83 lines
3.4 KiB
Python
83 lines
3.4 KiB
Python
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import numpy as np
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import cereal.messaging as messaging
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from cereal import car, log
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.numpy_fast import interp
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
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from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, J_EGO_COST, COMFORT_BRAKE, STOP_DISTANCE, get_jerk_factor, \
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get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
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from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, Lead, get_max_accel
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from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CITY_SPEED_LIMIT, CRUISING_SPEED, calculate_lane_width, calculate_road_curvature
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GearShifter = car.CarState.GearShifter
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class FrogPilotPlanner:
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def __init__(self):
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self.params_memory = Params("/dev/shm/params")
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self.acceleration_jerk = 0
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self.frame = 0
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self.road_curvature = 0
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self.speed_jerk = 0
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def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, radarState):
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self.lead_one = radarState.leadOne
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v_cruise_kph = min(controlsState.vCruise, V_CRUISE_UNSET)
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v_cruise = v_cruise_kph * CV.KPH_TO_MS
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v_ego = max(carState.vEgo, 0)
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v_lead = self.lead_one.vLead
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lead_distance = self.lead_one.dRel
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self.base_acceleration_jerk, self.base_speed_jerk = get_jerk_factor(controlsState.personality)
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self.t_follow = get_T_FOLLOW(controlsState.personality)
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if self.lead_one.status:
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self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead)
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else:
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self.acceleration_jerk = self.base_acceleration_jerk
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self.speed_jerk = self.base_speed_jerk
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self.road_curvature = calculate_road_curvature(modelData, v_ego)
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self.v_cruise = self.update_v_cruise(carState, controlsState, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, v_cruise, v_ego)
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self.frame += 1
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def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead):
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def update_v_cruise(self, carState, controlsState, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, v_cruise, v_ego):
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v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS
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v_cruise_diff = v_cruise_cluster - v_cruise
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v_ego_cluster = max(carState.vEgoCluster, v_ego)
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v_ego_diff = v_ego_cluster - v_ego
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targets = []
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filtered_targets = [target if target > CRUISING_SPEED else v_cruise for target in targets]
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return min(filtered_targets)
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def publish(self, sm, pm):
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frogpilot_plan_send = messaging.new_message('frogpilotPlan')
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frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
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frogpilotPlan = frogpilot_plan_send.frogpilotPlan
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frogpilotPlan.accelerationJerk = A_CHANGE_COST * float(self.acceleration_jerk)
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frogpilotPlan.accelerationJerkStock = A_CHANGE_COST * float(self.base_acceleration_jerk)
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frogpilotPlan.speedJerk = J_EGO_COST * float(self.speed_jerk)
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frogpilotPlan.speedJerkStock = J_EGO_COST * float(self.base_speed_jerk)
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frogpilotPlan.tFollow = float(self.t_follow)
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frogpilotPlan.vCruise = float(self.v_cruise)
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pm.send('frogpilotPlan', frogpilot_plan_send)
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