71 lines
2.7 KiB
Python
71 lines
2.7 KiB
Python
"""
|
|
Copyright (c) 2025, Rick Lan
|
|
|
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
of this software and associated documentation files (the "Software"), to deal
|
|
in the Software without restriction, including without limitation the rights
|
|
to use, copy, modify, merge, publish, distribute, and/or sublicense,
|
|
for non-commercial purposes only, subject to the following conditions:
|
|
|
|
- The above copyright notice and this permission notice shall be included in
|
|
all copies or substantial portions of the Software.
|
|
- Commercial use (e.g. use in a product, service, or activity intended to
|
|
generate revenue) is prohibited without explicit written permission from
|
|
the copyright holder.
|
|
|
|
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
"""
|
|
|
|
import time
|
|
import numpy as np
|
|
from openpilot.selfdrive.modeld.constants import ModelConstants
|
|
|
|
|
|
AEM_COOLDOWN_TIME = 0.5 # seconds
|
|
|
|
SLOW_DOWN_BP = [0., 2.78, 5.56, 8.34, 11.12, 13.89, 15.28]
|
|
SLOW_DOWN_DIST = [10, 30., 50., 70., 80., 90., 120.]
|
|
|
|
# Allow throttle
|
|
# ALLOW_THROTTLE_THRESHOLD = 0.4
|
|
# MIN_ALLOW_THROTTLE_SPEED = 2.5
|
|
|
|
|
|
class AEM:
|
|
|
|
def __init__(self):
|
|
self._active = False
|
|
self._cooldown_end_time = 0.0
|
|
|
|
def _perform_experimental_mode(self):
|
|
self._active = True
|
|
self._cooldown_end_time = time.monotonic() + AEM_COOLDOWN_TIME
|
|
|
|
def get_mode(self, mode):
|
|
# override mode
|
|
if time.monotonic() < self._cooldown_end_time:
|
|
mode = 'blended'
|
|
else:
|
|
self._active = False
|
|
return mode
|
|
|
|
def update_states(self, model_msg, radar_msg, v_ego):
|
|
|
|
# Stop sign/light detection
|
|
if not self._active:
|
|
if not radar_msg.leadOne.status and len(model_msg.orientation.x) == len(model_msg.position.x) == ModelConstants.IDX_N and \
|
|
model_msg.position.x[ModelConstants.IDX_N - 1] < np.interp(v_ego, SLOW_DOWN_BP, SLOW_DOWN_DIST):
|
|
self._perform_experimental_mode()
|
|
|
|
# throttle prob is low and there is no lead ahead (prep for brake?)
|
|
# if not self._active:
|
|
# if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
|
|
# throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
|
|
# else:
|
|
# throttle_prob = 1.0
|
|
|
|
# allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
|
|
# if not allow_throttle and not radar_msg.leadOne.status:
|
|
# self._perform_experimental_mode()
|
|
|