136 lines
5.7 KiB
Python
136 lines
5.7 KiB
Python
from cereal import log
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from openpilot.common.constants import CV
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from openpilot.common.realtime import DT_MDL
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import time
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
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LANE_CHANGE_TIME_MAX = 10.
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DESIRES = {
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LaneChangeDirection.none: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.none,
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LaneChangeState.laneChangeFinishing: log.Desire.none,
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},
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LaneChangeDirection.left: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
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LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
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},
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LaneChangeDirection.right: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
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LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
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},
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}
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class DesireHelper:
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def __init__(self, dp_lat_lca_speed=LANE_CHANGE_SPEED_MIN, dp_lat_lca_auto_sec=0.):
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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self.lane_change_ll_prob = 1.0
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self.keep_pulse_timer = 0.0
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self.prev_one_blinker = False
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self.desire = log.Desire.none
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self.dp_lat_lca_speed = float(dp_lat_lca_speed * CV.MPH_TO_MS)
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self.dp_lat_lca_auto_sec = dp_lat_lca_auto_sec
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self.dp_lat_lca_auto_sec_start = 0.
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@staticmethod
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def get_lane_change_direction(CS):
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return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
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def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected, right_edge_detected):
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v_ego = carstate.vEgo
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one_blinker = carstate.leftBlinker != carstate.rightBlinker
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below_lane_change_speed = True if self.dp_lat_lca_speed == 0. else v_ego < self.dp_lat_lca_speed
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if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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else:
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# LaneChangeState.off
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c_time = time.monotonic()
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if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
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self.lane_change_state = LaneChangeState.preLaneChange
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self.lane_change_ll_prob = 1.0
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if self.dp_lat_lca_auto_sec > 0.:
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self.dp_lat_lca_auto_sec_start = c_time
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# Initialize lane change direction to prevent UI alert flicker
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self.lane_change_direction = self.get_lane_change_direction(carstate)
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# LaneChangeState.preLaneChange
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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# Update lane change direction
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self.lane_change_direction = self.get_lane_change_direction(carstate)
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torque_applied = carstate.steeringPressed and \
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((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
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(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
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blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
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((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
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# reset timer
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if self.dp_lat_lca_auto_sec > 0.:
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if blindspot_detected:
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self.dp_lat_lca_auto_sec_start = c_time
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else:
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if (c_time - self.dp_lat_lca_auto_sec_start) >= self.dp_lat_lca_auto_sec:
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torque_applied = True
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if not one_blinker or below_lane_change_speed:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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elif torque_applied and not blindspot_detected:
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self.lane_change_state = LaneChangeState.laneChangeStarting
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# LaneChangeState.laneChangeStarting
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elif self.lane_change_state == LaneChangeState.laneChangeStarting:
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# fade out over .5s
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self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
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# 98% certainty
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if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
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self.lane_change_state = LaneChangeState.laneChangeFinishing
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# LaneChangeState.laneChangeFinishing
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elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
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# fade in laneline over 1s
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self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
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if self.lane_change_ll_prob > 0.99:
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self.lane_change_direction = LaneChangeDirection.none
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if one_blinker:
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self.lane_change_state = LaneChangeState.preLaneChange
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else:
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self.lane_change_state = LaneChangeState.off
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if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
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self.lane_change_timer = 0.0
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else:
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self.lane_change_timer += DT_MDL
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self.prev_one_blinker = one_blinker
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self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
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# Send keep pulse once per second during LaneChangeStart.preLaneChange
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if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
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self.keep_pulse_timer = 0.0
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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self.keep_pulse_timer += DT_MDL
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if self.keep_pulse_timer > 1.0:
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self.keep_pulse_timer = 0.0
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elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
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self.desire = log.Desire.none
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