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]
