def __init__(self, CP, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.last_cloudlog_t = 0 self.setup_mpc() self.solution_invalid_cnt = 0 self.laneless_mode = int(Params().get("LanelessMode", encoding="utf8")) self.laneless_mode_status = False self.laneless_mode_status_buffer = False self.nudgeless_enabled = Params().get_bool("NudgelessLaneChange") self.nudgeless_delay = 3.0 # [s] amount of time blinker has to be on before nudgless lane change self.lane_change_state = LaneChangeState.off self.prev_lane_change_state = self.lane_change_state self.preLaneChange_start_t = 0. self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.keep_pulse_timer = 0.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE,3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.second = 0.0
def __init__(self, CP, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE, )) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) # dp self.dp_lc_auto_allowed = False self.dp_lc_auto_timer = None self.dp_lc_auto_delay = 2. self.dp_lc_auto_cont = False self.dp_lc_auto_completed = False
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.steerRatio = CP.steerRatio self.setup_mpc() self.solution_invalid_cnt = 0 self.steerRatio_last = 0 self.params = Params() # Lane change self.lane_change_enabled = self.params.get('LaneChangeEnabled') == b'1' self.lane_change_auto_delay = self.params.get_OpkrAutoLanechangedelay() #int( self.params.get('OpkrAutoLanechangedelay') ) self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_run_timer = 0.0 self.lane_change_wait_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False # atom self.trPATH = trace1.Loger("path") self.trLearner = trace1.Loger("Learner") self.trpathPlan = trace1.Loger("pathPlan") self.atom_timer_cnt = 0 self.atom_steer_ratio = None self.atom_sr_boost_bp = [0., 0.] self.atom_sr_boost_range = [0., 0.]
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False # dragonpilot self.params = Params() self.dragon_auto_lc_enabled = False self.dragon_auto_lc_allowed = False self.dragon_auto_lc_timer = None self.dragon_assisted_lc_min_mph = LANE_CHANGE_SPEED_MIN self.dragon_auto_lc_min_mph = 60 * CV.MPH_TO_MS self.dragon_auto_lc_delay = 2. self.last_ts = 0. self.dp_last_modified = None self.dp_enable_sr_boost = False self.dp_steer_ratio = 0. self.dp_sr_boost_bp = None self.dp_sr_boost_range = None
def __init__(self, CP, wide_camera=False): self.use_lanelines = True self.LP = LanePlanner(wide_camera) self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.solution_invalid_cnt = 0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.keep_pulse_timer = 0.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE, )) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.lat_mpc = LateralMpc() self.reset_mpc(np.zeros(6)) self.lateralPlan = None
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' if int(Params().get('OpkrAutoLaneChangeDelay')) == 0: self.lane_change_auto_delay = 0.0 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 1: self.lane_change_auto_delay = 0.5 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 2: self.lane_change_auto_delay = 1.0 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 3: self.lane_change_auto_delay = 1.5 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 4: self.lane_change_auto_delay = 2.0 self.trRapidCurv = trace1.Loger("079_OPKR_RapidCurv") self.lane_change_wait_timer = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.mpc_frame = 0 self.lane_change_adjust = [0.2, 1.3] self.lane_change_adjust_vel = [16, 30] self.lane_change_adjust_new = 0.0 self.new_steerRatio = CP.steerRatio
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE,3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.kegman = kegman_conf(CP) self.mpc_frame = 0 self.model_laneless = "0"
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.setup_mpc(CP.steerRateCost) self.solution_invalid_cnt = 0 self.path_offset_i = 0.0 self.mpc_frame = 0 self.sR_delay_counter = 0 self.steerRatio_new = 0.0 self.sR_time = 1 kegman = kegman_conf(CP) if kegman.conf['steerRatio'] == "-1": self.steerRatio = CP.steerRatio else: self.steerRatio = float(kegman.conf['steerRatio']) if kegman.conf['steerRateCost'] == "-1": self.steerRateCost = CP.steerRateCost else: self.steerRateCost = float(kegman.conf['steerRateCost']) self.sR = [ float(kegman.conf['steerRatio']), (float(kegman.conf['steerRatio']) + float(kegman.conf['sR_boost'])) ] self.sRBP = [ float(kegman.conf['sR_BP0']), float(kegman.conf['sR_BP1']) ] self.steerRateCost_prev = self.steerRateCost self.setup_mpc(self.steerRateCost)
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' if int(Params().get('OpkrAutoLanechangedelay')) == 0: self.lane_change_auto_delay = 0.0 elif int(Params().get('OpkrAutoLanechangedelay')) == 1: self.lane_change_auto_delay = 0.5 elif int(Params().get('OpkrAutoLanechangedelay')) == 2: self.lane_change_auto_delay = 1.0 elif int(Params().get('OpkrAutoLanechangedelay')) == 3: self.lane_change_auto_delay = 1.5 elif int(Params().get('OpkrAutoLanechangedelay')) == 4: self.lane_change_auto_delay = 2.0 self.lane_change_wait_timer = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False
def __init__(self, CP, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.last_cloudlog_t = 0 self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = True self.auto_lane_change_enabled = Params().get_bool('AutoLaneChangeEnabled') self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE,3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.auto_lane_change_timer = 0.0 self.prev_torque_applied = False self.steerRatio = 0.0
def __init__(self, CP, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.use_lanelines = False self.laneless_mode = 0 self.laneless_mode_status = False self.laneless_mode_status_buffer = False self.laneless_mode_at_stopping = False self.laneless_mode_at_stopping_timer = 0 if int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) == 0: self.lane_change_auto_delay = 0.0 elif int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) == 1: self.lane_change_auto_delay = 0.2 elif int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) == 2: self.lane_change_auto_delay = 0.5 elif int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) == 3: self.lane_change_auto_delay = 1.0 elif int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) == 4: self.lane_change_auto_delay = 1.5 elif int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) == 5: self.lane_change_auto_delay = 2.0 self.lane_change_wait_timer = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE, )) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.lane_change_adjust = [0.11, 0.18, 0.75, 1.25] self.lane_change_adjust_vel = [8.3, 16, 22, 30] self.lane_change_adjust_new = 0.0 self.standstill_elapsed_time = 0.0 self.v_cruise_kph = 0 self.stand_still = False self.steer_actuator_delay_to_send = 0.0 self.output_scale = 0.0
def __init__(self, CP): self.LP = LanePlanner(shouldUseAlca=True) self.last_cloudlog_t = 0 self.setup_mpc(CP.steerRateCost) self.solution_invalid_cnt = 0 self.path_offset_i = 0.0
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.setup_mpc(CP.steerRateCost) self.solution_invalid_cnt = 0 self.frame = 0 self.curvature_offset = CurvatureLearner(debug=False)
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 if not travis: self.latControl_sock = messaging.pub_sock( service_list['latControl'].port) self.setup_mpc(CP.steerRateCost) self.solution_invalid_cnt = 0 self.path_offset_i = 0.0
def __init__(self, CP): self.LP = LanePlanner(shouldUseAlca=True) self.last_cloudlog_t = 0 self.plan = messaging.pub_sock(service_list['pathPlan'].port) self.livempc = messaging.pub_sock(service_list['liveMpc'].port) self.setup_mpc(CP.steerRateCost) self.solution_invalid_cnt = 0 self.path_offset_i = 0.0
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.path_offset_i = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_timer = 0.0 self.prev_one_blinker = False
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.frame = 0 self.curvature_offset = CurvatureLearner(debug=False) self.lane_change_state = LaneChangeState.off self.lane_change_timer = 0.0 self.prev_one_blinker = False
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.prev_one_blinker = False
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' if int(Params().get('OpkrAutoLaneChangeDelay')) == 0: self.lane_change_auto_delay = 0.0 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 1: self.lane_change_auto_delay = 0.2 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 2: self.lane_change_auto_delay = 0.5 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 3: self.lane_change_auto_delay = 1.0 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 4: self.lane_change_auto_delay = 1.5 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 5: self.lane_change_auto_delay = 2.0 self.lane_change_wait_timer = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.mpc_frame = 0 self.lane_change_adjust = [0.12, 0.19, 0.9, 1.4] self.lane_change_adjust_vel = [8.3, 16, 22, 30] self.lane_change_adjust_new = 0.0 self.angle_differ_range = [0, 45] self.steerRatio_range = [CP.steerRatio, 17.5] self.new_steerRatio = CP.steerRatio self.new_steerRatio_prev = CP.steerRatio self.new_steer_rate_cost = CP.steerRateCost #self.steer_rate_cost_range = [CP.steerRateCost, 0.1] self.steer_actuator_delay_range = [0.1, CP.steerActuatorDelay] self.steer_actuator_delay_vel = [3, 13] self.new_steer_actuator_delay = CP.steerActuatorDelay self.angle_offset_select = int(Params().get('OpkrAngleOffsetSelect')) self.standstill_elapsed_time = 0.0
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.path_offset_i = 0.0 self.mpc_frame = 0 self.sR_delay_counter = 0 self.steerRatio_new = 0.0 self.sR_time = 1 kegman = KegmanConf(CP) if kegman.conf['steerRatio'] == "-1": self.steerRatio = CP.steerRatio else: self.steerRatio = float(kegman.conf['steerRatio']) if kegman.conf['steerRateCost'] == "-1": self.steerRateCost = CP.steerRateCost else: self.steerRateCost = float(kegman.conf['steerRateCost']) if kegman.conf['steerActuatorDelay'] == "-1": self.steerActuatorDelay = CP.steerActuatorDelay else: self.steerActuatorDelay = float(kegman.conf['steerActuatorDelay']) self.sR = [ float(kegman.conf['steerRatio']), (float(kegman.conf['steerRatio']) + float(kegman.conf['sR_boost'])) ] self.sRBP = [ float(kegman.conf['sR_BP0']), float(kegman.conf['sR_BP1']) ] self.steerRateCost_prev = self.steerRateCost self.setup_mpc() self.alc_nudge_less = bool(int(kegman.conf['ALCnudgeLess'])) self.alc_min_speed = float(kegman.conf['ALCminSpeed']) self.alc_timer = float(kegman.conf['ALCtimer']) self.lane_change_state = LaneChangeState.off self.lane_change_timer = 0.0 self.pre_lane_change_timer = 0.0 self.prev_one_blinker = False
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.path_offset_i = 0.0 self.mpc_frame = 0 self.sR_delay_counter = 0 self.steerRatio_new = 0.0 self.sR_time = 1 kegman = kegman_conf(CP) if kegman.conf['steerRatio'] == "-1": self.steerRatio = CP.steerRatio else: self.steerRatio = float(kegman.conf['steerRatio']) if kegman.conf['steerRateCost'] == "-1": self.steerRateCost = CP.steerRateCost else: self.steerRateCost = float(kegman.conf['steerRateCost']) self.sR = [ float(kegman.conf['steerRatio']), (float(kegman.conf['steerRatio']) + float(kegman.conf['sR_boost'])) ] self.sRBP = [ float(kegman.conf['sR_BP0']), float(kegman.conf['sR_BP1']) ] self.steerRateCost_prev = self.steerRateCost self.setup_mpc() self.alc_nudge_less = bool(int(kegman.conf['ALCnudgeLess'])) self.alc_min_speed = float(kegman.conf['ALCminSpeed']) self.alc_timer = float(kegman.conf['ALCtimer']) self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.sR_delay_counter = 0 self.v_ego_ed = 0.0
def __init__(self, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.DH = DesireHelper() self.last_cloudlog_t = 0 self.solution_invalid_cnt = 0 self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE, )) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.lat_mpc = LateralMpc() self.reset_mpc(np.zeros(4))
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' if int(Params().get('OpkrAutoLaneChangeDelay')) == 0: self.lane_change_auto_delay = 0.0 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 1: self.lane_change_auto_delay = 0.2 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 2: self.lane_change_auto_delay = 0.5 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 3: self.lane_change_auto_delay = 1.0 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 4: self.lane_change_auto_delay = 1.5 elif int(Params().get('OpkrAutoLaneChangeDelay')) == 5: self.lane_change_auto_delay = 2.0 self.lane_change_wait_timer = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE,3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.lane_change_adjust = [0.12, 0.19, 0.9, 1.4] self.lane_change_adjust_vel = [8.3, 16, 22, 30] self.lane_change_adjust_new = 0.0 self.new_steer_actuator_delay = CP.steerActuatorDelay self.standstill_elapsed_time = 0.0 self.v_cruise_kph = 0 self.stand_still = False self.output_scale = 0.0
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.path_offset_i = 0.0 self.mpc_frame = 0 self.sR_delay_counter = 0 self.steerRatio_new = 0.0 self.sR_time = 1 kegman = kegman_conf(CP) if kegman.conf['steerRatio'] == "-1": self.steerRatio = CP.steerRatio else: self.steerRatio = float(kegman.conf['steerRatio']) if kegman.conf['steerRateCost'] == "-1": self.steerRateCost = CP.steerRateCost else: self.steerRateCost = float(kegman.conf['steerRateCost']) self.sR = [ float(kegman.conf['steerRatio']), (float(kegman.conf['steerRatio']) + float(kegman.conf['sR_boost'])) ] self.sRBP = [ float(kegman.conf['sR_BP0']), float(kegman.conf['sR_BP1']) ] self.steerRateCost_prev = self.steerRateCost self.setup_mpc() self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.prev_one_blinker = False self.pre_auto_LCA_timer = 0.0 self.lane_change_BSM = LaneChangeBSM.off self.prev_torque_applied = False
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE, )) self.t_idxs = np.arange(TRAJECTORY_SIZE)
def __init__(self, CP, use_lanelines=True, wide_camera=False): self.use_lanelines = use_lanelines self.LP = LanePlanner(wide_camera) self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.laneless_mode = int(Params().get("LanelessMode", encoding="utf8")) self.laneless_mode_status = False self.laneless_mode_status_buffer = False self.lane_change_delay = int(Params().get("OpkrAutoLaneChangeDelay", encoding="utf8")) self.lane_change_auto_delay = 0.0 if self.lane_change_delay == 0 else 0.2 if self.lane_change_delay == 1 else 0.5 if self.lane_change_delay == 2 \ else 1.0 if self.lane_change_delay == 3 else 1.5 if self.lane_change_delay == 4 else 2.0 self.lane_change_wait_timer = 0.0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE,3)) self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) self.lane_change_adjust = [float(Decimal(Params().get("LCTimingFactor30", encoding="utf8")) * Decimal('0.01')), float(Decimal(Params().get("LCTimingFactor60", encoding="utf8")) * Decimal('0.01')), float(Decimal(Params().get("LCTimingFactor80", encoding="utf8")) * Decimal('0.01')), float(Decimal(Params().get("LCTimingFactor110", encoding="utf8")) * Decimal('0.01'))] self.lane_change_adjust_vel = [30*CV.KPH_TO_MS, 60*CV.KPH_TO_MS, 80*CV.KPH_TO_MS, 110*CV.KPH_TO_MS] self.lane_change_adjust_new = 0.0 self.standstill_elapsed_time = 0.0 self.v_cruise_kph = 0 self.stand_still = False self.output_scale = 0.0 self.second = 0.0
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.op_params = opParams() self.alca_nudge_required = self.op_params.get('alca_nudge_required') self.alca_min_speed = self.op_params.get( 'alca_min_speed') * CV.MPH_TO_MS
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.desire = log.LateralPlan.Desire.none self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE, )) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE)
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 self.steer_rate_cost = CP.steerRateCost self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.pre_auto_LCA_timer = 0.0 self.lane_change_BSM = LaneChangeBSM.off self.prev_torque_applied = False self.tune = nTune(CP)
def __init__(self, CP): self.LP = LanePlanner() self.last_cloudlog_t = 0 #self.steer_rate_cost = CP.steerRateCost self.steer_rate_cost_prev = ntune_get('steerRateCost') self.setup_mpc() self.solution_invalid_cnt = 0 self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1' self.auto_lane_change_enabled = Params().get('AutoLaneChangeEnabled') == b'1' self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 self.prev_one_blinker = False self.auto_lane_change_timer = 0.0 self.prev_torque_applied = False self.use_dynamic_sr = CP.carName in [CAR.GENESIS_G80]