107 lines
4.4 KiB
Python
107 lines
4.4 KiB
Python
#!/usr/bin/env python3
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.realtime import DT_MDL
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE
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from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME
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from openpilot.frogpilot.controls.lib.curve_speed_controller import CurveSpeedController
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from openpilot.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
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class FrogPilotVCruise:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.csc = CurveSpeedController(self)
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self.slc = SpeedLimitController()
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self.forcing_stop = False
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self.override_force_stop = False
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self.override_force_stop_timer = 0
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def update(self, gps_position, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles):
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force_stop = self.frogpilot_planner.cem.stop_light_detected and sm["controlsState"].enabled and frogpilot_toggles.force_stops
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force_stop &= self.frogpilot_planner.model_stopped
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force_stop &= self.override_force_stop_timer <= 0
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self.force_stop_timer = self.force_stop_timer + DT_MDL if force_stop else 0
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force_stop_enabled = self.force_stop_timer >= 1
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self.override_force_stop |= sm["carState"].gasPressed
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self.override_force_stop |= sm["frogpilotCarState"].accelPressed
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self.override_force_stop &= force_stop_enabled
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if self.override_force_stop:
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self.override_force_stop_timer = 10
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elif self.override_force_stop_timer > 0:
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self.override_force_stop_timer -= DT_MDL
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v_cruise_cluster = max(sm["controlsState"].vCruiseCluster * CV.KPH_TO_MS, v_cruise)
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v_cruise_diff = v_cruise_cluster - v_cruise
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v_ego_cluster = max(sm["carState"].vEgoCluster, v_ego)
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v_ego_diff = v_ego_cluster - v_ego
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# FrogsGoMoo's Curve Speed Controller
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if v_ego > CRUISING_SPEED and sm["controlsState"].enabled and self.frogpilot_planner.road_curvature_detected and frogpilot_toggles.curve_speed_controller:
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self.csc.update_target(v_ego)
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self.csc_controlling_speed = True
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self.csc_target = self.csc.target
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else:
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self.csc.log_data(v_ego, sm)
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self.csc_controlling_speed = False
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self.csc.target_set = False
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self.csc_target = v_cruise
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# Mike's extended lead linear braking
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if self.frogpilot_planner.lead_one.vLead < v_ego > CRUISING_SPEED and sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead and frogpilot_toggles.human_following:
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if not self.frogpilot_planner.frogpilot_following.following_lead:
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decel_rate = (v_ego - self.frogpilot_planner.lead_one.vLead)**2 / self.frogpilot_planner.lead_one.dRel
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self.braking_target = max(v_ego - (decel_rate * DT_MDL), self.frogpilot_planner.lead_one.vLead + CRUISING_SPEED)
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else:
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self.braking_target = v_cruise
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else:
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self.braking_target = v_cruise
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# Pfeiferj's Speed Limit Controller
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self.slc.frogpilot_toggles = frogpilot_toggles
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if frogpilot_toggles.speed_limit_controller:
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self.slc.update_limits(sm["frogpilotCarState"].dashboardSpeedLimit, gps_position, sm["frogpilotNavigation"].navigationSpeedLimit, now, time_validated, v_cruise, v_ego, sm)
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self.slc.update_override(v_cruise, v_cruise_diff, v_ego, v_ego_diff, sm)
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self.slc_offset = self.slc.offset
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self.slc_target = self.slc.target
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elif frogpilot_toggles.show_speed_limits:
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self.slc.update_limits(sm["frogpilotCarState"].dashboardSpeedLimit, gps_position, sm["frogpilotNavigation"].navigationSpeedLimit, now, time_validated, v_cruise, v_ego, sm)
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self.slc_offset = 0
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self.slc_target = self.slc.target
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else:
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self.slc_offset = 0
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self.slc_target = 0
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if force_stop_enabled and not self.override_force_stop:
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self.forcing_stop |= not sm["carState"].standstill
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self.tracked_model_length = max(self.tracked_model_length - (v_ego * DT_MDL), 0)
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v_cruise = min((self.tracked_model_length // PLANNER_TIME), v_cruise)
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else:
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self.forcing_stop = False
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self.tracked_model_length = self.frogpilot_planner.model_length
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targets = [self.braking_target, self.csc_target, v_cruise]
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if frogpilot_toggles.speed_limit_controller:
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targets.append(max(self.slc.overridden_speed, self.slc_target + self.slc_offset) - v_ego_diff)
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v_cruise = min([target if target > CRUISING_SPEED else v_cruise for target in targets])
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return v_cruise
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