Controls - Map Turn Speed Control

Slow down for anticipated curves detected by the downloaded maps.

Credit goes to Pfeiferj!

https: //github.com/pfeiferj
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>

release/files_common

@@ -570,5 +570,6 @@ selfdrive/frogpilot/controls/frogpilot_planner.py
 selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
 selfdrive/frogpilot/controls/lib/frogpilot_functions.py
 selfdrive/frogpilot/controls/lib/frogpilot_variables.py
+selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py
 selfdrive/frogpilot/fleet_manager/fleet_manager.py
 selfdrive/frogpilot/navigation/mapd.py

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -17,6 +17,7 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN,
 from openpilot.selfdrive.frogpilot.controls.lib.conditional_experimental_mode import ConditionalExperimentalMode
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import calculate_lane_width, calculate_road_curvature
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
+from openpilot.selfdrive.frogpilot.controls.lib.map_turn_speed_controller import MapTurnSpeedController
 
 GearShifter = car.CarState.GearShifter
 
@@ -51,11 +52,13 @@ class FrogPilotPlanner:
     self.params_memory = Params("/dev/shm/params")
 
     self.cem = ConditionalExperimentalMode()
+    self.mtsc = MapTurnSpeedController()
 
     self.slower_lead = False
 
     self.acceleration_jerk = 0
     self.frame = 0
+    self.mtsc_target = 0
     self.road_curvature = 0
     self.speed_jerk = 0
 
@@ -64,6 +67,7 @@ class FrogPilotPlanner:
 
     v_cruise_kph = min(controlsState.vCruise, V_CRUISE_UNSET)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
+    v_cruise_changed = self.mtsc_target < v_cruise
 
     v_ego = max(carState.vEgo, 0)
     v_lead = self.lead_one.vLead
@@ -83,6 +87,8 @@ class FrogPilotPlanner:
 
     if controlsState.experimentalMode:
       self.min_accel = ACCEL_MIN
+    elif v_cruise_changed:
+      self.min_accel = A_CRUISE_MIN
     elif frogpilot_toggles.deceleration_profile == 1:
       self.min_accel = get_min_accel_eco(v_ego)
     elif frogpilot_toggles.deceleration_profile == 2:
@@ -153,13 +159,25 @@ class FrogPilotPlanner:
       self.slower_lead = max(braking_offset - far_lead_offset, 1) > 1
 
   def update_v_cruise(self, carState, controlsState, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, v_cruise, v_ego, frogpilot_toggles):
+    gps_check = (liveLocationKalman.status == log.LiveLocationKalman.Status.valid) and liveLocationKalman.positionGeodetic.valid and liveLocationKalman.gpsOK
+
     v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS
     v_cruise_diff = v_cruise_cluster - v_cruise
 
     v_ego_cluster = max(carState.vEgoCluster, v_ego)
     v_ego_diff = v_ego_cluster - v_ego
 
-    targets = []
+    # Pfeiferj's Map Turn Speed Controller
+    if frogpilot_toggles.map_turn_speed_controller and v_ego > CRUISING_SPEED and controlsState.enabled and gps_check:
+      mtsc_active = self.mtsc_target < v_cruise
+      self.mtsc_target = np.clip(self.mtsc.target_speed(v_ego, carState.aEgo), CRUISING_SPEED, v_cruise)
+
+      if frogpilot_toggles.mtsc_curvature_check and self.road_curvature < 1.0 and not mtsc_active:
+        self.mtsc_target = v_cruise
+    else:
+      self.mtsc_target = v_cruise if v_cruise != V_CRUISE_UNSET else 0
+
+    targets = [self.mtsc_target]
     filtered_targets = [target if target > CRUISING_SPEED else v_cruise for target in targets]
 
     return min(filtered_targets)
@@ -175,6 +193,8 @@ class FrogPilotPlanner:
     frogpilotPlan.speedJerkStock = J_EGO_COST * float(self.base_speed_jerk)
     frogpilotPlan.tFollow = float(self.t_follow)
 
+    frogpilotPlan.adjustedCruise = float(self.mtsc_target * (CV.MS_TO_KPH if frogpilot_toggles.is_metric else CV.MS_TO_MPH))
+
     frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
 
     frogpilotPlan.maxAcceleration = self.max_accel

selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py

@@ -0,0 +1,153 @@
+# PFEIFER - MTSC
+import json
+import math
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+
+params_memory = Params("/dev/shm/params")
+
+R = 6373000.0 # approximate radius of earth in meters
+TO_RADIANS = math.pi / 180
+TO_DEGREES = 180 / math.pi
+TARGET_JERK = -0.6   # m/s^3 should match up with the long planner
+TARGET_ACCEL = -1.2  # m/s^2 should match up with the long planner
+TARGET_OFFSET = 1.0  # seconds - This controls how soon before the curve you reach the target velocity. It also helps
+                     # reach the target velocity when innacuracies in the distance modeling logic would cause overshoot.
+                     # The value is multiplied against the target velocity to determine the additional distance. This is
+                     # done to keep the distance calculations consistent but results in the offset actually being less
+                     # time than specified depending on how much of a speed diffrential there is between v_ego and the
+                     # target velocity.
+
+def calculate_accel(t, target_jerk, a_ego):
+  return a_ego  + target_jerk * t
+
+def calculate_velocity(t, target_jerk, a_ego, v_ego):
+  return v_ego + a_ego * t + target_jerk/2 * (t ** 2)
+
+def calculate_distance(t, target_jerk, a_ego, v_ego):
+  return t * v_ego + a_ego/2 * (t ** 2) + target_jerk/6 * (t ** 3)
+
+
+# points should be in radians
+# output is meters
+def distance_to_point(ax, ay, bx, by):
+  a = math.sin((bx-ax)/2)*math.sin((bx-ax)/2) + math.cos(ax) * math.cos(bx)*math.sin((by-ay)/2)*math.sin((by-ay)/2)
+  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
+
+  return R * c  # in meters
+
+class MapTurnSpeedController:
+  def __init__(self):
+    self.target_lat = 0.0
+    self.target_lon = 0.0
+    self.target_v = 0.0
+
+  def target_speed(self, v_ego, a_ego) -> float:
+    lat = 0.0
+    lon = 0.0
+    try:
+      position = json.loads(params_memory.get("LastGPSPosition"))
+      lat = position["latitude"]
+      lon = position["longitude"]
+    except: return 0.0
+
+    try:
+      target_velocities = json.loads(params_memory.get("MapTargetVelocities"))
+    except: return 0.0
+
+    min_dist = 1000
+    min_idx = 0
+    distances = []
+
+    # find our location in the path
+    for i in range(len(target_velocities)):
+      target_velocity = target_velocities[i]
+      tlat = target_velocity["latitude"]
+      tlon = target_velocity["longitude"]
+      d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS)
+      distances.append(d)
+      if d < min_dist:
+        min_dist = d
+        min_idx = i
+
+    # only look at values from our current position forward
+    forward_points = target_velocities[min_idx:]
+    forward_distances = distances[min_idx:]
+
+    # find velocities that we are within the distance we need to adjust for
+    valid_velocities = []
+    for i in range(len(forward_points)):
+      target_velocity = forward_points[i]
+      tlat = target_velocity["latitude"]
+      tlon = target_velocity["longitude"]
+      tv = target_velocity["velocity"]
+      if tv > v_ego:
+        continue
+
+      d = forward_distances[i]
+
+      a_diff = (a_ego - TARGET_ACCEL)
+      accel_t = abs(a_diff / TARGET_JERK)
+      min_accel_v = calculate_velocity(accel_t, TARGET_JERK, a_ego, v_ego)
+
+      max_d = 0
+      if tv > min_accel_v:
+        # calculate time needed based on target jerk
+        a = 0.5 * TARGET_JERK
+        b = a_ego
+        c = v_ego - tv
+        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a
+        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a
+        if not isinstance(t_a, complex) and t_a > 0:
+          t = t_a
+        else:
+          t = t_b
+        if isinstance(t, complex):
+          continue
+
+        max_d = max_d + calculate_distance(t, TARGET_JERK, a_ego, v_ego)
+
+      else:
+        t = accel_t
+        max_d = calculate_distance(t, TARGET_JERK, a_ego, v_ego)
+
+        # calculate additional time needed based on target accel
+        t = abs((min_accel_v - tv) / TARGET_ACCEL)
+        max_d += calculate_distance(t, 0, TARGET_ACCEL, min_accel_v)
+
+      if d < max_d + tv * TARGET_OFFSET:
+        valid_velocities.append((float(tv), tlat, tlon))
+
+    # Find the smallest velocity we need to adjust for
+    min_v = 100.0
+    target_lat = 0.0
+    target_lon = 0.0
+    for tv, lat, lon in valid_velocities:
+      if tv < min_v:
+        min_v = tv
+        target_lat = lat
+        target_lon = lon
+
+    if self.target_v < min_v and not (self.target_lat == 0 and self.target_lon == 0):
+      for i in range(len(forward_points)):
+        target_velocity = forward_points[i]
+        tlat = target_velocity["latitude"]
+        tlon = target_velocity["longitude"]
+        tv = target_velocity["velocity"]
+        if tv > v_ego:
+          continue
+
+        if tlat == self.target_lat and tlon == self.target_lon and tv == self.target_v:
+          return float(self.target_v)
+      # not found so lets reset
+      self.target_v = 0.0
+      self.target_lat = 0.0
+      self.target_lon = 0.0
+
+    self.target_v = min_v
+    self.target_lat = target_lat
+    self.target_lon = target_lon
+
+    return min_v

selfdrive/ui/qt/onroad.cc

@@ -383,7 +383,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
-  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
+  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
 
   // Draw outer box + border to contain set speed and speed limit
   const int sign_margin = 12;
@@ -402,7 +402,17 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   int bottom_radius = has_eu_speed_limit ? 100 : 32;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-  if (trafficModeActive) {
+  if (is_cruise_set && cruiseAdjustment != 0) {
+    float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
+    QColor min = whiteColor(75);
+    QColor max = greenColor();
+
+    p.setPen(QPen(QColor::fromRgbF(
+      min.redF()   + transition * (max.redF()   - min.redF()),
+      min.greenF() + transition * (max.greenF() - min.greenF()),
+      min.blueF()  + transition * (max.blueF()  - min.blueF())
+    ), 10));
+  } else if (trafficModeActive) {
     p.setPen(QPen(redColor(), 10));
   } else {
     p.setPen(QPen(whiteColor(75), 6));
@@ -793,6 +803,9 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
   conditionalStatus = scene.conditional_status;
   showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
 
+  bool disableSmoothing = scene.disable_smoothing_mtsc;
+  cruiseAdjustment = disableSmoothing || !is_cruise_set ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0);
+
   experimentalMode = scene.experimental_mode;
 
   mapOpen = scene.map_open;

selfdrive/ui/qt/onroad.h

@@ -155,6 +155,7 @@ private:
   bool trafficModeActive;
 
   float accelerationConversion;
+  float cruiseAdjustment;
   float distanceConversion;
   float speedConversion;
 
@@ -165,6 +166,8 @@ private:
   QString leadDistanceUnit;
   QString leadSpeedUnit;
 
+  inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
+
 protected:
   void paintGL() override;
   void initializeGL() override;

selfdrive/ui/ui.cc

@@ -231,6 +231,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotPlan")) {
     auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
+    scene.adjusted_cruise = frogpilotPlan.getAdjustedCruise();
   }
   if (sm.updated("liveLocationKalman")) {
     auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -270,6 +271,8 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
   scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
 
+  scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
+
   bool driving_personalities = scene.longitudinal_control && params.getBool("DrivingPersonalities");
   scene.onroad_distance_button = driving_personalities && params.getBool("OnroadDistanceButton");
   scene.use_kaofui_icons = scene.onroad_distance_button && params.getBool("KaofuiIcons");

selfdrive/ui/ui.h

@@ -188,6 +188,7 @@ typedef struct UIScene {
   // FrogPilot variables
   bool always_on_lateral_active;
   bool conditional_experimental;
+  bool disable_smoothing_mtsc;
   bool enabled;
   bool experimental_mode;
   bool experimental_mode_via_screen;
@@ -203,6 +204,8 @@ typedef struct UIScene {
   bool traffic_mode_active;
   bool use_kaofui_icons;
 
+  float adjusted_cruise;
+
   int alert_size;
   int conditional_speed;
   int conditional_speed_lead;