_STEP = 0.15
|
||||
MODEL_DECEL_TREND_RELEASE_ACCEL = -0.02
|
||||
ENDPOINT_URGENCY_GAIN = 1.3
|
||||
CRITICAL_ENDPOINT_FACTOR = 0.3
|
||||
CRITICAL_URGENCY_GAIN = 1.5
|
||||
SPEED_URGENCY_MIN = 25.0
|
||||
SPEED_URGENCY_RANGE = 80.0
|
||||
|
||||
SLOWNESS_PROB = 0.55
|
||||
SLOWNESS_EXIT_PROB = 0.45
|
||||
SLOWNESS_RISE_RATE = 0.35
|
||||
SLOWNESS_FALL_RATE = 0.5
|
||||
SLOWNESS_CRUISE_OFFSET = 1.025
|
||||
# Slowness detection parameters
|
||||
SLOWNESS_WINDOW_SIZE = 10 # Stable slowness detection
|
||||
SLOWNESS_PROB = 0.55 # Clear threshold for slowness
|
||||
SLOWNESS_CRUISE_OFFSET = 1.025 # Conservative cruise speed offset
|
||||
|
||||
@@ -6,119 +6,129 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
# Version = 2025-6-30
|
||||
|
||||
from collections import deque
|
||||
import math
|
||||
from typing import Literal
|
||||
|
||||
from cereal import messaging
|
||||
from numpy import interp
|
||||
from opendbc.car import structs
|
||||
from numpy import interp
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
|
||||
from typing import Literal
|
||||
|
||||
# d-e2e, from modeldata.h
|
||||
TRAJECTORY_SIZE = 33
|
||||
SET_MODE_TIMEOUT = 15
|
||||
|
||||
# Define the valid mode types
|
||||
ModeType = Literal['acc', 'blended']
|
||||
|
||||
|
||||
def clip01(value: float) -> float:
|
||||
return max(0.0, min(1.0, float(value)))
|
||||
class SmoothKalmanFilter:
|
||||
"""Enhanced Kalman filter with smoothing for stable decision making."""
|
||||
|
||||
def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
|
||||
alpha=1.0, smoothing_factor=0.85):
|
||||
self.x = initial_value
|
||||
self.P = 1.0
|
||||
self.R = measurement_noise
|
||||
self.Q = process_noise
|
||||
self.alpha = alpha
|
||||
self.smoothing_factor = smoothing_factor
|
||||
self.initialized = False
|
||||
self.history = []
|
||||
self.max_history = 10
|
||||
self.confidence = 0.0
|
||||
|
||||
class SmoothedSignal:
|
||||
def __init__(self, rise_rate: float, fall_rate: float, initial_value: float = 0.0):
|
||||
self.rise_rate = clip01(rise_rate)
|
||||
self.fall_rate = clip01(fall_rate)
|
||||
self.value = clip01(initial_value)
|
||||
def add_data(self, measurement):
|
||||
if len(self.history) >= self.max_history:
|
||||
self.history.pop(0)
|
||||
self.history.append(measurement)
|
||||
|
||||
def update(self, measurement: float) -> float:
|
||||
measurement = clip01(measurement)
|
||||
rate = self.rise_rate if measurement > self.value else self.fall_rate
|
||||
self.value += (measurement - self.value) * rate
|
||||
return self.value
|
||||
if not self.initialized:
|
||||
self.x = measurement
|
||||
self.initialized = True
|
||||
self.confidence = 0.1
|
||||
return
|
||||
|
||||
def reset(self, value: float = 0.0) -> None:
|
||||
self.value = clip01(value)
|
||||
self.P = self.alpha * self.P + self.Q
|
||||
|
||||
K = self.P / (self.P + self.R)
|
||||
effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
|
||||
|
||||
class HysteresisSignal:
|
||||
def __init__(self, enter_threshold: float, exit_threshold: float, rise_rate: float, fall_rate: float):
|
||||
self.enter_threshold = clip01(enter_threshold)
|
||||
self.exit_threshold = clip01(exit_threshold)
|
||||
self.filter = SmoothedSignal(rise_rate, fall_rate)
|
||||
self.active = False
|
||||
innovation = measurement - self.x
|
||||
self.x = self.x + effective_K * innovation
|
||||
self.P = (1 - effective_K) * self.P
|
||||
|
||||
def update(self, measurement: float) -> bool:
|
||||
value = self.filter.update(measurement)
|
||||
threshold = self.exit_threshold if self.active else self.enter_threshold
|
||||
self.active = value > threshold
|
||||
return self.active
|
||||
if abs(innovation) < 0.1:
|
||||
self.confidence = min(1.0, self.confidence + 0.05)
|
||||
else:
|
||||
self.confidence = max(0.1, self.confidence - 0.02)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.filter.reset()
|
||||
self.active = False
|
||||
def get_value(self):
|
||||
return self.x if self.initialized else None
|
||||
|
||||
@property
|
||||
def value(self) -> float:
|
||||
return self.filter.value
|
||||
def get_confidence(self):
|
||||
return self.confidence
|
||||
|
||||
def reset_data(self):
|
||||
self.initialized = False
|
||||
self.history = []
|
||||
self.confidence = 0.0
|
||||
|
||||
|
||||
class ModeTransitionManager:
|
||||
"""Manages smooth transitions between driving modes with hysteresis."""
|
||||
|
||||
def __init__(self):
|
||||
self.current_mode: ModeType = 'acc'
|
||||
self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
|
||||
self.transition_timeout = 0
|
||||
self.min_mode_duration = 10
|
||||
self.mode_duration = 0
|
||||
self._pending_mode: ModeType = 'acc'
|
||||
self._pending_count = 0
|
||||
self._blended_hold_frames = 0
|
||||
self.emergency_override = False
|
||||
|
||||
def request_mode(self, mode: ModeType, immediate: bool = False, hold_frames: int = 0, cancel_hold: bool = False) -> None:
|
||||
if immediate:
|
||||
self._blended_hold_frames = max(self._blended_hold_frames, hold_frames) if mode == 'blended' else 0
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
self._switch_mode(mode)
|
||||
def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
|
||||
# Emergency override for critical situations (stops, collisions)
|
||||
if emergency:
|
||||
self.emergency_override = True
|
||||
self.current_mode = mode
|
||||
self.transition_timeout = SET_MODE_TIMEOUT
|
||||
self.mode_duration = 0
|
||||
return
|
||||
|
||||
if cancel_hold and mode == 'acc':
|
||||
self._blended_hold_frames = 0
|
||||
self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
|
||||
for m in self.mode_confidence:
|
||||
if m != mode:
|
||||
self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
|
||||
|
||||
if self._blended_hold_frames > 0:
|
||||
mode = 'blended'
|
||||
|
||||
if mode == self.current_mode:
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
# Require minimum duration in current mode (unless emergency)
|
||||
if self.mode_duration < self.min_mode_duration and not self.emergency_override:
|
||||
return
|
||||
|
||||
if mode != self._pending_mode:
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 1
|
||||
else:
|
||||
self._pending_count += 1
|
||||
# Hysteresis: higher threshold for mode changes
|
||||
confidence_threshold = 0.6 if mode != self.current_mode else 0.3 # Lower threshold for faster response
|
||||
|
||||
if self.mode_duration < WMACConstants.MIN_MODE_DURATION[self.current_mode]:
|
||||
return
|
||||
if self.mode_confidence[mode] > confidence_threshold:
|
||||
if mode != self.current_mode and self.transition_timeout == 0:
|
||||
self.transition_timeout = SET_MODE_TIMEOUT
|
||||
self.current_mode = mode
|
||||
self.mode_duration = 0
|
||||
|
||||
required_count = WMACConstants.ENTER_BLENDED_FRAMES if mode == 'blended' else WMACConstants.EXIT_BLENDED_FRAMES
|
||||
if self._pending_count >= required_count:
|
||||
self._switch_mode(mode)
|
||||
|
||||
def update(self) -> None:
|
||||
if self._blended_hold_frames > 0:
|
||||
self._blended_hold_frames -= 1
|
||||
def update(self):
|
||||
if self.transition_timeout > 0:
|
||||
self.transition_timeout -= 1
|
||||
self.mode_duration += 1
|
||||
|
||||
# Reset emergency override after some time
|
||||
if self.emergency_override and self.mode_duration > 20:
|
||||
self.emergency_override = False
|
||||
|
||||
# Gradual confidence decay
|
||||
for mode in self.mode_confidence:
|
||||
self.mode_confidence[mode] *= 0.98
|
||||
|
||||
def get_mode(self) -> ModeType:
|
||||
return self.current_mode
|
||||
|
||||
def _switch_mode(self, mode: ModeType) -> None:
|
||||
if mode == self.current_mode:
|
||||
return
|
||||
|
||||
self.current_mode = mode
|
||||
self.mode_duration = 0
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
|
||||
|
||||
class DynamicExperimentalController:
|
||||
def __init__(self, CP: structs.CarParams, mpc, params=None):
|
||||
@@ -132,32 +142,35 @@ class DynamicExperimentalController:
|
||||
|
||||
self._mode_manager = ModeTransitionManager()
|
||||
|
||||
self._lead_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.LEAD_PROB,
|
||||
exit_threshold=WMACConstants.LEAD_EXIT_PROB,
|
||||
rise_rate=WMACConstants.LEAD_RISE_RATE,
|
||||
fall_rate=WMACConstants.LEAD_FALL_RATE,
|
||||
)
|
||||
self._slow_down_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.SLOW_DOWN_PROB,
|
||||
exit_threshold=WMACConstants.SLOW_DOWN_EXIT_PROB,
|
||||
rise_rate=WMACConstants.SLOW_DOWN_RISE_RATE,
|
||||
fall_rate=WMACConstants.SLOW_DOWN_FALL_RATE,
|
||||
)
|
||||
self._slowness_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.SLOWNESS_PROB,
|
||||
exit_threshold=WMACConstants.SLOWNESS_EXIT_PROB,
|
||||
rise_rate=WMACConstants.SLOWNESS_RISE_RATE,
|
||||
fall_rate=WMACConstants.SLOWNESS_FALL_RATE,
|
||||
# Smooth filters for stable decision making with faster response for critical scenarios
|
||||
self._lead_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.15,
|
||||
process_noise=0.05,
|
||||
alpha=1.02,
|
||||
smoothing_factor=0.8
|
||||
)
|
||||
|
||||
self._slow_down_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.1,
|
||||
process_noise=0.1,
|
||||
alpha=1.05,
|
||||
smoothing_factor=0.7
|
||||
)
|
||||
|
||||
self._slowness_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.1,
|
||||
process_noise=0.06,
|
||||
alpha=1.015,
|
||||
smoothing_factor=0.92
|
||||
)
|
||||
|
||||
self._mpc_fcw_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.2,
|
||||
process_noise=0.1,
|
||||
alpha=1.1,
|
||||
smoothing_factor=0.5
|
||||
)
|
||||
self._has_lead_filtered = False
|
||||
self._has_any_lead = False
|
||||
self._has_current_radar_acc_lead = False
|
||||
self._has_radar_acc_lead = False
|
||||
self._radar_acc_lead_frames = 0
|
||||
self._radar_fresh = True
|
||||
self._radar_stale_frames = 0
|
||||
self._has_slow_down = False
|
||||
self._has_slowness = False
|
||||
self._has_mpc_fcw = False
|
||||
@@ -166,18 +179,13 @@ class DynamicExperimentalController:
|
||||
self._has_standstill = False
|
||||
self._mpc_fcw_crash_cnt = 0
|
||||
self._standstill_count = 0
|
||||
|
||||
# debug
|
||||
self._endpoint_x = float('inf')
|
||||
self._expected_distance = 0.0
|
||||
self._trajectory_valid = False
|
||||
self._raw_urgency = 0.0
|
||||
self._model_accel_samples = deque(maxlen=WMACConstants.MODEL_DECEL_TREND_FRAMES)
|
||||
self._model_decel_trending = False
|
||||
self._model_decel_latched = False
|
||||
self._planner_accel = math.nan
|
||||
|
||||
def _read_params(self) -> None:
|
||||
if self._frame % WMACConstants.PARAM_READ_FRAMES == 0:
|
||||
if self._frame % int(1. / DT_MDL) == 0:
|
||||
self._enabled = self._params.get_bool("DynamicExperimentalControl")
|
||||
|
||||
def mode(self) -> str:
|
||||
@@ -190,202 +198,191 @@ class DynamicExperimentalController:
|
||||
return self._active
|
||||
|
||||
def set_mpc_fcw_crash_cnt(self) -> None:
|
||||
"""Set MPC FCW crash count"""
|
||||
self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
|
||||
|
||||
def _update_calculations(self, sm: messaging.SubMaster, radar_fresh: bool) -> None:
|
||||
def _update_calculations(self, sm: messaging.SubMaster) -> None:
|
||||
car_state = sm['carState']
|
||||
radar_state = sm['radarState']
|
||||
lead_one = radar_state.leadOne
|
||||
lead_two = radar_state.leadTwo
|
||||
lead_one = sm['radarState'].leadOne
|
||||
md = sm['modelV2']
|
||||
|
||||
self._v_ego_kph = car_state.vEgo * 3.6
|
||||
self._v_cruise_kph = car_state.vCruise
|
||||
self._has_standstill = car_state.standstill
|
||||
|
||||
# standstill detection
|
||||
if self._has_standstill:
|
||||
self._standstill_count = min(WMACConstants.STANDSTILL_FRAMES * 3, self._standstill_count + 1)
|
||||
self._standstill_count = min(20, self._standstill_count + 1)
|
||||
else:
|
||||
self._standstill_count = max(0, self._standstill_count - 1)
|
||||
|
||||
self._radar_fresh = bool(radar_fresh)
|
||||
if self._radar_fresh:
|
||||
self._radar_stale_frames = 0
|
||||
self._has_lead_filtered = self._lead_tracker.update(float(lead_one.status))
|
||||
self._has_any_lead = bool(lead_one.status or lead_two.status)
|
||||
self._has_current_radar_acc_lead = bool(max(self._radar_acc_lead_score(lead_one), self._radar_acc_lead_score(lead_two)))
|
||||
self._update_radar_acc_lead()
|
||||
else:
|
||||
self._radar_stale_frames += 1
|
||||
self._has_current_radar_acc_lead = False
|
||||
if self._radar_stale_frames < WMACConstants.RADAR_STALE_FRAMES:
|
||||
self._update_radar_acc_lead()
|
||||
else:
|
||||
self._lead_tracker.reset()
|
||||
self._has_lead_filtered = False
|
||||
self._has_any_lead = False
|
||||
self._has_radar_acc_lead = False
|
||||
self._radar_acc_lead_frames = 0
|
||||
self._has_mpc_fcw = self._mpc_fcw_crash_cnt > 0
|
||||
# Lead detection
|
||||
self._lead_filter.add_data(float(lead_one.status))
|
||||
lead_value = self._lead_filter.get_value() or 0.0
|
||||
self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
|
||||
|
||||
# MPC FCW detection
|
||||
fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
|
||||
self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
|
||||
self._has_mpc_fcw = fcw_filtered_value > 0.5
|
||||
|
||||
# Slow down detection
|
||||
self._calculate_slow_down(md)
|
||||
|
||||
if self._standstill_count > WMACConstants.STANDSTILL_FRAMES or self._has_slow_down:
|
||||
self._slowness_tracker.reset()
|
||||
self._has_slowness = False
|
||||
else:
|
||||
# Slowness detection
|
||||
if not (self._standstill_count > 5) and not self._has_slow_down:
|
||||
current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
|
||||
self._has_slowness = self._slowness_tracker.update(current_slowness)
|
||||
self._slowness_filter.add_data(current_slowness)
|
||||
slowness_value = self._slowness_filter.get_value() or 0.0
|
||||
|
||||
def _calculate_slow_down(self, md) -> None:
|
||||
# Hysteresis for slowness
|
||||
threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
|
||||
self._has_slowness = slowness_value > threshold
|
||||
|
||||
def _calculate_slow_down(self, md):
|
||||
"""Calculate urgency based on trajectory endpoint vs expected distance."""
|
||||
|
||||
# Reset to safe defaults
|
||||
urgency = 0.0
|
||||
self._endpoint_x = float('inf')
|
||||
self._expected_distance = 0.0
|
||||
self._trajectory_valid = False
|
||||
|
||||
self._update_model_decel_trend(md)
|
||||
urgency = self._model_action_urgency(md)
|
||||
position_valid = len(md.position.x) == WMACConstants.TRAJECTORY_SIZE
|
||||
#Require exact trajectory size
|
||||
position_valid = len(md.position.x) == TRAJECTORY_SIZE
|
||||
orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
|
||||
|
||||
if position_valid:
|
||||
self._trajectory_valid = True
|
||||
self._endpoint_x = md.position.x[WMACConstants.TRAJECTORY_SIZE - 1]
|
||||
self._expected_distance = interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST)
|
||||
urgency = max(urgency, self._endpoint_urgency(self._endpoint_x, self._expected_distance))
|
||||
if not (position_valid and orientation_valid):
|
||||
# Invalid trajectory - this itself might indicate a stop scenario
|
||||
# Apply moderate urgency for incomplete trajectories at speed
|
||||
if self._v_ego_kph > 20.0:
|
||||
urgency = 0.3
|
||||
|
||||
self._raw_urgency = clip01(urgency)
|
||||
self._has_slow_down = self._slow_down_tracker.update(self._raw_urgency)
|
||||
self._urgency = self._slow_down_tracker.value
|
||||
|
||||
def _update_model_decel_trend(self, md) -> None:
|
||||
try:
|
||||
desired_accel = float(md.action.desiredAcceleration)
|
||||
except (AttributeError, OverflowError, TypeError, ValueError):
|
||||
desired_accel = math.nan
|
||||
if not math.isfinite(desired_accel):
|
||||
self._reset_model_decel_trend()
|
||||
else:
|
||||
self._model_accel_samples.append(desired_accel)
|
||||
history = tuple(self._model_accel_samples)
|
||||
self._model_decel_trending = (len(history) == self._model_accel_samples.maxlen
|
||||
and history[-1] <= WMACConstants.MODEL_DECEL_TREND_ACCEL
|
||||
and (history[0] - history[-1]) / (DT_MDL * (len(history) - 1)) > WMACConstants.MODEL_DECEL_TREND_RATE
|
||||
and all(after <= before for before, after in zip(history[:-1], history[1:], strict=True))
|
||||
and sum(after < before for before, after in zip(history[:-1], history[1:], strict=True)) >= 2)
|
||||
if len(history) == self._model_accel_samples.maxlen and all(
|
||||
accel >= WMACConstants.MODEL_DECEL_TREND_RELEASE_ACCEL for accel in history
|
||||
):
|
||||
self._model_decel_latched = False
|
||||
|
||||
def _reset_model_decel_trend(self) -> None:
|
||||
self._model_accel_samples.clear()
|
||||
self._model_decel_trending = False
|
||||
self._model_decel_latched = False
|
||||
|
||||
def _radar_acc_lead_score(self, lead_one) -> float:
|
||||
radar_track_id = int(getattr(lead_one, 'radarTrackId', -1))
|
||||
return float(lead_one.status and (bool(getattr(lead_one, 'radar', False)) or radar_track_id >= 0))
|
||||
|
||||
def _update_radar_acc_lead(self) -> None:
|
||||
if self._has_current_radar_acc_lead:
|
||||
self._radar_acc_lead_frames = WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES
|
||||
self._has_radar_acc_lead = True
|
||||
self._slow_down_filter.add_data(urgency)
|
||||
urgency_filtered = self._slow_down_filter.get_value() or 0.0
|
||||
self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
|
||||
self._urgency = urgency_filtered
|
||||
return
|
||||
|
||||
if not self._has_any_lead:
|
||||
self._radar_acc_lead_frames = min(self._radar_acc_lead_frames, WMACConstants.RADAR_LEAD_DROPOUT_FRAMES)
|
||||
# We have a valid full trajectory
|
||||
self._trajectory_valid = True
|
||||
|
||||
self._has_radar_acc_lead = self._radar_acc_lead_frames > 0
|
||||
self._radar_acc_lead_frames = max(0, self._radar_acc_lead_frames - 1)
|
||||
# Use the exact endpoint (33rd point, index 32)
|
||||
endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
|
||||
self._endpoint_x = endpoint_x
|
||||
|
||||
def _model_action_urgency(self, md) -> float:
|
||||
action = getattr(md, 'action', None)
|
||||
if action is None:
|
||||
return 0.0
|
||||
# Get expected distance based on current speed using tuned constants
|
||||
expected_distance = interp(self._v_ego_kph,
|
||||
WMACConstants.SLOW_DOWN_BP,
|
||||
WMACConstants.SLOW_DOWN_DIST)
|
||||
self._expected_distance = expected_distance
|
||||
|
||||
urgency = 1.0 if getattr(action, 'shouldStop', False) else 0.0
|
||||
desired_accel = getattr(action, 'desiredAcceleration', 0.0)
|
||||
if desired_accel < WMACConstants.MODEL_DECEL_START:
|
||||
urgency = max(urgency, min(1.0, (WMACConstants.MODEL_DECEL_START - desired_accel) / WMACConstants.MODEL_DECEL_RANGE))
|
||||
return urgency
|
||||
# Calculate urgency based on trajectory shortage
|
||||
if endpoint_x < expected_distance:
|
||||
shortage = expected_distance - endpoint_x
|
||||
shortage_ratio = shortage / expected_distance
|
||||
|
||||
def _endpoint_urgency(self, endpoint_x: float, expected_distance: float) -> float:
|
||||
if endpoint_x >= expected_distance:
|
||||
return 0.0
|
||||
# Base urgency on shortage ratio
|
||||
urgency = min(1.0, shortage_ratio * 2.0)
|
||||
|
||||
shortage_ratio = (expected_distance - endpoint_x) / expected_distance
|
||||
urgency = min(1.0, shortage_ratio * WMACConstants.ENDPOINT_URGENCY_GAIN)
|
||||
# Increase urgency for very short trajectories (imminent stops)
|
||||
critical_distance = expected_distance * 0.3
|
||||
if endpoint_x < critical_distance:
|
||||
urgency = min(1.0, urgency * 2.0)
|
||||
|
||||
if endpoint_x < expected_distance * WMACConstants.CRITICAL_ENDPOINT_FACTOR:
|
||||
urgency = min(1.0, urgency * WMACConstants.CRITICAL_URGENCY_GAIN)
|
||||
# Speed-based urgency adjustment
|
||||
if self._v_ego_kph > 25.0:
|
||||
speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
|
||||
urgency = min(1.0, urgency * speed_factor)
|
||||
|
||||
if self._v_ego_kph > WMACConstants.SPEED_URGENCY_MIN:
|
||||
speed_factor = 1.0 + (self._v_ego_kph - WMACConstants.SPEED_URGENCY_MIN) / WMACConstants.SPEED_URGENCY_RANGE
|
||||
urgency = min(1.0, urgency * speed_factor)
|
||||
# Apply filtering but with less smoothing for stops
|
||||
self._slow_down_filter.add_data(urgency)
|
||||
urgency_filtered = self._slow_down_filter.get_value() or 0.0
|
||||
|
||||
return urgency
|
||||
# Update state with lower threshold for better stop detection
|
||||
self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
|
||||
self._urgency = urgency_filtered
|
||||
|
||||
def _model_decel_handoff_ready(self) -> bool:
|
||||
try:
|
||||
mpc_accel = float(self._mpc.a_solution[1])
|
||||
return (math.isfinite(mpc_accel) and mpc_accel <= WMACConstants.MODEL_DECEL_TREND_MAX_MPC_ACCEL
|
||||
and math.isfinite(self._planner_accel) and self._planner_accel <= WMACConstants.MODEL_DECEL_TREND_MAX_MPC_ACCEL
|
||||
and self._planner_accel - self._model_accel_samples[-1] <= WMACConstants.MODEL_DECEL_TREND_MAX_COMMAND_STEP)
|
||||
except (AttributeError, IndexError, OverflowError, TypeError, ValueError):
|
||||
return False
|
||||
|
||||
def _desired_mode(self) -> tuple[ModeType, bool]:
|
||||
standstill = self._standstill_count > WMACConstants.STANDSTILL_FRAMES
|
||||
urgent_slow_down = self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB
|
||||
|
||||
if not self._CP.radarUnavailable and self._has_current_radar_acc_lead:
|
||||
self._reset_model_decel_trend()
|
||||
return 'acc', True
|
||||
|
||||
radar_stale = not self._radar_fresh if self._has_mpc_fcw else self._radar_stale_frames > 1
|
||||
if (radar_stale or not self._has_any_lead) and (self._has_mpc_fcw or urgent_slow_down):
|
||||
self._radar_acc_lead_frames = 0
|
||||
self._has_radar_acc_lead = False
|
||||
return 'blended', True
|
||||
|
||||
if not self._CP.radarUnavailable and self._has_radar_acc_lead:
|
||||
self._reset_model_decel_trend()
|
||||
return 'acc', True
|
||||
|
||||
entering_model_slowdown = self._model_decel_trending and self._model_decel_handoff_ready() and not self._model_decel_latched
|
||||
self._model_decel_latched |= entering_model_slowdown
|
||||
if self._model_decel_latched:
|
||||
return 'blended', entering_model_slowdown
|
||||
def _radarless_mode(self) -> None:
|
||||
"""Radarless mode decision logic with emergency handling."""
|
||||
|
||||
# EMERGENCY: MPC FCW - immediate blended mode
|
||||
if self._has_mpc_fcw:
|
||||
return 'blended', True
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
return
|
||||
|
||||
# Standstill: use blended
|
||||
if self._standstill_count > 3:
|
||||
self._mode_manager.request_mode('blended', confidence=0.9)
|
||||
return
|
||||
|
||||
# Slow down scenarios: emergency for high urgency, normal for lower urgency
|
||||
if self._has_slow_down:
|
||||
if self._urgency > 0.7:
|
||||
# Emergency: immediate blended mode for high urgency stops
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
else:
|
||||
# Normal: blended with urgency-based confidence
|
||||
confidence = min(1.0, self._urgency * 1.5)
|
||||
self._mode_manager.request_mode('blended', confidence=confidence)
|
||||
return
|
||||
|
||||
# Driving slow: use ACC (but not if actively slowing down)
|
||||
if self._has_slowness and not self._has_slow_down:
|
||||
self._mode_manager.request_mode('acc', confidence=0.8)
|
||||
return
|
||||
|
||||
# Default: ACC
|
||||
self._mode_manager.request_mode('acc', confidence=0.7)
|
||||
|
||||
def _radar_mode(self) -> None:
|
||||
"""Radar mode with emergency handling."""
|
||||
|
||||
# EMERGENCY: MPC FCW - immediate blended mode
|
||||
if self._has_mpc_fcw:
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
return
|
||||
|
||||
# If lead detected and not in standstill: always use ACC
|
||||
if self._has_lead_filtered and not (self._standstill_count > 3):
|
||||
self._mode_manager.request_mode('acc', confidence=1.0)
|
||||
return
|
||||
|
||||
# Slow down scenarios: emergency for high urgency, normal for lower urgency
|
||||
if self._has_slow_down:
|
||||
if self._urgency > 0.7:
|
||||
# Emergency: immediate blended mode for high urgency stops
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
else:
|
||||
# Normal: blended with urgency-based confidence
|
||||
confidence = min(1.0, self._urgency * 1.3)
|
||||
self._mode_manager.request_mode('blended', confidence=confidence)
|
||||
return
|
||||
|
||||
# Standstill: use blended
|
||||
if self._standstill_count > 3:
|
||||
self._mode_manager.request_mode('blended', confidence=0.9)
|
||||
return
|
||||
|
||||
# Driving slow: use ACC (but not if actively slowing down)
|
||||
if self._has_slowness and not self._has_slow_down:
|
||||
self._mode_manager.request_mode('acc', confidence=0.8)
|
||||
return
|
||||
|
||||
# Default: ACC
|
||||
self._mode_manager.request_mode('acc', confidence=0.7)
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
self._read_params()
|
||||
|
||||
self.set_mpc_fcw_crash_cnt()
|
||||
|
||||
self._update_calculations(sm)
|
||||
|
||||
if self._CP.radarUnavailable:
|
||||
if standstill or self._has_slow_down:
|
||||
return 'blended', urgent_slow_down
|
||||
return 'acc', False
|
||||
self._radarless_mode()
|
||||
else:
|
||||
self._radar_mode()
|
||||
|
||||
if standstill or self._has_slow_down:
|
||||
return 'blended', urgent_slow_down
|
||||
|
||||
return 'acc', False
|
||||
|
||||
def update(self, sm: messaging.SubMaster, *, radar_fresh: bool = True, planner_accel: float | None = None) -> None:
|
||||
self._read_params()
|
||||
self.set_mpc_fcw_crash_cnt()
|
||||
try:
|
||||
self._planner_accel = float(planner_accel)
|
||||
except (OverflowError, TypeError, ValueError):
|
||||
self._planner_accel = math.nan
|
||||
self._update_calculations(sm, radar_fresh)
|
||||
self._active = sm['selfdriveState'].experimentalMode and self._enabled
|
||||
if not self._active:
|
||||
model_decel_latched = self._model_decel_latched
|
||||
self._reset_model_decel_trend()
|
||||
if model_decel_latched:
|
||||
self._mode_manager.request_mode('acc', immediate=True)
|
||||
|
||||
mode, immediate = self._desired_mode()
|
||||
self._mode_manager.request_mode(mode, immediate=immediate, hold_frames=WMACConstants.EMERGENCY_HOLD_FRAMES,
|
||||
cancel_hold=not self._CP.radarUnavailable and self._has_radar_acc_lead)
|
||||
self._mode_manager.update()
|
||||
|
||||
self._active = sm['selfdriveState'].experimentalMode and self._enabled
|
||||
self._frame += 1
|
||||
|
||||
@@ -0,0 +1,94 @@
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
|
||||
|
||||
class MockLeadOne:
|
||||
def __init__(self, status=0.0):
|
||||
self.status = status
|
||||
|
||||
class MockRadarState:
|
||||
def __init__(self, status=0.0):
|
||||
self.leadOne = MockLeadOne(status=status)
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
|
||||
self.vEgo = vEgo
|
||||
self.vCruise = vCruise
|
||||
self.standstill = standstill
|
||||
|
||||
class MockModelData:
|
||||
def __init__(self, valid=True):
|
||||
size = 33 if valid else 10 # incomplete if invalid
|
||||
self.position = type("Pos", (), {"x": [0.0] * size})()
|
||||
self.orientation = type("Ori", (), {"x": [0.0] * size})()
|
||||
|
||||
class MockSelfDriveState:
|
||||
def __init__(self, experimentalMode=False):
|
||||
self.experimentalMode = experimentalMode
|
||||
|
||||
class MockParams:
|
||||
def get_bool(self, name):
|
||||
return True
|
||||
|
||||
@pytest.fixture
|
||||
def default_sm():
|
||||
sm = {
|
||||
'carState': MockCarState(vEgo=10.0, vCruise=20.0),
|
||||
'radarState': MockRadarState(status=1.0),
|
||||
'modelV2': MockModelData(valid=True),
|
||||
'selfdriveState': MockSelfDriveState(experimentalMode=True),
|
||||
}
|
||||
return sm
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
return MPC()
|
||||
|
||||
# Fake Kalman Filter that always returns a given value
|
||||
class FakeKalman:
|
||||
def __init__(self, value=1.0):
|
||||
self.value = value
|
||||
def add_data(self, v): pass
|
||||
def get_value(self): return self.value
|
||||
def get_confidence(self): return 1.0
|
||||
def reset_data(self): pass
|
||||
|
||||
def test_initial_mode_is_acc(mock_cp, mock_mpc):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['carState'].standstill = True
|
||||
for _ in range(10):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
mock_mpc.crash_cnt = 1 # simulate FCW
|
||||
for _ in range(2):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
|
||||
# Force conditions to simulate slowdown
|
||||
controller._slow_down_filter = FakeKalman(value=1.0) # Ensure urgency triggers slowdown
|
||||
controller._v_ego_kph = 35.0
|
||||
default_sm['modelV2'] = MockModelData(valid=False) # Incomplete trajectory
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
@@ -1,633 +0,0 @@
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, HysteresisSignal
|
||||
|
||||
|
||||
class MockLeadOne:
|
||||
def __init__(self, status=0.0, dRel=30.0, vRel=0.0, radar=False, radarTrackId=-1):
|
||||
self.status = status
|
||||
self.dRel = dRel
|
||||
self.vRel = vRel
|
||||
self.radar = radar
|
||||
self.radarTrackId = radarTrackId
|
||||
|
||||
|
||||
class MockRadarState:
|
||||
def __init__(self, status=0.0, dRel=30.0, vRel=0.0, radar=False, radarTrackId=-1, leadTwo=None):
|
||||
self.leadOne = MockLeadOne(status=status, dRel=dRel, vRel=vRel, radar=radar, radarTrackId=radarTrackId)
|
||||
self.leadTwo = leadTwo if leadTwo is not None else MockLeadOne()
|
||||
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
|
||||
self.vEgo = vEgo
|
||||
self.vCruise = vCruise
|
||||
self.standstill = standstill
|
||||
|
||||
|
||||
class MockAction:
|
||||
def __init__(self, desiredAcceleration=0.0, shouldStop=False):
|
||||
self.desiredAcceleration = desiredAcceleration
|
||||
self.shouldStop = shouldStop
|
||||
|
||||
|
||||
class MockModelData:
|
||||
def __init__(self, valid=True, endpoint_x=200.0, orientation_valid=None, desired_acceleration=0.0, should_stop=False):
|
||||
position_size = 33 if valid else 10
|
||||
orientation_size = position_size if orientation_valid is None else (33 if orientation_valid else 10)
|
||||
position_x = [0.0] * position_size
|
||||
if position_x:
|
||||
position_x[-1] = endpoint_x
|
||||
self.position = type("Pos", (), {"x": position_x})()
|
||||
self.orientation = type("Ori", (), {"x": [0.0] * orientation_size})()
|
||||
self.acceleration = type("Accel", (), {"x": [0.0] * position_size})()
|
||||
self.action = MockAction(desired_acceleration, should_stop)
|
||||
|
||||
|
||||
class MockSelfDriveState:
|
||||
def __init__(self, experimentalMode=False):
|
||||
self.experimentalMode = experimentalMode
|
||||
|
||||
|
||||
class MockParams:
|
||||
def get_bool(self, name):
|
||||
return True
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def default_sm():
|
||||
sm = {
|
||||
'carState': MockCarState(vEgo=10.0, vCruise=20.0),
|
||||
'radarState': MockRadarState(status=1.0, radar=True, radarTrackId=7),
|
||||
'modelV2': MockModelData(valid=True),
|
||||
'selfdriveState': MockSelfDriveState(experimentalMode=True),
|
||||
}
|
||||
return sm
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
a_solution = [0.0, 0.0]
|
||||
return MPC()
|
||||
|
||||
|
||||
def test_initial_mode_is_acc(mock_cp, mock_mpc):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['carState'].standstill = True
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
mock_mpc.crash_cnt = 1
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_valid_position_with_missing_orientation_can_trigger_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, orientation_valid=False)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._trajectory_valid
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_incomplete_position_does_not_trigger_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, endpoint_x=0.0)
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._trajectory_valid
|
||||
assert not controller._has_slow_down
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_slowdown_hysteresis_prevents_threshold_chatter():
|
||||
signal = HysteresisSignal(enter_threshold=0.5, exit_threshold=0.4, rise_rate=1.0, fall_rate=1.0)
|
||||
|
||||
assert signal.update(0.55)
|
||||
assert signal.update(0.45)
|
||||
assert not signal.update(0.35)
|
||||
|
||||
|
||||
def test_model_should_stop_triggers_blended_without_valid_trajectory(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._trajectory_valid
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_confirmed_model_decel_trend_enters_blended_before_a_large_command(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=-0.12)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert controller._model_decel_trending
|
||||
assert not controller._has_slow_down
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_confirmed_model_decel_handoff_stays_latched_through_a_plateau(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
for _ in range(WMACConstants.EMERGENCY_HOLD_FRAMES + WMACConstants.EXIT_BLENDED_FRAMES + 1):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=-0.12)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert not controller._model_decel_trending
|
||||
assert controller._model_decel_latched
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
for _ in range(WMACConstants.MODEL_DECEL_TREND_FRAMES + WMACConstants.EXIT_BLENDED_FRAMES):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=0.0)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert not controller._model_decel_latched
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_model_decel_trend_never_overrides_a_radar_lead(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._model_accel_samples
|
||||
assert not controller._model_decel_latched
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_acquisition_clears_a_latched_model_decel_handoff(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
assert controller._model_decel_latched
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert not controller._model_accel_samples
|
||||
assert not controller._model_decel_latched
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_model_decel_trend_does_not_accumulate_while_dec_is_inactive(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['selfdriveState'].experimentalMode = False
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert not controller._model_accel_samples
|
||||
assert not controller._model_decel_latched
|
||||
|
||||
default_sm['selfdriveState'].experimentalMode = True
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
assert not controller._model_decel_trending
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_disabling_dec_clears_a_latched_model_decel_mode(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
assert controller._model_decel_latched
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
default_sm['selfdriveState'].experimentalMode = False
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=0.0)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert not controller._model_decel_latched
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_model_decel_trend_waits_while_mpc_is_accelerating(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
mock_mpc.a_solution[1] = 0.5
|
||||
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.0)
|
||||
|
||||
assert controller._model_decel_trending
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_steep_model_decel_trend_defers_to_the_existing_urgent_path(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
|
||||
for desired_acceleration in (0.0, -0.2, -0.4, -0.6):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.05)
|
||||
|
||||
assert controller._model_decel_trending
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_model_decel_trend_waits_while_the_planner_is_accelerating(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
|
||||
for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm, planner_accel=0.2)
|
||||
|
||||
assert controller._model_decel_trending
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_alternating_model_accel_noise_does_not_trigger_an_early_handoff(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
|
||||
for desired_acceleration in (0.0, -0.2, 0.0, -0.2):
|
||||
default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._model_decel_trending
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_lead_keeps_acc_over_model_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_slow_down
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_far_radar_lead_always_uses_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0, radar=True)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_acquisition_immediately_returns_blended_to_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, radar=True, radarTrackId=7)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True)
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_close_vision_only_lead_can_use_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=30.0, vRel=-5.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_second_radar_lead_forces_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
lead_two = MockLeadOne(status=1.0, dRel=120.0, radar=True, radarTrackId=8)
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=30.0, vRel=-5.0, leadTwo=lead_two)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_second_vision_only_lead_does_not_force_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
lead_two = MockLeadOne(status=1.0, dRel=20.0, vRel=-10.0)
|
||||
default_sm['radarState'] = MockRadarState(status=0.0, leadTwo=lead_two)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_inactive_lead_with_radar_marker_does_not_force_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0, radar=True, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radarless_car_ignores_marked_radar_track(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_closing_far_radar_lead_returns_to_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=-25.0, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_lead_keeps_acc_over_fcw_and_standstill(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
default_sm['carState'].standstill = True
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, should_stop=True)
|
||||
mock_mpc.crash_cnt = 1
|
||||
|
||||
for _ in range(10):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller._has_mpc_fcw
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_lead_flicker_hold_prevents_one_frame_mode_flip(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=50.0)
|
||||
for _ in range(2):
|
||||
controller.update(default_sm)
|
||||
assert controller._has_slow_down
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_lead_continuity_with_vision_fallback_expires_into_confirmed_transition(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=50.0)
|
||||
for _ in range(2):
|
||||
controller.update(default_sm)
|
||||
assert controller._has_slow_down
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
for _ in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES):
|
||||
controller.update(default_sm)
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
controller.update(default_sm)
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
for _ in range(WMACConstants.ENTER_BLENDED_FRAMES - 1):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radar_lead_short_dropout_guard_expires_without_any_lead(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
controller.update(default_sm)
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
for _ in range(WMACConstants.RADAR_LEAD_DROPOUT_FRAMES):
|
||||
controller.update(default_sm)
|
||||
assert controller._has_radar_acc_lead
|
||||
|
||||
controller.update(default_sm)
|
||||
assert not controller._has_radar_acc_lead
|
||||
|
||||
|
||||
def test_one_stale_radar_frame_does_not_drop_acc_authority(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
controller.update(default_sm)
|
||||
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
|
||||
assert not controller._has_current_radar_acc_lead
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller._radar_acc_lead_frames == WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES - 1
|
||||
assert controller._radar_stale_frames == 1
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_one_stale_radar_frame_does_not_override_retained_lead_for_model_urgency(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
controller.update(default_sm)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
|
||||
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_one_stale_radar_frame_does_not_delay_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
controller.update(default_sm)
|
||||
mock_mpc.crash_cnt = 1
|
||||
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_frozen_radar_marker_cannot_rearm_acc_authority(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
controller.update(default_sm)
|
||||
|
||||
for _ in range(WMACConstants.RADAR_STALE_FRAMES - 1):
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
assert controller._has_radar_acc_lead
|
||||
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
|
||||
assert not controller._has_current_radar_acc_lead
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert not controller._has_any_lead
|
||||
assert not controller._has_lead_filtered
|
||||
|
||||
|
||||
def test_fresh_radar_reacquisition_after_stale_timeout_is_immediate(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
controller.update(default_sm)
|
||||
for _ in range(WMACConstants.RADAR_STALE_FRAMES):
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm, radar_fresh=False)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
lead_two = MockLeadOne(status=1.0, radar=True, radarTrackId=8)
|
||||
default_sm['radarState'] = MockRadarState(status=0.0, leadTwo=lead_two)
|
||||
controller.update(default_sm, radar_fresh=True)
|
||||
|
||||
assert controller._radar_stale_frames == 0
|
||||
assert controller._has_current_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
@pytest.mark.parametrize("urgent_source", ["fcw", "should_stop"])
|
||||
def test_no_lead_urgent_slowdown_bypasses_radar_dropout_guard(mock_cp, mock_mpc, default_sm, urgent_source):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
controller.update(default_sm)
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
if urgent_source == "fcw":
|
||||
mock_mpc.crash_cnt = 1
|
||||
else:
|
||||
default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
mock_mpc.crash_cnt = 0
|
||||
default_sm['modelV2'] = MockModelData(valid=True)
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_lead_two_radar_authority_continues_with_vision_lead_one(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
lead_two = MockLeadOne(status=1.0, radar=True, radarTrackId=8)
|
||||
default_sm['radarState'] = MockRadarState(status=0.0, leadTwo=lead_two)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
assert controller._has_current_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
for _ in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES):
|
||||
controller.update(default_sm)
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_alternating_radar_slots_keep_acc_authority(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for frame in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES * 2):
|
||||
if frame % 2 == 0:
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7, leadTwo=MockLeadOne(status=1.0))
|
||||
else:
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, leadTwo=MockLeadOne(status=1.0, radar=True, radarTrackId=8))
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_current_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_reacquisition_immediately_restores_acc_after_continuity_expiry(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
for _ in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES + 1):
|
||||
controller.update(default_sm)
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
lead_two = MockLeadOne(status=1.0, radar=True, radarTrackId=8)
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, leadTwo=lead_two)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_current_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
@@ -1,46 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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 opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
|
||||
|
||||
|
||||
class LongitudinalMpcSP:
|
||||
def __init__(self) -> None:
|
||||
self._accel_max_trajectory: tuple[float, ...] | None = None
|
||||
self._cruise_accel_max: float | None = None
|
||||
self._jerk_cost_multiplier = 1.0
|
||||
self.last_solution_status = 0
|
||||
|
||||
def set_accel_controller_params(self, accel_max: tuple[float, ...] | None, jerk_cost_multiplier: float,
|
||||
cruise_accel_max: float | None = None) -> None:
|
||||
self._accel_max_trajectory = accel_max
|
||||
self._cruise_accel_max = cruise_accel_max
|
||||
self._jerk_cost_multiplier = jerk_cost_multiplier
|
||||
|
||||
def cruise_accel_max(self, stock_accel_max: float) -> float:
|
||||
if self._cruise_accel_max is None or not np.isfinite(self._cruise_accel_max):
|
||||
return stock_accel_max
|
||||
return min(max(self._cruise_accel_max, 0.0), stock_accel_max)
|
||||
|
||||
def scale_jerk_cost(self, jerk_cost: float) -> float:
|
||||
return jerk_cost * self._jerk_cost_multiplier
|
||||
|
||||
def apply_accel_limits(self) -> None:
|
||||
if self._accel_max_trajectory is None:
|
||||
return
|
||||
|
||||
accel_max = np.asarray(self._accel_max_trajectory)
|
||||
if accel_max.shape != self.params[:, 1].shape or accel_max.dtype.kind not in "iuf" or not np.all(np.isfinite(accel_max)):
|
||||
return
|
||||
|
||||
self.params[:, 1] = np.clip(accel_max, 0.0, ACCEL_MAX)
|
||||
self.params[0, 1] = max(self.params[0, 1], float(np.clip(self.x0[2], ACCEL_MIN, ACCEL_MAX)))
|
||||
|
||||
def save_solution_status(self) -> None:
|
||||
self.last_solution_status = self.solution_status
|
||||
@@ -5,12 +5,10 @@ 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.
|
||||
"""
|
||||
|
||||
from cereal import custom, messaging
|
||||
from cereal import messaging, custom
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.accel_controller import AccelController, AccelControllerState
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
|
||||
@@ -24,10 +22,9 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
|
||||
|
||||
|
||||
class LongitudinalPlannerSP:
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc, dt: float = DT_MDL):
|
||||
self.mpc = mpc
|
||||
self.accel_controller = AccelController(CP, dt=dt)
|
||||
def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
|
||||
self.events_sp = EventsSP()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.dec = DynamicExperimentalController(CP, mpc)
|
||||
self.scc = SmartCruiseControl()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
@@ -35,8 +32,6 @@ class LongitudinalPlannerSP:
|
||||
self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
|
||||
self.source = LongitudinalPlanSource.cruise
|
||||
self.e2e_alerts_helper = E2EAlertsHelper()
|
||||
self._radar_log_mono_time = None
|
||||
self._radar_fresh_this_cycle = True
|
||||
|
||||
self.output_v_target = 0.
|
||||
self.output_a_target = 0.
|
||||
@@ -48,44 +43,6 @@ class LongitudinalPlannerSP:
|
||||
|
||||
return experimental_mode and self.dec.mode() == "blended"
|
||||
|
||||
def _run_mpc(self, sm: messaging.SubMaster, v_cruise: float, prev_accel_constraint: bool, accel_max=None, *,
|
||||
cruise_accel_max=None, jerk_cost_multiplier: float = 1.0) -> None:
|
||||
self.mpc.set_accel_controller_params(accel_max, jerk_cost_multiplier, cruise_accel_max)
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
|
||||
|
||||
def update_mpc(self, sm: messaging.SubMaster, v_cruise: float, prev_accel_constraint: bool, stock_accel_max: float, reset_state: bool) -> bool:
|
||||
is_e2e = self.is_e2e(sm)
|
||||
force_decel = sm['controlsState'].forceDecel
|
||||
previous_mpc_failed = self.mpc.last_solution_status != 0
|
||||
if previous_mpc_failed:
|
||||
self.accel_controller.reset()
|
||||
|
||||
self.accel_controller.update(
|
||||
sm['radarState'], base_speed=self.output_v_target, v_ego=sm['carState'].vEgo, a_ego=sm['carState'].aEgo,
|
||||
follow_personality=sm['selfdriveState'].personality, acc_selected=not is_e2e and not previous_mpc_failed,
|
||||
engaged=not reset_state and not force_decel, cruise_initialized=sm['carState'].vCruise != V_CRUISE_UNSET,
|
||||
stock_accel_max=stock_accel_max if self.allow_throttle else 0.0, previous_should_stop=self.output_should_stop,
|
||||
radar_fresh=self._radar_fresh_this_cycle, previous_mpc_source=self.mpc.source, planner_speed=self.v_desired_filter.x,
|
||||
planner_accel=self.a_desired,
|
||||
)
|
||||
controller = self.accel_controller
|
||||
actuating = controller.is_active and not is_e2e and not force_decel and not previous_mpc_failed
|
||||
valid_lead_stop_hold = actuating and controller.state == AccelControllerState.stopHold and controller.selected_lead >= 0
|
||||
controller_v_cruise = v_cruise if valid_lead_stop_hold else min(v_cruise, controller.output_v_target) if actuating else v_cruise
|
||||
accel_max = controller.mpc_accel_max if actuating else None
|
||||
cruise_accel_max = controller.cruise_accel_max if actuating else None
|
||||
jerk_cost_multiplier = controller.get_jerk_cost_multiplier(
|
||||
actuating, prev_accel_constraint, v_cruise - controller_v_cruise, previous_mpc_failed,
|
||||
)
|
||||
self._run_mpc(sm, controller_v_cruise, prev_accel_constraint, accel_max, cruise_accel_max=cruise_accel_max,
|
||||
jerk_cost_multiplier=jerk_cost_multiplier)
|
||||
return is_e2e
|
||||
|
||||
def update_should_stop(self, should_stop: bool) -> bool:
|
||||
return self.accel_controller.update_should_stop(should_stop)
|
||||
|
||||
def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
|
||||
CS = sm['carState']
|
||||
v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
|
||||
@@ -116,19 +73,9 @@ class LongitudinalPlannerSP:
|
||||
self.output_v_target, self.output_a_target = targets[self.source]
|
||||
return self.output_v_target, self.output_a_target
|
||||
|
||||
def _update_radar_freshness(self, sm: messaging.SubMaster) -> bool:
|
||||
radar_log_mono_time = sm.logMonoTime['radarState']
|
||||
radar_healthy = sm.valid['radarState'] and sm.alive['radarState']
|
||||
radar_advanced = self._radar_log_mono_time is None or radar_log_mono_time > self._radar_log_mono_time
|
||||
if radar_advanced:
|
||||
self._radar_log_mono_time = radar_log_mono_time
|
||||
return radar_healthy and radar_advanced
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
self._radar_fresh_this_cycle = self._update_radar_freshness(sm)
|
||||
self.accel_controller.update_params()
|
||||
self.events_sp.clear()
|
||||
self.dec.update(sm, radar_fresh=self._radar_fresh_this_cycle, planner_accel=self.output_a_target)
|
||||
self.dec.update(sm)
|
||||
self.e2e_alerts_helper.update(sm, self.events_sp)
|
||||
|
||||
def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
|
||||
@@ -148,12 +95,6 @@ class LongitudinalPlannerSP:
|
||||
dec.enabled = self.dec.enabled()
|
||||
dec.active = self.dec.active()
|
||||
|
||||
accelController = longitudinalPlanSP.accelController
|
||||
accelController.enabled = self.accel_controller.is_enabled
|
||||
accelController.active = self.accel_controller.is_active
|
||||
accelController.profile = self.accel_controller.profile
|
||||
accelController.state = self.accel_controller.state
|
||||
|
||||
# Smart Cruise Control
|
||||
smartCruiseControl = longitudinalPlanSP.smartCruiseControl
|
||||
# Vision Control
|
||||
|
||||
@@ -1,84 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, Haibin Wen, 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
|
||||
|
||||
|
||||
class RoadEdgeLaneChangeController:
|
||||
def __init__(self, desire_helper):
|
||||
self.DH = desire_helper
|
||||
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) -> 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]
|
||||
|
||||
left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and right_lane_prob >= left_lane_prob
|
||||
right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and left_lane_prob >= right_lane_prob
|
||||
|
||||
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
|
||||
+1
-269
@@ -4,8 +4,6 @@ Copyright (c) 2021-, Haibin Wen, 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.
|
||||
"""
|
||||
from types import SimpleNamespace
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
@@ -15,12 +13,8 @@ from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP, LongitudinalPlanSource
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import (
|
||||
_A_LAT_REG_MAX, _BELOW_EGO_TARGET_RELEASE_RATE, _ENTERING_PRED_LAT_ACC_TH, _MIN_ACTIVATION_SPEED,
|
||||
_RELIEF_CONFIRMATION_FRAMES, _TARGET_RELEASE_RATE, SmartCruiseControlVision,
|
||||
)
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
|
||||
|
||||
VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
|
||||
|
||||
@@ -124,21 +118,6 @@ class TestSmartCruiseControlVision:
|
||||
def reset_params(self):
|
||||
self.params.put_bool("SmartCruiseControlVision", True, block=True)
|
||||
|
||||
def set_lat_accels(self, current: float, predicted: float, v_ego: float = 20., model_speed: float = 20.) -> None:
|
||||
self.sm['controlsState'].curvature = current / v_ego**2
|
||||
self.sm['modelV2'].velocity.x = [model_speed] * len(ModelConstants.T_IDXS)
|
||||
self.sm['modelV2'].orientationRate.z = [predicted / model_speed] * len(ModelConstants.T_IDXS)
|
||||
|
||||
def update_lat_accels(self, current: float, predicted: float, cruise: float = 30., a_ego: float = 0.,
|
||||
v_ego: float = 20., model_speed: float = 20.) -> None:
|
||||
self.set_lat_accels(current, predicted, v_ego, model_speed)
|
||||
self.scc_v.update(self.sm, True, False, v_ego, a_ego, cruise)
|
||||
|
||||
def enter_curve(self, predicted: float = 2.2) -> None:
|
||||
self.update_lat_accels(0.5, predicted)
|
||||
self.update_lat_accels(0.5, predicted)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
|
||||
def test_initial_state(self):
|
||||
assert self.scc_v.state == VisionState.disabled
|
||||
assert not self.scc_v.is_active
|
||||
@@ -164,253 +143,6 @@ class TestSmartCruiseControlVision:
|
||||
self.scc_v.update(self.sm, True, False, 0., 0., 0.)
|
||||
assert self.scc_v.state == VisionState.enabled
|
||||
|
||||
def test_unconfirmed_leaving_and_reentry_only_shape_speed(self):
|
||||
self.enter_curve()
|
||||
targets = [self.scc_v.output_v_target]
|
||||
|
||||
self.update_lat_accels(2., 2.2, a_ego=-0.8)
|
||||
assert self.scc_v.state == VisionState.turning
|
||||
assert self.scc_v.output_a_target == -0.8
|
||||
targets.append(self.scc_v.output_v_target)
|
||||
|
||||
self.update_lat_accels(1.2, 1.2, a_ego=0.3)
|
||||
assert self.scc_v.state == VisionState.leaving
|
||||
assert self.scc_v.output_a_target == 0.3
|
||||
targets.append(self.scc_v.output_v_target)
|
||||
|
||||
self.update_lat_accels(1., 3., a_ego=-1.2)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert self.scc_v.output_a_target == -1.2
|
||||
targets.append(self.scc_v.output_v_target)
|
||||
|
||||
entering, turning, leaving, reentering = targets
|
||||
assert turning == pytest.approx(entering)
|
||||
assert 0. < leaving - turning <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
assert reentering < leaving
|
||||
|
||||
def test_new_curve_interrupts_confirmed_release_immediately(self):
|
||||
self.enter_curve()
|
||||
for _ in range(_RELIEF_CONFIRMATION_FRAMES + 1):
|
||||
self.update_lat_accels(0.8, 0.8)
|
||||
releasing_v_target = self.scc_v.output_v_target
|
||||
assert self.scc_v.state == VisionState.leaving
|
||||
|
||||
self.update_lat_accels(0.8, 3., a_ego=-0.7)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert self.scc_v.output_v_target < releasing_v_target
|
||||
assert self.scc_v.output_a_target == -0.7
|
||||
|
||||
@pytest.mark.parametrize("planner_accel", (-2., -0.5, 0., 0.8))
|
||||
def test_planner_acceleration_passes_through_exactly(self, planner_accel):
|
||||
self.enter_curve()
|
||||
self.update_lat_accels(0.5, 2.2, a_ego=planner_accel)
|
||||
assert self.scc_v.output_a_target == planner_accel
|
||||
|
||||
def test_planner_acceleration_passes_through_all_states(self):
|
||||
cases = (
|
||||
(False, False, 0.5, 2.2, -0.2, VisionState.disabled),
|
||||
(True, False, 0.5, 0.8, 0.1, VisionState.enabled),
|
||||
(True, False, 0.5, 2.2, -0.4, VisionState.entering),
|
||||
(True, False, 2., 2.2, -0.8, VisionState.turning),
|
||||
(True, False, 1.2, 1.2, 0.3, VisionState.leaving),
|
||||
(True, True, 1.2, 1.2, 0.6, VisionState.overriding),
|
||||
)
|
||||
for long_enabled, override, current, predicted, planner_accel, state in cases:
|
||||
self.set_lat_accels(current, predicted)
|
||||
self.scc_v.update(self.sm, long_enabled, override, 20., planner_accel, 30.)
|
||||
assert self.scc_v.state == state
|
||||
assert self.scc_v.output_a_target == planner_accel
|
||||
|
||||
def test_jitter_requires_confirmed_relief_then_releases_smoothly(self):
|
||||
self.enter_curve()
|
||||
previous_v_target = self.scc_v.output_v_target
|
||||
|
||||
for frame in range(_RELIEF_CONFIRMATION_FRAMES * 2):
|
||||
self.update_lat_accels(1., 1.05 if frame % 2 == 0 else 1.15)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert self.scc_v.output_v_target >= previous_v_target
|
||||
assert self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
previous_v_target = self.scc_v.output_v_target
|
||||
|
||||
for _ in range(_RELIEF_CONFIRMATION_FRAMES):
|
||||
self.update_lat_accels(1.15, 0.8)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert 0. <= self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
previous_v_target = self.scc_v.output_v_target
|
||||
|
||||
release_cruise = 30.
|
||||
for _ in range(_RELIEF_CONFIRMATION_FRAMES - 1):
|
||||
self.update_lat_accels(0.8, 0.8, release_cruise)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert 0. <= self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
previous_v_target = self.scc_v.output_v_target
|
||||
|
||||
active_v_targets = [previous_v_target]
|
||||
for _ in range(int((release_cruise - previous_v_target) / (_TARGET_RELEASE_RATE * DT_MDL)) + 10):
|
||||
self.update_lat_accels(0.8, 0.8, release_cruise)
|
||||
if not self.scc_v.is_active:
|
||||
break
|
||||
assert self.scc_v.state == VisionState.leaving
|
||||
assert self.scc_v.output_v_target != V_CRUISE_UNSET
|
||||
active_v_targets.append(self.scc_v.output_v_target)
|
||||
|
||||
assert self.scc_v.state == VisionState.enabled
|
||||
assert self.scc_v.output_v_target == V_CRUISE_UNSET
|
||||
assert active_v_targets[-1] == pytest.approx(release_cruise)
|
||||
assert np.all((np.diff(active_v_targets) >= 0.) &
|
||||
(np.diff(active_v_targets) <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9))
|
||||
|
||||
def test_target_release_slows_after_reaching_ego_speed(self):
|
||||
self.enter_curve()
|
||||
|
||||
for _ in range(100):
|
||||
previous_v_target = self.scc_v.output_v_target
|
||||
self.update_lat_accels(0.8, 0.8)
|
||||
if previous_v_target >= self.scc_v.v_ego:
|
||||
rise = self.scc_v.output_v_target - previous_v_target
|
||||
assert 0. < rise <= _TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
break
|
||||
else:
|
||||
pytest.fail("curve target did not release to ego speed")
|
||||
|
||||
def test_curve_target_is_independent_of_ego_speed(self):
|
||||
model_speed = 24.
|
||||
predicted_yaw_rate = 0.12
|
||||
predicted_lat_accel = model_speed * predicted_yaw_rate
|
||||
expected_v_target = (_A_LAT_REG_MAX / (predicted_yaw_rate / model_speed)) ** 0.5
|
||||
targets = []
|
||||
|
||||
for v_ego in (18., 28.):
|
||||
controller = SmartCruiseControlVision()
|
||||
self.set_lat_accels(0.5, predicted_lat_accel, v_ego, model_speed)
|
||||
controller.update(self.sm, True, False, v_ego, 0., 30.)
|
||||
controller.update(self.sm, True, False, v_ego, 0., 30.)
|
||||
assert controller.state == VisionState.entering
|
||||
targets.append(controller.v_target)
|
||||
|
||||
assert targets[0] == pytest.approx(expected_v_target)
|
||||
assert targets[1] == pytest.approx(expected_v_target)
|
||||
|
||||
def test_curve_target_respects_minimum_speed_floor(self):
|
||||
model_speed = 10.
|
||||
predicted_yaw_rate = 2.
|
||||
self.set_lat_accels(0.5, model_speed * predicted_yaw_rate, model_speed=model_speed)
|
||||
self.scc_v.update(self.sm, True, False, 20., 0., 30.)
|
||||
self.scc_v.update(self.sm, True, False, 20., 0., 30.)
|
||||
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert self.scc_v.v_target < MIN_V
|
||||
assert self.scc_v.output_v_target == pytest.approx(MIN_V)
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
("velocities", "yaw_rates"),
|
||||
[([], []), ([np.nan] * len(ModelConstants.T_IDXS), [np.nan] * len(ModelConstants.T_IDXS)), ([20.] * 5, [0.1] * 3)],
|
||||
ids=("empty", "nonfinite", "mismatched"),
|
||||
)
|
||||
def test_model_vector_edges_remain_finite(self, velocities, yaw_rates):
|
||||
self.sm['modelV2'].velocity.x = velocities
|
||||
self.sm['modelV2'].orientationRate.z = yaw_rates
|
||||
self.scc_v.update(self.sm, True, False, 20., 0., 30.)
|
||||
self.scc_v.update(self.sm, True, False, 20., 0., 30.)
|
||||
|
||||
assert all(np.isfinite(value) for value in (
|
||||
self.scc_v.current_lat_acc, self.scc_v.max_pred_lat_acc, self.scc_v.v_target,
|
||||
self.scc_v.output_v_target, self.scc_v.output_a_target,
|
||||
))
|
||||
|
||||
@pytest.mark.parametrize("launch_speed", (5.75, 9.9, _MIN_ACTIVATION_SPEED))
|
||||
def test_vision_control_does_not_steal_launch(self, launch_speed):
|
||||
self.set_lat_accels(0.5, 3., launch_speed)
|
||||
self.scc_v.update(self.sm, True, False, launch_speed, 0., 30.)
|
||||
self.scc_v.update(self.sm, True, False, launch_speed, 0., 30.)
|
||||
|
||||
assert launch_speed <= _MIN_ACTIVATION_SPEED
|
||||
assert self.scc_v.state == VisionState.enabled
|
||||
assert not self.scc_v.is_active
|
||||
assert self.scc_v.output_v_target == V_CRUISE_UNSET
|
||||
|
||||
def test_vision_control_can_activate_above_launch_range(self):
|
||||
speed = _MIN_ACTIVATION_SPEED + 0.01
|
||||
self.set_lat_accels(0.5, 3., speed)
|
||||
self.scc_v.update(self.sm, True, False, speed, 0., 30.)
|
||||
self.scc_v.update(self.sm, True, False, speed, 0., 30.)
|
||||
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert self.scc_v.is_active
|
||||
|
||||
def test_sequential_curve_tightens_immediately_and_releases_bounded(self):
|
||||
self.enter_curve(3.)
|
||||
for _ in range(20):
|
||||
self.update_lat_accels(0.5, 3.)
|
||||
restrictive_v_target = self.scc_v.output_v_target
|
||||
|
||||
self.update_lat_accels(0.5, 1.4, a_ego=0.4)
|
||||
first_relief_v_target = self.scc_v.output_v_target
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert 0. < first_relief_v_target - restrictive_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
assert self.scc_v.output_a_target == 0.4
|
||||
|
||||
self.update_lat_accels(0.5, 1.4)
|
||||
assert 0. <= self.scc_v.output_v_target - first_relief_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
|
||||
self.update_lat_accels(0.5, 3., a_ego=-0.6)
|
||||
assert self.scc_v.state == VisionState.entering
|
||||
assert self.scc_v.output_v_target == pytest.approx(restrictive_v_target)
|
||||
assert self.scc_v.output_a_target == -0.6
|
||||
|
||||
for _ in range(4):
|
||||
self.update_lat_accels(0.5, 1.4)
|
||||
assert 0. < self.scc_v.output_v_target - restrictive_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
|
||||
self.update_lat_accels(0.5, 3.)
|
||||
assert self.scc_v.output_v_target == pytest.approx(restrictive_v_target)
|
||||
|
||||
def test_acceleration_is_continuous_through_planner_arbitration(self):
|
||||
car_control = messaging.new_message('carControl')
|
||||
car_control.carControl.enabled = True
|
||||
car_control.carControl.cruiseControl.override = False
|
||||
self.sm['carControl'] = car_control.carControl
|
||||
self.sm['carState'].vCruiseCluster = 108.
|
||||
|
||||
planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
|
||||
planner.scc = SimpleNamespace(
|
||||
vision=self.scc_v,
|
||||
map=SimpleNamespace(output_v_target=V_CRUISE_UNSET, output_a_target=0.),
|
||||
update=lambda sm, enabled, override, v_ego, a_ego, v_cruise: self.scc_v.update(
|
||||
sm, enabled, override, v_ego, a_ego, v_cruise),
|
||||
)
|
||||
planner.resolver = SimpleNamespace(
|
||||
speed_limit_valid=False, speed_limit_last_valid=False, speed_limit=0., speed_limit_final_last=0., distance=0.,
|
||||
update=lambda _v_ego, _sm: None,
|
||||
)
|
||||
planner.sla = SimpleNamespace(
|
||||
output_v_target=V_CRUISE_UNSET, output_a_target=0., update=lambda *_args: None,
|
||||
)
|
||||
planner.events_sp = SimpleNamespace()
|
||||
|
||||
self.set_lat_accels(0.5, 2.2)
|
||||
planner.update_targets(self.sm, 20., -0.8, 30.)
|
||||
planner.update_targets(self.sm, 20., -0.8, 30.)
|
||||
assert planner.source == LongitudinalPlanSource.sccVision
|
||||
assert planner.output_a_target == -0.8
|
||||
|
||||
for planner_accel in (-2., 0.5, -0.2):
|
||||
planner.update_targets(self.sm, 20., planner_accel, 30.)
|
||||
assert planner.source == LongitudinalPlanSource.sccVision
|
||||
assert planner.output_a_target == planner_accel
|
||||
|
||||
self.set_lat_accels(0.8, 0.8)
|
||||
for _ in range(int(30. / (_TARGET_RELEASE_RATE * DT_MDL)) + 10):
|
||||
planner.update_targets(self.sm, 20., 0.4, 30.)
|
||||
assert planner.output_a_target == 0.4
|
||||
if planner.source == LongitudinalPlanSource.cruise:
|
||||
break
|
||||
else:
|
||||
pytest.fail("SCC Vision did not release to cruise")
|
||||
|
||||
planner.update_targets(self.sm, 20., 0.4, 30.)
|
||||
assert self.scc_v.state == VisionState.enabled
|
||||
assert planner.source == LongitudinalPlanSource.cruise
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
"case, should_enter",
|
||||
[
|
||||
|
||||
-82
@@ -1,82 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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 gc
|
||||
|
||||
import numpy as np
|
||||
|
||||
from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanSource
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import _A_LAT_REG_MAX
|
||||
|
||||
|
||||
def _run_constant_curve(*, scc_enabled: bool, cruise: float, duration: float = 70.) -> dict[str, np.ndarray]:
|
||||
gc.collect()
|
||||
curvature = 0.005
|
||||
plant = Plant(lead_relevancy=False, speed=30., actuator_delay=0.15, actuator_lag=0.20)
|
||||
planner = plant.planner
|
||||
planner.accel_controller.enabled = False
|
||||
planner.accel_controller.update_params = lambda: None
|
||||
planner.dec._enabled = False
|
||||
planner.dec._read_params = lambda: None
|
||||
planner.scc.map.enabled = False
|
||||
planner.scc.map.update_params = lambda: None
|
||||
planner.scc.vision.enabled = scc_enabled
|
||||
planner.scc.vision._update_params = lambda: None
|
||||
|
||||
if scc_enabled:
|
||||
original_update_calculations = planner.scc.vision._update_calculations
|
||||
|
||||
def inject_constant_curvature(sm):
|
||||
velocities = np.asarray(sm['modelV2'].velocity.x, dtype=float)
|
||||
sm['modelV2'].orientationRate.z = (curvature * velocities).tolist()
|
||||
sm['controlsState'].curvature = curvature
|
||||
original_update_calculations(sm)
|
||||
|
||||
planner.scc.vision._update_calculations = inject_constant_curvature
|
||||
|
||||
original_update = planner.update
|
||||
|
||||
def enable_longitudinal(sm):
|
||||
sm['carControl'].enabled = True
|
||||
sm['carControl'].longActive = True
|
||||
original_update(sm)
|
||||
|
||||
planner.update = enable_longitudinal
|
||||
rows = []
|
||||
while plant.current_time < duration:
|
||||
output = plant.step(v_cruise=cruise)
|
||||
rows.append((
|
||||
plant.current_time, output['speed'], planner.mpc.last_solution_status, output['should_stop'],
|
||||
planner.scc.vision.is_active, planner.source == LongitudinalPlanSource.sccVision,
|
||||
planner.scc.vision.output_v_target,
|
||||
))
|
||||
|
||||
data = np.asarray(rows, dtype=float)
|
||||
gc.collect()
|
||||
return {
|
||||
'time': data[:, 0], 'speed': data[:, 1], 'solver_status': data[:, 2], 'should_stop': data[:, 3],
|
||||
'active': data[:, 4], 'scc_source': data[:, 5], 'target': data[:, 6],
|
||||
}
|
||||
|
||||
|
||||
def test_constant_curve_recovers_like_stock_speed_cap():
|
||||
target = (_A_LAT_REG_MAX / 0.005) ** 0.5
|
||||
scc = _run_constant_curve(scc_enabled=True, cruise=30.)
|
||||
stock = _run_constant_curve(scc_enabled=False, cruise=target)
|
||||
scc_final = scc['speed'][scc['time'] >= 60.]
|
||||
stock_final = stock['speed'][stock['time'] >= 60.]
|
||||
|
||||
assert not scc['solver_status'].any()
|
||||
assert not stock['solver_status'].any()
|
||||
assert not scc['should_stop'].any()
|
||||
assert np.all(scc['active'][scc['time'] >= 60.])
|
||||
assert np.all(scc['scc_source'][scc['time'] >= 60.])
|
||||
assert np.allclose(scc['target'][scc['time'] >= 60.], target)
|
||||
assert scc_final.min() >= target - 1.
|
||||
assert abs(scc_final.mean() - stock_final.mean()) < 0.5
|
||||
assert abs(scc_final.min() - stock_final.min()) < 1.
|
||||
assert abs(scc_final.max() - stock_final.max()) < 1.
|
||||
@@ -29,11 +29,19 @@ _FINISH_LAT_ACC_TH = 1.1 # Lat Acc threshold to trigger the end of the turn cyc
|
||||
|
||||
_A_LAT_REG_MAX = 2. # Maximum lateral acceleration
|
||||
|
||||
_RELIEF_CONFIRMATION_FRAMES = max(1, int(round(0.5 / DT_MDL)))
|
||||
_TARGET_RELEASE_RATE = 1. # m/s^2
|
||||
_BELOW_EGO_TARGET_RELEASE_RATE = 3. # m/s^2
|
||||
_MIN_PRED_SPEED = 1. # m/s
|
||||
_MIN_ACTIVATION_SPEED = 10. # m/s
|
||||
_NO_OVERSHOOT_TIME_HORIZON = 4. # s. Time to use for velocity desired based on a_target when not overshooting.
|
||||
|
||||
# Lookup table for the minimum smooth deceleration during the ENTERING state
|
||||
# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
|
||||
_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.] # min decel value allowed on ENTERING state
|
||||
_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.] # absolute value of lat acc ahead
|
||||
|
||||
# Lookup table for the acceleration for the TURNING state
|
||||
# depending on the current lateral acceleration of the vehicle.
|
||||
_TURNING_ACC_V = [0.5, 0., -0.4] # acc value
|
||||
_TURNING_ACC_BP = [1.5, 2.3, 3.] # absolute value of current lat acc
|
||||
|
||||
_LEAVING_ACC = 0.5 # Conformable acceleration to regain speed while leaving a turn.
|
||||
|
||||
|
||||
class SmartCruiseControlVision:
|
||||
@@ -57,26 +65,13 @@ class SmartCruiseControlVision:
|
||||
self.state = VisionState.disabled
|
||||
self.current_lat_acc = 0.
|
||||
self.max_pred_lat_acc = 0.
|
||||
self.relief_frames = 0
|
||||
|
||||
def _v_demand(self) -> float:
|
||||
return max(MIN_V, min(self.v_target, self.v_cruise_setpoint))
|
||||
|
||||
def _released_v_target(self) -> float:
|
||||
demand = self._v_demand()
|
||||
if demand < self.output_v_target:
|
||||
return demand
|
||||
release_rate = _BELOW_EGO_TARGET_RELEASE_RATE if self.output_v_target < min(self.v_ego, demand) else _TARGET_RELEASE_RATE
|
||||
return min(demand, self.output_v_target + release_rate * DT_MDL)
|
||||
|
||||
def get_a_target_from_control(self) -> float:
|
||||
return self.a_ego
|
||||
return self.a_target
|
||||
|
||||
def get_v_target_from_control(self) -> float:
|
||||
if self.is_active:
|
||||
if self.output_v_target == V_CRUISE_UNSET:
|
||||
return self._v_demand()
|
||||
return self._released_v_target()
|
||||
return max(self.v_target, MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
|
||||
|
||||
return V_CRUISE_UNSET
|
||||
|
||||
@@ -87,27 +82,25 @@ class SmartCruiseControlVision:
|
||||
def _update_calculations(self, sm: messaging.SubMaster) -> None:
|
||||
if not self.long_enabled:
|
||||
return
|
||||
else:
|
||||
rate_plan = np.array(np.abs(sm['modelV2'].orientationRate.z))
|
||||
vel_plan = np.array(sm['modelV2'].velocity.x)
|
||||
|
||||
rate_plan = np.asarray(np.abs(sm['modelV2'].orientationRate.z), dtype=float)
|
||||
vel_plan = np.asarray(sm['modelV2'].velocity.x, dtype=float)
|
||||
size = min(len(rate_plan), len(vel_plan))
|
||||
rate_plan, vel_plan = rate_plan[:size], vel_plan[:size]
|
||||
valid = np.isfinite(rate_plan) & np.isfinite(vel_plan) & (vel_plan >= _MIN_PRED_SPEED)
|
||||
self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
|
||||
|
||||
self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
|
||||
self.max_pred_lat_acc = 0.
|
||||
self.v_target = V_CRUISE_UNSET
|
||||
if np.any(valid):
|
||||
self.max_pred_lat_acc = float(np.percentile(rate_plan[valid] * vel_plan[valid], 97))
|
||||
max_pred_curvature = float(np.percentile(rate_plan[valid] / vel_plan[valid], 97))
|
||||
if max_pred_curvature > 0.:
|
||||
self.v_target = min(float((_A_LAT_REG_MAX / max_pred_curvature) ** 0.5), V_CRUISE_UNSET)
|
||||
# get the maximum lat accel from the model
|
||||
predicted_lat_accels = rate_plan * vel_plan
|
||||
self.max_pred_lat_acc = np.percentile(predicted_lat_accels, 97)
|
||||
|
||||
# get the maximum curve based on the current velocity
|
||||
v_ego = max(self.v_ego, 0.1) # ensure a value greater than 0 for calculations
|
||||
max_curve = self.max_pred_lat_acc / (v_ego**2)
|
||||
|
||||
# Get the target velocity for the maximum curve
|
||||
self.v_target = (_A_LAT_REG_MAX / max_curve) ** 0.5
|
||||
|
||||
def _update_state_machine(self) -> tuple[bool, bool]:
|
||||
# ENABLED, ENTERING, TURNING, LEAVING, OVERRIDING
|
||||
relief = self.current_lat_acc < _FINISH_LAT_ACC_TH and self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH
|
||||
self.relief_frames = self.relief_frames + 1 if self.state in ACTIVE_STATES and relief else 0
|
||||
|
||||
if self.state != VisionState.disabled:
|
||||
# longitudinal and feature disable always have priority in a non-disabled state
|
||||
if not self.long_enabled or not self.enabled:
|
||||
@@ -119,7 +112,7 @@ class SmartCruiseControlVision:
|
||||
# ENABLED
|
||||
if self.state == VisionState.enabled:
|
||||
# Do not enter a turn control cycle if the speed is low.
|
||||
if self.v_ego <= _MIN_ACTIVATION_SPEED:
|
||||
if self.v_ego <= MIN_V:
|
||||
pass
|
||||
# If significant lateral acceleration is predicted ahead, then move to Entering turn state.
|
||||
elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
|
||||
@@ -135,26 +128,23 @@ class SmartCruiseControlVision:
|
||||
# Transition to Turning if current lateral acceleration is over the threshold.
|
||||
if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
|
||||
self.state = VisionState.turning
|
||||
# Begin releasing only after both current and predicted lateral acceleration stay clear.
|
||||
elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES:
|
||||
self.state = VisionState.leaving
|
||||
# Abort if the predicted lateral acceleration drops
|
||||
elif self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH:
|
||||
self.state = VisionState.enabled
|
||||
|
||||
# TURNING
|
||||
elif self.state == VisionState.turning:
|
||||
# Transition out of Turning if current lateral acceleration drops below a threshold.
|
||||
# Transition to Leaving if current lateral acceleration drops below a threshold.
|
||||
if self.current_lat_acc <= _LEAVING_LAT_ACC_TH:
|
||||
self.state = VisionState.entering if self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH else VisionState.leaving
|
||||
self.state = VisionState.leaving
|
||||
|
||||
# LEAVING
|
||||
elif self.state == VisionState.leaving:
|
||||
# Transition back to Turning if current lateral acceleration goes back over the threshold.
|
||||
if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
|
||||
self.state = VisionState.turning
|
||||
# Start a new turn cycle immediately if another curve is predicted.
|
||||
elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
|
||||
self.state = VisionState.entering
|
||||
# Finish after confirmed relief and a gradual release to the cruise setpoint.
|
||||
elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES and self.output_v_target >= self.v_cruise_setpoint:
|
||||
# Finish if current lateral acceleration goes below a threshold.
|
||||
elif self.current_lat_acc < _FINISH_LAT_ACC_TH:
|
||||
self.state = VisionState.enabled
|
||||
|
||||
# DISABLED
|
||||
@@ -167,11 +157,32 @@ class SmartCruiseControlVision:
|
||||
|
||||
enabled = self.state in ENABLED_STATES
|
||||
active = self.state in ACTIVE_STATES
|
||||
if not active:
|
||||
self.relief_frames = 0
|
||||
|
||||
return enabled, active
|
||||
|
||||
def _update_solution(self) -> float:
|
||||
# DISABLED, ENABLED, OVERRIDING
|
||||
if self.state not in ACTIVE_STATES:
|
||||
# when not overshooting, calculate v_turn as the speed at the prediction horizon when following
|
||||
# the smooth deceleration.
|
||||
a_target = self.a_ego
|
||||
# ENTERING
|
||||
elif self.state == VisionState.entering:
|
||||
# when not overshooting, target a smooth deceleration in preparation for a sharp turn to come.
|
||||
a_target = np.interp(self.max_pred_lat_acc, _ENTERING_SMOOTH_DECEL_BP, _ENTERING_SMOOTH_DECEL_V)
|
||||
# TURNING
|
||||
elif self.state == VisionState.turning:
|
||||
# When turning, we provide a target acceleration that is comfortable for the lateral acceleration felt.
|
||||
a_target = np.interp(self.current_lat_acc, _TURNING_ACC_BP, _TURNING_ACC_V)
|
||||
# LEAVING
|
||||
elif self.state == VisionState.leaving:
|
||||
# When leaving, we provide a comfortable acceleration to regain speed.
|
||||
a_target = _LEAVING_ACC
|
||||
else:
|
||||
raise NotImplementedError(f"SCC-V state not supported: {self.state}")
|
||||
|
||||
return a_target
|
||||
|
||||
def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float,
|
||||
v_cruise_setpoint: float) -> None:
|
||||
self.long_enabled = long_enabled
|
||||
@@ -184,7 +195,7 @@ class SmartCruiseControlVision:
|
||||
self._update_calculations(sm)
|
||||
|
||||
self.is_enabled, self.is_active = self._update_state_machine()
|
||||
self.a_target = self.a_ego
|
||||
self.a_target = self._update_solution()
|
||||
|
||||
self.output_v_target = self.get_v_target_from_control()
|
||||
self.output_a_target = self.get_a_target_from_control()
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,8 +5,6 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
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
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
@@ -109,11 +107,7 @@ def set_lane_turn_params():
|
||||
])
|
||||
def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
|
||||
dh = DesireHelper()
|
||||
relc = RoadEdgeLaneChangeController(dh)
|
||||
relc.enabled = True
|
||||
dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
|
||||
for _ in range(10):
|
||||
dh.update(carstate, lateral_active, lane_change_prob,
|
||||
left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
|
||||
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
|
||||
|
||||
|
||||
@@ -1,99 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, Haibin Wen, 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.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
|
||||
RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
|
||||
)
|
||||
|
||||
V_HIGH = MIN_SPEED + 2.0
|
||||
V_LOW = MIN_SPEED - 1.0
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def relc(mocker):
|
||||
mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
|
||||
mock_params.return_value.get_bool.return_value = True
|
||||
controller = RoadEdgeLaneChangeController(DesireHelper())
|
||||
controller.enabled = True
|
||||
return controller
|
||||
|
||||
|
||||
def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH):
|
||||
for _ in range(int(seconds / DT_MDL) + 1):
|
||||
controller.update(road_edge_stds, lane_line_probs, v_ego)
|
||||
|
||||
|
||||
@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)
|
||||
relc.update(*edge, V_HIGH)
|
||||
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)
|
||||
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)
|
||||
assert not relc.left_edge_detected
|
||||
assert not relc.right_edge_detected
|
||||
@@ -243,12 +243,4 @@ 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),
|
||||
},
|
||||
}
|
||||
|
||||
@@ -1,402 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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.
|
||||
"""
|
||||
|
||||
from collections import deque
|
||||
from collections.abc import Callable
|
||||
from dataclasses import dataclass
|
||||
import math
|
||||
import time
|
||||
from typing import Any
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import log
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.common.realtime import DT_MDL, Ratekeeper
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
|
||||
from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
|
||||
from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant, PlannerSM
|
||||
|
||||
|
||||
LeadObservation = dict[str, Any]
|
||||
LeadObservationFn = Callable[[float, str, LeadObservation], LeadObservation | None]
|
||||
ModelActionFn = Callable[[float, float, float], tuple[float, bool]]
|
||||
EgoObservationFn = Callable[[float, float, float], tuple[float, float]]
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class ActuatorModel:
|
||||
planner_delay: float
|
||||
transport_delay: float
|
||||
actuator_lag: float
|
||||
command_rate_limit: float
|
||||
stopping_acceleration: float
|
||||
standstill_breakaway_acceleration: float
|
||||
standstill_breakaway_time: float
|
||||
|
||||
def __post_init__(self):
|
||||
nonnegative_fields = {
|
||||
"planner_delay": self.planner_delay,
|
||||
"transport_delay": self.transport_delay,
|
||||
"actuator_lag": self.actuator_lag,
|
||||
"standstill_breakaway_acceleration": self.standstill_breakaway_acceleration,
|
||||
"standstill_breakaway_time": self.standstill_breakaway_time,
|
||||
}
|
||||
if any(not math.isfinite(value) or value < 0.0 for value in nonnegative_fields.values()):
|
||||
raise ValueError(f"ActuatorModel fields must be finite and non-negative: {nonnegative_fields}")
|
||||
if not math.isfinite(self.command_rate_limit) or self.command_rate_limit <= 0.0:
|
||||
raise ValueError("command_rate_limit must be finite and positive")
|
||||
if not math.isfinite(self.stopping_acceleration) or self.stopping_acceleration > 0.0:
|
||||
raise ValueError("stopping_acceleration must be finite and non-positive")
|
||||
|
||||
|
||||
# Conservative Prius TSS2 actuator model.
|
||||
PRIUS_TSS2_ROUTE_MODEL = ActuatorModel(
|
||||
planner_delay=0.05,
|
||||
transport_delay=0.0,
|
||||
actuator_lag=0.20,
|
||||
command_rate_limit=4.0,
|
||||
stopping_acceleration=-2.0,
|
||||
standstill_breakaway_acceleration=1.0,
|
||||
standstill_breakaway_time=0.05,
|
||||
)
|
||||
|
||||
|
||||
class PlantSP(Plant):
|
||||
"""Closed-loop plant with configurable observations and actuator response."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
lead_relevancy=False,
|
||||
speed=0.0,
|
||||
distance_lead=2.0,
|
||||
enabled=True,
|
||||
only_lead2=False,
|
||||
only_radar=False,
|
||||
e2e=False,
|
||||
personality=0,
|
||||
force_decel=False,
|
||||
lead_observation_fn: LeadObservationFn | None = None,
|
||||
model_action_fn: ModelActionFn | None = None,
|
||||
ego_observation_fn: EgoObservationFn | None = None,
|
||||
actuator_delay: float | None = None,
|
||||
actuator_lag: float = 0.0,
|
||||
actuator_model: ActuatorModel | None = None,
|
||||
):
|
||||
if actuator_delay is not None and (not math.isfinite(actuator_delay) or actuator_delay < 0.0):
|
||||
raise ValueError("actuator_delay must be finite and non-negative")
|
||||
if not math.isfinite(actuator_lag) or actuator_lag < 0.0:
|
||||
raise ValueError("actuator_lag must be finite and non-negative")
|
||||
|
||||
self.rate = 1.0 / DT_MDL
|
||||
|
||||
if not Plant.messaging_initialized:
|
||||
Plant.radar = messaging.pub_sock('radarState')
|
||||
Plant.controls_state = messaging.pub_sock('controlsState')
|
||||
Plant.selfdrive_state = messaging.pub_sock('selfdriveState')
|
||||
Plant.car_state = messaging.pub_sock('carState')
|
||||
Plant.plan = messaging.sub_sock('longitudinalPlan')
|
||||
Plant.messaging_initialized = True
|
||||
|
||||
self.v_lead_prev = 0.0
|
||||
|
||||
self.distance = 0.0
|
||||
self.speed = speed
|
||||
self.should_stop = False
|
||||
self.acceleration = 0.0
|
||||
self.a_target = 0.0
|
||||
self.actuator_command = 0.0
|
||||
self.applied_actuator_command = 0.0
|
||||
self.breakaway_confirmed = False
|
||||
self._breakaway_timer = 0.0
|
||||
|
||||
# lead car
|
||||
self.lead_relevancy = lead_relevancy
|
||||
self.distance_lead = distance_lead
|
||||
self.enabled = enabled
|
||||
self.only_lead2 = only_lead2
|
||||
self.only_radar = only_radar
|
||||
self.e2e = e2e
|
||||
self.personality = personality
|
||||
self.force_decel = force_decel
|
||||
self.lead_observation_fn = lead_observation_fn
|
||||
self.model_action_fn = model_action_fn
|
||||
self.ego_observation_fn = ego_observation_fn
|
||||
self.actuator_model = actuator_model
|
||||
self.actuator_delay = actuator_model.planner_delay if actuator_model is not None else actuator_delay
|
||||
self.transport_delay = actuator_model.transport_delay if actuator_model is not None else actuator_delay
|
||||
self.actuator_lag = actuator_model.actuator_lag if actuator_model is not None else actuator_lag
|
||||
self.publish_realized_a_ego = any((lead_observation_fn is not None, model_action_fn is not None, ego_observation_fn is not None,
|
||||
actuator_delay is not None, actuator_lag > 0.0, actuator_model is not None))
|
||||
|
||||
self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
|
||||
self.ts = 1.0 / self.rate
|
||||
time.sleep(0.1)
|
||||
self.sm = messaging.SubMaster(['longitudinalPlan'])
|
||||
|
||||
from opendbc.car.honda.values import CAR
|
||||
from opendbc.car.honda.interface import CarInterface
|
||||
|
||||
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
|
||||
if self.actuator_delay is not None:
|
||||
CP.longitudinalActuatorDelay = self.actuator_delay
|
||||
CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
|
||||
self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
|
||||
|
||||
if self.actuator_model is not None and self.speed >= 0.01:
|
||||
self.breakaway_confirmed = True
|
||||
delay_steps = 0 if self.transport_delay is None else round(self.transport_delay / self.ts)
|
||||
self._actuator_delay_queue = deque([self.acceleration] * delay_steps)
|
||||
|
||||
@staticmethod
|
||||
def _lead_message(observation: LeadObservation):
|
||||
lead = log.RadarState.LeadData.new_message()
|
||||
for field, value in observation.items():
|
||||
setattr(lead, field, value)
|
||||
return lead
|
||||
|
||||
def _observe_lead(self, lead_name: str, truth: LeadObservation, present_by_default: bool) -> LeadObservation | None:
|
||||
if self.lead_observation_fn is None:
|
||||
return dict(truth) if present_by_default else None
|
||||
|
||||
observed = self.lead_observation_fn(self.current_time, lead_name, dict(truth))
|
||||
if observed is None:
|
||||
return None
|
||||
|
||||
complete_observation = dict(truth)
|
||||
complete_observation.update(observed)
|
||||
return complete_observation
|
||||
|
||||
def _update_actuator(self, command: float) -> tuple[float, float]:
|
||||
if self._actuator_delay_queue:
|
||||
self._actuator_delay_queue.append(command)
|
||||
delayed_command = self._actuator_delay_queue.popleft()
|
||||
else:
|
||||
delayed_command = command
|
||||
|
||||
if self.actuator_model is not None:
|
||||
max_command_delta = self.actuator_model.command_rate_limit * self.ts
|
||||
self.applied_actuator_command = float(np.clip(delayed_command,
|
||||
self.applied_actuator_command - max_command_delta,
|
||||
self.applied_actuator_command + max_command_delta))
|
||||
|
||||
if self.speed < 0.01:
|
||||
if self.applied_actuator_command <= 0.0:
|
||||
self.breakaway_confirmed = False
|
||||
self._breakaway_timer = 0.0
|
||||
elif not self.breakaway_confirmed:
|
||||
breakaway_ready = self.applied_actuator_command + 1e-9 >= self.actuator_model.standstill_breakaway_acceleration
|
||||
if breakaway_ready:
|
||||
self._breakaway_timer += self.ts
|
||||
else:
|
||||
self._breakaway_timer = 0.0
|
||||
|
||||
self.breakaway_confirmed = breakaway_ready and self._breakaway_timer + 1e-9 >= self.actuator_model.standstill_breakaway_time
|
||||
if not self.breakaway_confirmed:
|
||||
self.acceleration = 0.0
|
||||
return delayed_command, self.acceleration
|
||||
else:
|
||||
self.breakaway_confirmed = True
|
||||
|
||||
response_command = self.applied_actuator_command
|
||||
else:
|
||||
self.applied_actuator_command = delayed_command
|
||||
response_command = delayed_command
|
||||
|
||||
if self.actuator_lag > 0.0:
|
||||
alpha = 1.0 - math.exp(-self.ts / self.actuator_lag)
|
||||
self.acceleration += alpha * (response_command - self.acceleration)
|
||||
else:
|
||||
self.acceleration = response_command
|
||||
return delayed_command, self.acceleration
|
||||
|
||||
def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50.0, pitch=0.0, prob_throttle=1.0):
|
||||
# ******** publish a fake model going straight and fake calibration ********
|
||||
# note that this is worst case for MPC, since model will delay long mpc by one time step
|
||||
radar = messaging.new_message('radarState')
|
||||
control = messaging.new_message('controlsState')
|
||||
ss = messaging.new_message('selfdriveState')
|
||||
car_state = messaging.new_message('carState')
|
||||
lp = messaging.new_message('liveParameters')
|
||||
car_control = messaging.new_message('carControl')
|
||||
model = messaging.new_message('modelV2')
|
||||
car_state_sp = messaging.new_message('carStateSP')
|
||||
live_map_data_sp = messaging.new_message('liveMapDataSP')
|
||||
gps_data = messaging.new_message('gpsLocation')
|
||||
a_lead = (v_lead - self.v_lead_prev) / self.ts
|
||||
self.v_lead_prev = v_lead
|
||||
|
||||
if self.lead_relevancy:
|
||||
d_rel = np.maximum(0.0, self.distance_lead - self.distance)
|
||||
v_rel = v_lead - self.speed
|
||||
if self.only_radar:
|
||||
status = True
|
||||
elif prob_lead > 0.5:
|
||||
status = True
|
||||
else:
|
||||
status = False
|
||||
else:
|
||||
d_rel = 200.0
|
||||
v_rel = 0.0
|
||||
prob_lead = 0.0
|
||||
status = False
|
||||
|
||||
truth_lead: LeadObservation = {
|
||||
"dRel": float(d_rel),
|
||||
"yRel": 0.0,
|
||||
"vRel": float(v_rel),
|
||||
"aRel": float(a_lead - self.acceleration),
|
||||
"vLead": float(v_lead),
|
||||
"dPath": 0.0,
|
||||
"vLat": 0.0,
|
||||
"vLeadK": float(v_lead),
|
||||
"aLeadK": float(a_lead),
|
||||
"fcw": False,
|
||||
"status": bool(status),
|
||||
# TODO use real radard logic for this
|
||||
"aLeadTau": float(_LEAD_ACCEL_TAU),
|
||||
"modelProb": float(prob_lead),
|
||||
"radar": bool(self.only_radar),
|
||||
"radarTrackId": -1,
|
||||
}
|
||||
lead_one_observation = self._observe_lead("leadOne", truth_lead, not self.only_lead2)
|
||||
lead_two_observation = self._observe_lead("leadTwo", truth_lead, True)
|
||||
if lead_one_observation is not None:
|
||||
radar.radarState.leadOne = self._lead_message(lead_one_observation)
|
||||
if lead_two_observation is not None:
|
||||
radar.radarState.leadTwo = self._lead_message(lead_two_observation)
|
||||
|
||||
# Simulate model predicting slightly faster speed
|
||||
# this is to ensure lead policy is effective when model
|
||||
# does not predict slowdown in e2e mode
|
||||
position = log.XYZTData.new_message()
|
||||
position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
|
||||
model.modelV2.position = position
|
||||
if self.model_action_fn is None:
|
||||
model_acceleration, model_should_stop = self.acceleration + 0.1, False
|
||||
else:
|
||||
model_acceleration, model_should_stop = self.model_action_fn(self.current_time, self.speed, self.acceleration)
|
||||
model.modelV2.action.desiredAcceleration = float(model_acceleration)
|
||||
model.modelV2.action.shouldStop = bool(model_should_stop)
|
||||
velocity = log.XYZTData.new_message()
|
||||
velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
|
||||
velocity.x[0] = float(self.speed) # always start at current speed
|
||||
model.modelV2.velocity = velocity
|
||||
acceleration = log.XYZTData.new_message()
|
||||
acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
|
||||
model.modelV2.acceleration = acceleration
|
||||
model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)]
|
||||
|
||||
control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
|
||||
ss.selfdriveState.experimentalMode = self.e2e
|
||||
ss.selfdriveState.personality = self.personality
|
||||
control.controlsState.forceDecel = self.force_decel
|
||||
true_v_ego = self.speed
|
||||
true_a_ego = self.acceleration
|
||||
published_v_ego = true_v_ego
|
||||
published_a_ego = true_a_ego if self.publish_realized_a_ego else 0.0
|
||||
if self.ego_observation_fn is not None:
|
||||
published_v_ego, published_a_ego = self.ego_observation_fn(self.current_time, true_v_ego, true_a_ego)
|
||||
car_state.carState.vEgo = float(published_v_ego)
|
||||
car_state.carState.aEgo = float(published_a_ego)
|
||||
car_state.carState.standstill = bool(self.speed < 0.01)
|
||||
car_state.carState.vCruise = float(v_cruise * 3.6)
|
||||
car_control.carControl.orientationNED = [0.0, float(pitch), 0.0]
|
||||
|
||||
# ******** get controlsState messages for plotting ***
|
||||
sm = PlannerSM(self.rk.frame, {
|
||||
'radarState': radar.radarState,
|
||||
'carState': car_state.carState,
|
||||
'carControl': car_control.carControl,
|
||||
'controlsState': control.controlsState,
|
||||
'selfdriveState': ss.selfdriveState,
|
||||
'liveParameters': lp.liveParameters,
|
||||
'modelV2': model.modelV2,
|
||||
'carStateSP': car_state_sp.carStateSP,
|
||||
'liveMapDataSP': live_map_data_sp.liveMapDataSP,
|
||||
'gpsLocation': gps_data.gpsLocation,
|
||||
})
|
||||
self.planner.update(sm)
|
||||
self.a_target = self.planner.output_a_target
|
||||
self.actuator_command = self.a_target
|
||||
if self.planner.output_should_stop:
|
||||
stopping_acceleration = -0.5 if self.actuator_model is None else self.actuator_model.stopping_acceleration
|
||||
self.actuator_command = min(stopping_acceleration, self.actuator_command)
|
||||
delayed_actuator_command, _ = self._update_actuator(self.actuator_command)
|
||||
self.speed = self.speed + self.acceleration * self.ts
|
||||
self.should_stop = self.planner.output_should_stop
|
||||
fcw = self.planner.fcw
|
||||
self.distance_lead = self.distance_lead + v_lead * self.ts
|
||||
|
||||
# ******** run the car ********
|
||||
# print(self.distance, speed)
|
||||
if self.speed <= 0:
|
||||
self.speed = 0
|
||||
self.acceleration = 0
|
||||
self.distance = self.distance + self.speed * self.ts
|
||||
|
||||
# *** radar model ***
|
||||
if self.lead_relevancy:
|
||||
d_rel = np.maximum(0.0, self.distance_lead - self.distance)
|
||||
v_rel = v_lead - self.speed
|
||||
else:
|
||||
d_rel = 200.0
|
||||
v_rel = 0.0
|
||||
|
||||
# print at 5hz
|
||||
# if (self.rk.frame % (self.rate // 5)) == 0:
|
||||
# print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s"
|
||||
# % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel))
|
||||
|
||||
# ******** update prevs ********
|
||||
self.rk.monitor_time()
|
||||
|
||||
accel_controller = self.planner.accel_controller
|
||||
lead_plan = accel_controller._held_lead_plan
|
||||
target_state = accel_controller.target_state
|
||||
return {
|
||||
"distance": self.distance,
|
||||
"speed": self.speed,
|
||||
"acceleration": self.acceleration,
|
||||
"realized_acceleration": self.acceleration,
|
||||
"a_target": self.a_target,
|
||||
"planner_acceleration": self.a_target,
|
||||
"actuator_command": self.actuator_command,
|
||||
"stop_clamped_actuator_command": self.actuator_command,
|
||||
"delayed_actuator_command": delayed_actuator_command,
|
||||
"applied_actuator_command": self.applied_actuator_command,
|
||||
"vehicle_actuator_command": self.applied_actuator_command,
|
||||
"true_v_ego": true_v_ego,
|
||||
"true_a_ego": true_a_ego,
|
||||
"published_a_ego": published_a_ego,
|
||||
"published_v_ego": published_v_ego,
|
||||
"observed_a_ego": published_a_ego,
|
||||
"observed_v_ego": published_v_ego,
|
||||
"planner_delay": self.actuator_delay,
|
||||
"transport_delay": self.transport_delay,
|
||||
"breakaway_confirmed": self.breakaway_confirmed,
|
||||
"breakaway_time": self._breakaway_timer,
|
||||
"should_stop": self.should_stop,
|
||||
"distance_lead": self.distance_lead,
|
||||
"fcw": fcw,
|
||||
"mpc_source": self.planner.mpc.source,
|
||||
"dec_mode": self.planner.dec.mode(),
|
||||
"controller_target": accel_controller.output_v_target,
|
||||
"base_target": self.planner.output_v_target,
|
||||
"raw_energy_cap": lead_plan.cap if lead_plan is not None else math.inf,
|
||||
"live_filtered_cap": target_state.filtered_cap,
|
||||
"accel_controller_selected_lead": accel_controller.selected_lead,
|
||||
"model_action": {
|
||||
"desiredAcceleration": float(model_acceleration),
|
||||
"shouldStop": bool(model_should_stop),
|
||||
},
|
||||
"truth_lead": dict(truth_lead),
|
||||
"lead_one_observation": None if lead_one_observation is None else dict(lead_one_observation),
|
||||
"lead_two_observation": None if lead_two_observation is None else dict(lead_two_observation),
|
||||
}
|
||||
@@ -1,154 +0,0 @@
|
||||
from collections.abc import Callable
|
||||
import math
|
||||
|
||||
import pytest
|
||||
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
|
||||
from openpilot.sunnypilot.selfdrive.test.longitudinal_maneuvers.plant import PlantSP
|
||||
|
||||
STOCK_STEP_KEYS = ("distance", "speed", "acceleration", "should_stop", "distance_lead", "fcw")
|
||||
|
||||
|
||||
def departing_lead(current_time: float) -> float:
|
||||
return 0.0 if current_time < 1.0 else min(2.0, 2.0 * (current_time - 1.0))
|
||||
|
||||
|
||||
PARITY_SCENARIOS = {
|
||||
"approach_stopped_lead": dict(lead_relevancy=True, speed=15.0, distance_lead=60.0, v_cruise=20.0, v_lead=0.0, steps=80),
|
||||
"stop_then_depart": dict(lead_relevancy=True, speed=0.0, distance_lead=6.0, v_cruise=8.0, v_lead=departing_lead, steps=120),
|
||||
}
|
||||
|
||||
|
||||
def _drive(cls, *, v_cruise: float, v_lead: float | Callable[[float], float], steps: int, **kwargs):
|
||||
plant = cls(**kwargs)
|
||||
plant.v_lead_prev = float(v_lead(0.0)) if callable(v_lead) else float(v_lead)
|
||||
solver_failures = 0
|
||||
original_reset = plant.planner.mpc.reset
|
||||
|
||||
def counting_reset(*args, **kw):
|
||||
nonlocal solver_failures
|
||||
if plant.planner.mpc.solution_status != 0:
|
||||
solver_failures += 1
|
||||
return original_reset(*args, **kw)
|
||||
|
||||
plant.planner.mpc.reset = counting_reset
|
||||
results = []
|
||||
for _ in range(steps):
|
||||
lead_speed = float(v_lead(plant.current_time)) if callable(v_lead) else v_lead
|
||||
result = plant.step(v_lead=lead_speed, v_cruise=v_cruise)
|
||||
results.append((result, plant.planner.mpc.source, plant.planner.output_a_target))
|
||||
return results, solver_failures
|
||||
|
||||
|
||||
@pytest.mark.parametrize("scenario", PARITY_SCENARIOS, ids=list(PARITY_SCENARIOS))
|
||||
def test_plant_sp_matches_stock_plant_on_shared_kwargs(scenario):
|
||||
kwargs = dict(PARITY_SCENARIOS[scenario])
|
||||
v_cruise, v_lead, steps = kwargs.pop("v_cruise"), kwargs.pop("v_lead"), kwargs.pop("steps")
|
||||
|
||||
stock_results, stock_failures = _drive(Plant, v_cruise=v_cruise, v_lead=v_lead, steps=steps, **kwargs)
|
||||
sp_results, sp_failures = _drive(PlantSP, v_cruise=v_cruise, v_lead=v_lead, steps=steps, **kwargs)
|
||||
|
||||
assert stock_failures == 0, f"stock Plant solver failed {stock_failures} times in {scenario!r}"
|
||||
assert sp_failures == 0, f"PlantSP solver failed {sp_failures} times in {scenario!r}"
|
||||
|
||||
for frame, ((stock_result, stock_source, stock_a_target), (sp_result, sp_source, sp_a_target)) in enumerate(
|
||||
zip(stock_results, sp_results, strict=True),
|
||||
):
|
||||
for key in STOCK_STEP_KEYS:
|
||||
if isinstance(stock_result[key], float):
|
||||
assert sp_result[key] == pytest.approx(stock_result[key]), f"{scenario} frame {frame} key {key}"
|
||||
else:
|
||||
assert sp_result[key] == stock_result[key], f"{scenario} frame {frame} key {key}"
|
||||
assert sp_source == stock_source, f"{scenario} frame {frame} mpc.source"
|
||||
assert sp_a_target == pytest.approx(stock_a_target), f"{scenario} frame {frame} output_a_target"
|
||||
|
||||
if scenario == "stop_then_depart":
|
||||
departure_frame = round(1.0 / DT_MDL)
|
||||
for results in (stock_results, sp_results):
|
||||
assert all(result["speed"] < 0.01 for result, _, _ in results[:departure_frame])
|
||||
assert results[departure_frame - 1][0]["should_stop"]
|
||||
assert any(not result["should_stop"] for result, _, _ in results[departure_frame:])
|
||||
assert any(result["speed"] > 0.05 for result, _, _ in results[departure_frame:])
|
||||
stock_release = next(frame for frame, (result, _, _) in enumerate(stock_results) if frame >= departure_frame and not result["should_stop"])
|
||||
sp_release = next(frame for frame, (result, _, _) in enumerate(sp_results) if frame >= departure_frame and not result["should_stop"])
|
||||
stock_motion = next(frame for frame, (result, _, _) in enumerate(stock_results) if frame >= departure_frame and result["speed"] > 0.05)
|
||||
sp_motion = next(frame for frame, (result, _, _) in enumerate(sp_results) if frame >= departure_frame and result["speed"] > 0.05)
|
||||
assert sp_release == stock_release
|
||||
assert sp_motion == stock_motion
|
||||
|
||||
|
||||
def test_full_lead_observation_is_independent_from_truth():
|
||||
callback_inputs = []
|
||||
|
||||
def observe_lead(current_time, lead_name, truth):
|
||||
callback_inputs.append((current_time, lead_name, truth))
|
||||
if lead_name == "leadOne":
|
||||
return {
|
||||
"dRel": 12.5,
|
||||
"vRel": -4.0,
|
||||
"vLead": 6.0,
|
||||
"vLeadK": 5.5,
|
||||
"aLeadK": -1.25,
|
||||
"aLeadTau": 0.7,
|
||||
"status": True,
|
||||
"modelProb": 0.9,
|
||||
"radarTrackId": 42,
|
||||
}
|
||||
return None
|
||||
|
||||
plant = PlantSP(lead_relevancy=True, speed=10.0, distance_lead=50.0, lead_observation_fn=observe_lead)
|
||||
result = plant.step(v_lead=8.0)
|
||||
|
||||
assert [entry[1] for entry in callback_inputs] == ["leadOne", "leadTwo"]
|
||||
assert callback_inputs[0][2]["dRel"] == pytest.approx(50.0)
|
||||
assert result["truth_lead"]["dRel"] == pytest.approx(50.0)
|
||||
assert result["lead_one_observation"]["dRel"] == pytest.approx(12.5)
|
||||
assert result["lead_one_observation"]["radarTrackId"] == 42
|
||||
assert result["lead_two_observation"] is None
|
||||
assert result["distance_lead"] == pytest.approx(50.0 + 8.0 * DT_MDL)
|
||||
|
||||
|
||||
def test_model_action_realized_acceleration_and_source_logging():
|
||||
def model_action(current_time, v_ego, a_ego):
|
||||
return -1.25, True
|
||||
|
||||
plant = PlantSP(speed=10.0, e2e=True, force_decel=True, model_action_fn=model_action, actuator_lag=0.5)
|
||||
first = plant.step()
|
||||
second = plant.step()
|
||||
|
||||
assert first["model_action"] == {"desiredAcceleration": -1.25, "shouldStop": True}
|
||||
assert first["published_a_ego"] == pytest.approx(0.0)
|
||||
assert second["published_a_ego"] == pytest.approx(first["realized_acceleration"])
|
||||
assert first["acceleration"] == first["realized_acceleration"]
|
||||
assert abs(first["realized_acceleration"]) < abs(first["actuator_command"])
|
||||
assert first["mpc_source"] is not None
|
||||
assert first["dec_mode"] in ("acc", "blended")
|
||||
assert "controller_target" in first
|
||||
assert "base_target" in first
|
||||
assert "raw_energy_cap" in first
|
||||
assert "live_filtered_cap" in first
|
||||
assert "shadow_filtered_cap" not in first
|
||||
assert first["lead_one_observation"] is not None
|
||||
assert first["truth_lead"] == first["lead_one_observation"]
|
||||
|
||||
|
||||
def test_configurable_transport_delay_and_first_order_lag():
|
||||
plant = PlantSP(speed=10.0, actuator_delay=2 * DT_MDL, actuator_lag=0.2)
|
||||
|
||||
assert plant.planner.CP.longitudinalActuatorDelay == pytest.approx(2 * DT_MDL)
|
||||
delayed_commands = [plant._update_actuator(-1.0) for _ in range(3)]
|
||||
assert [command for command, _ in delayed_commands[:2]] == [0.0, 0.0]
|
||||
|
||||
expected_acceleration = -(1.0 - math.exp(-DT_MDL / 0.2))
|
||||
assert delayed_commands[2][0] == -1.0
|
||||
assert delayed_commands[2][1] == pytest.approx(expected_acceleration)
|
||||
|
||||
|
||||
@pytest.mark.parametrize(
|
||||
("delay", "lag"),
|
||||
[(-0.1, 0.0), (float("nan"), 0.0), (float("inf"), 0.0), (None, -0.1), (None, float("nan")), (None, float("inf"))],
|
||||
)
|
||||
def test_invalid_actuator_dynamics(delay, lag):
|
||||
with pytest.raises(ValueError):
|
||||
PlantSP(actuator_delay=delay, actuator_lag=lag)
|
||||
@@ -41,7 +41,6 @@ LOCAL_PORT_WHITELIST = {8022}
|
||||
SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
|
||||
SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require a change on sidebar.cc
|
||||
DISALLOW_LOG_UPLOAD = threading.Event()
|
||||
METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
|
||||
|
||||
params = Params()
|
||||
|
||||
@@ -170,39 +169,6 @@ def getParamsAllKeys() -> list[str]:
|
||||
return keys
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsAllKeysV1() -> dict[str, str]:
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
|
||||
metadata = {}
|
||||
|
||||
try:
|
||||
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
|
||||
|
||||
params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
|
||||
for key in available_keys:
|
||||
value = get_param_as_byte(key, get_default=True)
|
||||
|
||||
param_entry = {
|
||||
"key": key,
|
||||
"type": int(params.get_type(key).value),
|
||||
"default_value": base64.b64encode(value).decode('utf-8') if value else None,
|
||||
}
|
||||
|
||||
if key in metadata:
|
||||
meta_copy = metadata[key].copy()
|
||||
param_entry["_extra"] = meta_copy
|
||||
|
||||
params_dict["params"].append(param_entry)
|
||||
return {"keys": json.dumps(params_dict.get("params", []))}
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
|
||||
raise
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsMetadata() -> str:
|
||||
"""Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
|
||||
|
||||
@@ -97,12 +97,11 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe
|
||||
|
||||
```
|
||||
1. common/params_keys.h — add/remove the C++ param key
|
||||
2. params_metadata.json — automated via update_params_metadata.py
|
||||
3. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
5. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
6. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
7. commit
|
||||
2. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
4. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
5. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
6. commit
|
||||
```
|
||||
|
||||
CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -620,58 +620,6 @@
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "AccelPersonalityEnabled",
|
||||
"widget": "toggle",
|
||||
"title": "Enable Accel Controller",
|
||||
"description": "Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking and stopping authority.",
|
||||
"visibility": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "has_longitudinal_control",
|
||||
"equals": true
|
||||
}
|
||||
],
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "has_longitudinal_control",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "AccelPersonality",
|
||||
"widget": "multiple_button",
|
||||
"title": "Acceleration Profile",
|
||||
"description": "Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts and recovers more quickly.",
|
||||
"options": [
|
||||
{
|
||||
"value": 0,
|
||||
"label": "Eco"
|
||||
},
|
||||
{
|
||||
"value": 1,
|
||||
"label": "Normal"
|
||||
},
|
||||
{
|
||||
"value": 2,
|
||||
"label": "Sport"
|
||||
}
|
||||
],
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "has_longitudinal_control",
|
||||
"equals": true
|
||||
},
|
||||
{
|
||||
"type": "param",
|
||||
"key": "AccelPersonalityEnabled",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "IntelligentCruiseButtonManagement",
|
||||
"widget": "toggle",
|
||||
@@ -2053,22 +2001,6 @@
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "PlanplusControl",
|
||||
"widget": "option",
|
||||
"title": "Plan Plus Controls",
|
||||
"description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lane center; too high and it will ping-pong.",
|
||||
"min": 0.0,
|
||||
"max": 2.0,
|
||||
"step": 0.1,
|
||||
"enablement": [
|
||||
{
|
||||
"type": "param",
|
||||
"key": "ShowAdvancedControls",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
@@ -2236,50 +2168,6 @@
|
||||
"title": "Toyota / Lexus Settings",
|
||||
"description": "",
|
||||
"items": [
|
||||
{
|
||||
"key": "ToyotaAutoHold",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaEnhancedBsm",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Toyota: Prius TSS2 BSM and some tssp",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaTSS2Long",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Toyota: custom longitudinal for TSS2",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaDriveMode",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Enable drive mode btn link",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaEnforceStockLongitudinal",
|
||||
"widget": "toggle",
|
||||
|
||||
@@ -43,32 +43,6 @@ sections:
|
||||
label: Relaxed
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: AccelPersonalityEnabled
|
||||
widget: toggle
|
||||
title: Enable Accel Controller
|
||||
description: Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking
|
||||
and stopping authority.
|
||||
visibility:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: AccelPersonality
|
||||
widget: multiple_button
|
||||
title: Acceleration Profile
|
||||
description: Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts
|
||||
and recovers more quickly.
|
||||
options:
|
||||
- value: 0
|
||||
label: Eco
|
||||
- value: 1
|
||||
label: Normal
|
||||
- value: 2
|
||||
label: Sport
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- type: param
|
||||
key: AccelPersonalityEnabled
|
||||
equals: true
|
||||
- key: IntelligentCruiseButtonManagement
|
||||
widget: toggle
|
||||
title: Intelligent Cruise Button Management (ICBM) (Alpha)
|
||||
|
||||
@@ -51,16 +51,6 @@ sections:
|
||||
key: LagdToggle
|
||||
equals: true
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- key: PlanplusControl
|
||||
widget: option
|
||||
title: Plan Plus Controls
|
||||
description: Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover
|
||||
to lane center; too high and it will ping-pong.
|
||||
min: 0.0
|
||||
max: 2.0
|
||||
step: 0.1
|
||||
enablement:
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- id: lateral_control
|
||||
title: Lateral Control
|
||||
description: Neural network lateral control for supported models
|
||||
|
||||
@@ -60,30 +60,6 @@ sections:
|
||||
title: Toyota / Lexus Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: ToyotaAutoHold
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: 'Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS'
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaEnhancedBsm
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: 'Toyota: Prius TSS2 BSM and some tssp'
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaTSS2Long
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: 'Toyota: custom longitudinal for TSS2'
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaDriveMode
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Enable drive mode btn link
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaEnforceStockLongitudinal
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
|
||||
@@ -1,86 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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 json
|
||||
|
||||
from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
|
||||
|
||||
|
||||
def test_get_params_all_keys_v1():
|
||||
"""
|
||||
Test the getParamsAllKeysV1 API endpoint.
|
||||
|
||||
Why:
|
||||
This endpoint is used by the UI (and potentially external tools) to fetch the list of
|
||||
available parameters along with their metadata (titles, descriptions, options, constraints).
|
||||
We need to ensure it returns the correct structure and that the metadata from
|
||||
params_metadata.json is correctly merged into the response.
|
||||
|
||||
Expected:
|
||||
- The response should contain a "keys" field which is a JSON string of a list of parameters.
|
||||
- Each parameter object should have "key", "type", "default_value", and optionally "_extra".
|
||||
- The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
|
||||
the source of truth (params_metadata.json).
|
||||
"""
|
||||
response = getParamsAllKeysV1()
|
||||
assert "keys" in response
|
||||
|
||||
keys_json = response["keys"]
|
||||
params_list = json.loads(keys_json)
|
||||
|
||||
assert isinstance(params_list, list)
|
||||
assert len(params_list) > 0
|
||||
|
||||
# Check structure of first item
|
||||
first_param = params_list[0]
|
||||
assert "key" in first_param
|
||||
assert "type" in first_param
|
||||
assert "default_value" in first_param
|
||||
|
||||
if "_extra" in first_param:
|
||||
assert isinstance(first_param["_extra"], dict)
|
||||
assert "default" not in first_param["_extra"]
|
||||
assert "type" not in first_param["_extra"]
|
||||
|
||||
# Load the source of truth
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
# Verify that the API response matches the metadata file for a few sample keys
|
||||
# This ensures the plumbing is working without being brittle to content changes
|
||||
|
||||
# 1. Check a key that should have metadata
|
||||
keys_with_metadata = [k for k in params_list if k["key"] in metadata]
|
||||
assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
|
||||
|
||||
for param in keys_with_metadata[:5]: # Check first 5 matches
|
||||
key = param["key"]
|
||||
expected_meta = metadata[key]
|
||||
|
||||
assert "_extra" in param, f"Parameter {key} should have _extra field"
|
||||
actual_meta = param["_extra"]
|
||||
|
||||
# Verify all fields in JSON are present in the API response
|
||||
for meta_key, meta_val in expected_meta.items():
|
||||
assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
|
||||
assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
|
||||
|
||||
# 2. Check that we are correctly serving options if they exist
|
||||
params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
|
||||
if params_with_options:
|
||||
param = params_with_options[0]
|
||||
key = param["key"]
|
||||
assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
|
||||
assert param["_extra"]["options"] == metadata[key]["options"]
|
||||
|
||||
# 3. Check that we are correctly serving numeric constraints if they exist
|
||||
params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
|
||||
if params_with_constraints:
|
||||
param = params_with_constraints[0]
|
||||
key = param["key"]
|
||||
assert param["_extra"]["min"] == metadata[key]["min"]
|
||||
assert param["_extra"]["max"] == metadata[key]["max"]
|
||||
assert param["_extra"]["step"] == metadata[key]["step"]
|
||||
@@ -1,284 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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 json
|
||||
import os
|
||||
import pytest
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
|
||||
|
||||
|
||||
def test_metadata_json_exists():
|
||||
"""
|
||||
Test that the params_metadata.json file exists at the expected path.
|
||||
|
||||
Why:
|
||||
The metadata file is the source of truth for parameter descriptions, options, and constraints.
|
||||
If it's missing, the UI will not be able to display rich information for parameters.
|
||||
|
||||
Expected:
|
||||
The file should exist at sunnypilot/sunnylink/params_metadata.json.
|
||||
"""
|
||||
assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
|
||||
|
||||
|
||||
def test_metadata_json_valid():
|
||||
"""
|
||||
Test that the params_metadata.json file contains valid JSON.
|
||||
|
||||
Why:
|
||||
Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
|
||||
resulting in missing metadata.
|
||||
|
||||
Expected:
|
||||
The file content should be parseable as a JSON object (dictionary).
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
try:
|
||||
data = json.load(f)
|
||||
except json.JSONDecodeError:
|
||||
pytest.fail("Metadata file is not valid JSON")
|
||||
|
||||
assert isinstance(data, dict), "Metadata root must be a dictionary"
|
||||
|
||||
|
||||
def test_all_params_have_metadata():
|
||||
"""
|
||||
Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
|
||||
|
||||
Why:
|
||||
We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
|
||||
should also be documented in the metadata file.
|
||||
|
||||
Expected:
|
||||
There should be no parameters in Params() that are missing from the metadata file.
|
||||
If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
|
||||
"""
|
||||
params = Params()
|
||||
all_keys = [k.decode('utf-8') for k in params.all_keys()]
|
||||
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
missing_keys = [key for key in all_keys if key not in metadata]
|
||||
|
||||
if missing_keys:
|
||||
pytest.fail(
|
||||
f"The following parameters are missing from metadata: {missing_keys}. "
|
||||
+ "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
|
||||
)
|
||||
|
||||
|
||||
def test_metadata_keys_exist_in_params():
|
||||
"""
|
||||
Test that all keys in params_metadata.json actually exist in the codebase.
|
||||
|
||||
Why:
|
||||
We want to avoid stale metadata for parameters that have been removed or renamed.
|
||||
This keeps the metadata file clean and relevant.
|
||||
|
||||
Expected:
|
||||
There should be no keys in the metadata file that are not present in Params().
|
||||
This prints a warning rather than failing, as it's less critical than missing metadata.
|
||||
"""
|
||||
params = Params()
|
||||
all_keys = {k.decode('utf-8') for k in params.all_keys()}
|
||||
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
extra_keys = [key for key in metadata.keys() if key not in all_keys]
|
||||
|
||||
if extra_keys:
|
||||
print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
|
||||
|
||||
|
||||
def test_no_default_titles():
|
||||
"""
|
||||
Test that no parameter has a title that is identical to its key.
|
||||
|
||||
Why:
|
||||
The default behavior of the update script is to set the title equal to the key.
|
||||
We want to force developers to provide human-readable, descriptive titles for all parameters.
|
||||
|
||||
Expected:
|
||||
No parameter metadata should have 'title' == 'key'.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
|
||||
|
||||
if default_title_keys:
|
||||
pytest.fail(
|
||||
f"The following parameters have default titles (title == key): {default_title_keys}. "
|
||||
+ "Please update 'params_metadata.json' with descriptive titles."
|
||||
)
|
||||
|
||||
|
||||
def test_options_structure():
|
||||
"""
|
||||
Test that the 'options' field in metadata follows the correct structure.
|
||||
|
||||
Why:
|
||||
The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
|
||||
Incorrect structure will break the UI rendering for dropdowns/toggles.
|
||||
|
||||
Expected:
|
||||
If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
for key, meta in metadata.items():
|
||||
if "options" in meta:
|
||||
options = meta["options"]
|
||||
assert isinstance(options, list), f"Options for {key} must be a list"
|
||||
for option in options:
|
||||
assert isinstance(option, dict), f"Option in {key} must be a dictionary"
|
||||
assert "value" in option, f"Option in {key} must have a 'value' key"
|
||||
assert "label" in option, f"Option in {key} must have a 'label' key"
|
||||
|
||||
|
||||
def test_numeric_constraints():
|
||||
"""
|
||||
Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
|
||||
|
||||
Why:
|
||||
The UI uses these constraints to validate user input and render sliders/steppers.
|
||||
Missing or invalid constraints can lead to UI bugs or invalid parameter values.
|
||||
|
||||
Expected:
|
||||
If any of min/max/step is present, ALL of them must be present.
|
||||
They must be numbers (int/float), and min must be less than max.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
for key, meta in metadata.items():
|
||||
if "min" in meta or "max" in meta or "step" in meta:
|
||||
assert "min" in meta, f"Numeric param {key} must have 'min'"
|
||||
assert "max" in meta, f"Numeric param {key} must have 'max'"
|
||||
assert "step" in meta, f"Numeric param {key} must have 'step'"
|
||||
|
||||
assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
|
||||
assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
|
||||
assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
|
||||
assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
|
||||
|
||||
|
||||
def test_known_params_metadata():
|
||||
"""
|
||||
Test specific known parameters to ensure they have the expected rich metadata.
|
||||
|
||||
Why:
|
||||
This acts as a spot check to ensure that our rich metadata population logic is working correctly
|
||||
and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
|
||||
|
||||
Expected:
|
||||
'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
|
||||
'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
# Check an enum-like param
|
||||
lp = metadata.get("LongitudinalPersonality")
|
||||
assert lp is not None
|
||||
assert "options" in lp
|
||||
assert len(lp["options"]) == 3
|
||||
assert lp["options"][0]["label"] == "Aggressive"
|
||||
assert lp["options"][0]["value"] == 0
|
||||
|
||||
# Check a numeric param
|
||||
acc_long = metadata.get("CustomAccLongPressIncrement")
|
||||
assert acc_long is not None
|
||||
assert acc_long["min"] == 1
|
||||
assert acc_long["max"] == 10
|
||||
assert acc_long["step"] == 1
|
||||
|
||||
|
||||
def test_torque_control_tune_versions_in_sync():
|
||||
"""
|
||||
Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
|
||||
|
||||
Why:
|
||||
The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
|
||||
If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
|
||||
|
||||
Expected:
|
||||
- TorqueControlTune should have a 'Default' option with empty string value
|
||||
- All versions from latcontrol_torque_versions.json should be present in the options
|
||||
- The version values and labels should match between both files
|
||||
"""
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
|
||||
sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
|
||||
|
||||
# Load both files
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
with open(versions_json_path) as f:
|
||||
versions = json.load(f)
|
||||
|
||||
# Get TorqueControlTune metadata
|
||||
torque_tune = metadata.get("TorqueControlTune")
|
||||
if torque_tune is None:
|
||||
pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if "options" not in torque_tune:
|
||||
pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
options = torque_tune["options"]
|
||||
if not isinstance(options, list):
|
||||
pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if len(options) == 0:
|
||||
pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Check that Default option exists
|
||||
default_option = next((opt for opt in options if opt.get("value") == ""), None)
|
||||
if default_option is None:
|
||||
pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if default_option.get("label") != "Default":
|
||||
pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Build expected options from versions.json
|
||||
expected_version_keys = set(versions.keys())
|
||||
actual_version_keys = set()
|
||||
|
||||
for option in options:
|
||||
if option.get("value") == "":
|
||||
continue # Skip the default option
|
||||
|
||||
label = option.get("label")
|
||||
value = option.get("value")
|
||||
|
||||
# Check that this option corresponds to a version
|
||||
if label not in versions:
|
||||
pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Check that the value matches the version number
|
||||
expected_value = float(versions[label]["version"])
|
||||
if value != expected_value:
|
||||
pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
actual_version_keys.add(label)
|
||||
|
||||
# Check that all versions are represented
|
||||
missing_versions = expected_version_keys - actual_version_keys
|
||||
if missing_versions:
|
||||
pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
|
||||
f"Please run '{sync_script_path}' to sync.")
|
||||
|
||||
extra_versions = actual_version_keys - expected_version_keys
|
||||
if extra_versions:
|
||||
pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
|
||||
f"{extra_versions}. Please run '{sync_script_path}' to sync.")
|
||||
@@ -272,22 +272,6 @@ class TestKnownPanels:
|
||||
nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
|
||||
assert "EnforceTorqueControl" in nnlc_enable_keys
|
||||
|
||||
def test_accel_controller_profile_mapping_and_enablement(self, schema):
|
||||
cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
|
||||
items = {item["key"]: item for item in _iter_panel_items(cruise)}
|
||||
|
||||
assert items["AccelPersonalityEnabled"]["widget"] == "toggle"
|
||||
assert items["AccelPersonality"]["options"] == [
|
||||
{"value": 0, "label": "Eco"},
|
||||
{"value": 1, "label": "Normal"},
|
||||
{"value": 2, "label": "Sport"},
|
||||
]
|
||||
assert {
|
||||
"type": "param",
|
||||
"key": "AccelPersonalityEnabled",
|
||||
"equals": True,
|
||||
} in items["AccelPersonality"]["enablement"]
|
||||
|
||||
|
||||
class TestKnownVehicleSettings:
|
||||
def test_hyundai_has_longitudinal_tuning(self, schema):
|
||||
|
||||
@@ -1,133 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, 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 json
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
|
||||
|
||||
METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
|
||||
TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
|
||||
|
||||
|
||||
def main():
|
||||
params = Params()
|
||||
all_keys = params.all_keys()
|
||||
|
||||
if os.path.exists(METADATA_PATH):
|
||||
with open(METADATA_PATH) as f:
|
||||
try:
|
||||
data = json.load(f)
|
||||
except json.JSONDecodeError:
|
||||
data = {}
|
||||
else:
|
||||
data = {}
|
||||
|
||||
# Add new keys
|
||||
for key in all_keys:
|
||||
key_str = key.decode("utf-8")
|
||||
if key_str not in data:
|
||||
print(f"Adding new key: {key_str}")
|
||||
data[key_str] = {
|
||||
"title": key_str,
|
||||
"description": "",
|
||||
}
|
||||
|
||||
# Remove deleted keys
|
||||
# keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
|
||||
# for k in keys_to_remove:
|
||||
# print(f"Removing deleted key: {k}")
|
||||
# del data[k]
|
||||
|
||||
# Sort keys
|
||||
sorted_data = dict(sorted(data.items()))
|
||||
|
||||
with open(METADATA_PATH, "w") as f:
|
||||
json.dump(sorted_data, f, indent=2)
|
||||
f.write("\n")
|
||||
|
||||
print(f"Updated {METADATA_PATH}")
|
||||
|
||||
# update onroad screen brightness params
|
||||
update_onroad_brightness_param()
|
||||
|
||||
# update onroad screen brightness timer params
|
||||
update_onroad_brightness_timer_param()
|
||||
|
||||
# update torque versions param
|
||||
update_torque_versions_param()
|
||||
|
||||
|
||||
def update_onroad_brightness_param():
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
if "OnroadScreenOffBrightness" in params_metadata:
|
||||
options = [
|
||||
{"value": 0, "label": "Auto (Default)"},
|
||||
{"value": 1, "label": "Auto (Dark)"},
|
||||
{"value": 2, "label": "Screen Off"},
|
||||
]
|
||||
for i in range(3, 23):
|
||||
options.append({"value": i, "label": f"{(i - 2) * 5} %"})
|
||||
params_metadata["OnroadScreenOffBrightness"]["options"] = options
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
|
||||
except Exception as e:
|
||||
print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
|
||||
|
||||
|
||||
def update_onroad_brightness_timer_param():
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
if "OnroadScreenOffTimer" in params_metadata:
|
||||
options = []
|
||||
for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
|
||||
label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
|
||||
options.append({"value": seconds, "label": label})
|
||||
params_metadata["OnroadScreenOffTimer"]["options"] = options
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
|
||||
except Exception as e:
|
||||
print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
|
||||
|
||||
|
||||
def update_torque_versions_param():
|
||||
with open(TORQUE_VERSIONS_JSON) as f:
|
||||
current_versions = json.load(f)
|
||||
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
|
||||
options = [{"value": "", "label": "Default"}]
|
||||
for version_key, version_data in current_versions.items():
|
||||
version_value = float(version_data["version"])
|
||||
options.append({"value": version_value, "label": str(version_key)})
|
||||
|
||||
if "TorqueControlTune" in params_metadata:
|
||||
params_metadata["TorqueControlTune"]["options"] = options
|
||||
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
|
||||
print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
|
||||
|
||||
except Exception as e:
|
||||
print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -15,13 +15,8 @@ class FanController:
|
||||
self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
|
||||
|
||||
def update(self, cur_temp: float, ignition: bool) -> int:
|
||||
if ignition:
|
||||
# always run fan at max onroad, prioritize cooling over noise
|
||||
self.last_ignition = ignition
|
||||
return 100
|
||||
|
||||
self.controller.pos_limit = 30
|
||||
self.controller.neg_limit = 0
|
||||
self.controller.pos_limit = 100 if ignition else 30
|
||||
self.controller.neg_limit = 30 if ignition else 0
|
||||
|
||||
if ignition != self.last_ignition:
|
||||
self.controller.reset()
|
||||
|
||||
@@ -86,6 +86,20 @@ class GuiScrollPanel2:
|
||||
"""Returns (max_offset, min_offset) for the given bounds and content size."""
|
||||
return 0.0, min(0.0, bounds_size - content_size)
|
||||
|
||||
def _clamp_offset(self, bounds_size: float, content_size: float) -> None:
|
||||
if self._handle_out_of_bounds:
|
||||
return
|
||||
|
||||
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
|
||||
offset = self.get_offset()
|
||||
clamped_offset = max(min_offset, min(max_offset, offset))
|
||||
if clamped_offset == offset:
|
||||
return
|
||||
|
||||
self.set_offset(clamped_offset)
|
||||
if (clamped_offset == max_offset and self._velocity > 0) or (clamped_offset == min_offset and self._velocity < 0):
|
||||
self._velocity = 0.0
|
||||
|
||||
def _update_state(self, bounds_size: float, content_size: float, snap_target: float | None) -> None:
|
||||
"""Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
|
||||
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
|
||||
@@ -99,7 +113,7 @@ class GuiScrollPanel2:
|
||||
# simple exponential return if out of bounds
|
||||
# out of bounds is handled by snapping, so skip if set
|
||||
out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
|
||||
if out_of_bounds and snap_target is None and self._handle_out_of_bounds:
|
||||
if out_of_bounds and snap_target is None:
|
||||
target = max_offset if self.get_offset() > max_offset else min_offset
|
||||
|
||||
dt = rl.get_frame_time() or 1e-6
|
||||
@@ -139,6 +153,8 @@ class GuiScrollPanel2:
|
||||
factor = 1.0 - math.exp(-SNAP_RATE * dt)
|
||||
self.set_offset(self.get_offset() + dist * factor)
|
||||
|
||||
self._clamp_offset(bounds_size, content_size)
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
|
||||
content_size: float) -> None:
|
||||
max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
|
||||
|
||||
@@ -190,16 +190,20 @@ class _Scroller(Widget):
|
||||
snap_target: float | None = None
|
||||
if self._snap_items and visible_items and self._scrolling_to[0] is None:
|
||||
# TODO: this doesn't handle two small buttons at the edges well
|
||||
if self._horizontal:
|
||||
center_pos = self._rect.x + self._rect.width / 2
|
||||
closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
|
||||
else:
|
||||
center_pos = self._rect.y + self._rect.height / 2
|
||||
closest_delta_pos = min((((item.rect.y + item.rect.height / 2) - center_pos) for item in visible_items), key=abs)
|
||||
center_pos = (self._rect.x + self._rect.width / 2) if self._horizontal else (self._rect.y + self._rect.height / 2)
|
||||
closest_delta_pos = min(
|
||||
(self._item_center_pos(item) - center_pos for item in visible_items),
|
||||
key=abs,
|
||||
)
|
||||
snap_target = self.scroll_panel.get_offset() - closest_delta_pos
|
||||
|
||||
return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
|
||||
|
||||
def _item_center_pos(self, item: Widget) -> float:
|
||||
if self._horizontal:
|
||||
return item.rect.x + item.rect.width / 2
|
||||
return item.rect.y + item.rect.height / 2
|
||||
|
||||
@property
|
||||
def moving_items(self) -> bool:
|
||||
return len(self._move_animations) > 0 or len(self._move_lift) > 0
|
||||
|
||||
@@ -21,7 +21,7 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "aiohttp"
|
||||
version = "3.13.5"
|
||||
version = "3.14.1"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "aiohappyeyeballs" },
|
||||
@@ -30,27 +30,29 @@ dependencies = [
|
||||
{ name = "frozenlist" },
|
||||
{ name = "multidict" },
|
||||
{ name = "propcache" },
|
||||
{ name = "typing-extensions" },
|
||||
{ name = "yarl" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
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||||
sdist = { url = "https://files.pythonhosted.org/packages/82/78/8ea7308cac6934de8c74a14f3d5f65d1c89287426688be79538d0e5c013d/aiohttp-3.14.1.tar.gz", hash = "sha256:307f2cff90a764d329e77040603fa032db89c5c24fdad50c4c15334cba744035", size = 7955794, upload-time = "2026-06-07T21:09:35.529Z" }
|
||||
wheels = [
|
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[[package]]
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Reference in New Issue
Block a user