openpilot v0.5.1 release
Vehicle Researcher
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README.md
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README.md
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@ -10,7 +10,7 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
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Community
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------
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openpilot is supported by [comma.ai](https://comma.ai/).
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openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
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We have a [Twitter you should follow](https://twitter.com/comma_ai).
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@ -41,57 +41,62 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
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Supported Cars
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------
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| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
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| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
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| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph* | 25mph |
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| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph* | 25mph |
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| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
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| GM | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
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| GM | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
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| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
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| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
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| Lexus | RX Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
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| Lexus | RX Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
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| Toyota | Corolla 2017 | All | Yes | Yes | 20mph | 0mph |
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| Toyota | Corolla 2018 | All | Yes | Yes | 20mph | 0mph |
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| Toyota | Prius 2016 | TSS-P | Yes | Yes | 0mph | 0mph |
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| Toyota | Prius 2017 | All | Yes | Yes | 0mph | 0mph |
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| Toyota | Prius 2018 | All | Yes | Yes | 0mph | 0mph |
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| Toyota | Prius Prime 2017 | All | Yes | Yes | 0mph | 0mph |
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| Toyota | Prius Prime 2018 | All | Yes | Yes | 0mph | 0mph |
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| Toyota | Rav4 2016 | TSS-P | Yes | Yes | 20mph | 0mph |
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| Toyota | Rav4 2017 | All | Yes | Yes | 20mph | 0mph |
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| Toyota | Rav4 2018 | All | Yes | Yes | 20mph | 0mph |
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| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
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| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
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| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
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| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
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| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
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| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| GM<sup>3</sup>| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
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| GM<sup>3</sup>| Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
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| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
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| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
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| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
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| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
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| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
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| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
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| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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*[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
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<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
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<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
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<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)
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<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
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<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
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Community Maintained Cars
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------
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| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
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| ------- | -----------------------| -------------------- | ------- | ------------ | ----------- | ------------ |
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| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
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| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
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| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
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| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
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| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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[[Tesla Pull Request]](https://github.com/commaai/openpilot/pull/246)
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[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
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*Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
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Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
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In Progress Cars
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------
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@ -107,7 +112,7 @@ How can I add support for my car?
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If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
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We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
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We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
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- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
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- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
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@ -174,7 +179,7 @@ Contributing
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------
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We welcome both pull requests and issues on
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[github](http://github.com/commaai/openpilot). Bug fixes and new car support encouraged.
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[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
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Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
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@ -1,3 +1,10 @@
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Version 0.5.1 (2018-08-01)
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========================
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* Fix radar error on Civic sedan 2018
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* Improve thermal management logic
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* Alpha Toyota C-HR and Camry support!
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* Auto-switch Driver Monitoring to 3 min counter when inaccurate
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Version 0.5 (2018-07-11)
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========================
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* Driver Monitoring (beta) option in settings!
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80
SAFETY.md
80
SAFETY.md
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@ -6,7 +6,10 @@ Like other ACC and LKA systems, openpilot requires the driver to be alert and to
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pay attention at all times. We repeat, **driver alertness is necessary, but not
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sufficient, for openpilot to be used safely**.
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Even with an attentive driver, we must make further efforts for the system to be
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In order to enforce driver alertness, openpilot includes a driver monitoring feature
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that alerts the driver when distracted.
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However, even with an attentive driver, we must make further efforts for the system to be
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safe. We have designed openpilot with two other safety considerations.
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1. The driver must always be capable to immediately retake manual control of the vehicle,
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@ -20,7 +23,7 @@ Following are details of the car specific safety implementations:
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Honda/Acura
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------
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- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
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- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
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the stock system.
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- Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
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@ -28,16 +31,16 @@ Honda/Acura
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interceptor, the gas is clipped to 60%.
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- The brake is controlled by the 0x1FA CAN message. This message allows full
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braking, although the board and the software clip it to 1/4th of the max.
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This is around .3g of braking.
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braking, although the panda firmware and openpilot clip it to 1/4th of the max.
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This is approximately 0.3g of braking.
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- Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
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controller in the car limits the torque to a very small amount, so regardless of the
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message, the controller cannot jerk the wheel.
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- Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
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either signal triggers a disengagement, which is enforced by the board and in software. The
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green led on the board signifies if the board is allowing control messages.
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either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
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white led on the panda signifies if the panda is allowing control messages.
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- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
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replay of the same message.
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@ -45,29 +48,62 @@ Honda/Acura
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Toyota/Lexus
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------
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- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
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- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
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the stock system.
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- With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled
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by the stock system and is subject to the stock adaptive cruise control limits. Without the
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stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
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value is limited by the board and the software to between .3g of deceleration and .15g of
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acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
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cruise control system is disengaged.
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- With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
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the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
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control limits. Without the stock DSU connected, the acceleration command is controlled by the
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0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
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by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
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Module (ECM) while the cruise control system is disengaged.
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- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
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software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
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commands outside these limits. A steering torque rate limit is enforced by the board and in
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software so that the commanded steering torque must rise from 0 to max value no faster than
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1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
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- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
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openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
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commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
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openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
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1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
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units above the actual EPS generated motor torque to ensure limited differences between
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commanded and actual torques.
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- Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
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respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
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board and in software. Additionally, the cruise control system disengages on the rising edge of
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respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
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panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
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the brake pedal pressed signal.
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- The cruise control system state is contained in the 0x1D2 message. No control messages are
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allowed if the cruise control system is not active. This is enforced by the software and the
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board. The green led on the board signifies if the board is allowing control messages.
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allowed if the cruise control system is not active. This is enforced by openpilot and the
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panda firmware. The white led on the panda signifies if the panda is allowing control messages.
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GM/Chevrolet
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------
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- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
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the stock system.
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- The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
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openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
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while 3072 correspond to approximately 0.18g of acceleration from stop.
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- The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
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and openpilot to 350. This is approximately 0.3g of braking.
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- Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
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openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
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commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
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openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
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0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
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torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
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driver's will.
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- Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
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respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
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panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
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the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
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regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
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- GM CAN uses both a counter and a checksum to ensure integrity and prevent
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replay of the same message.
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**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
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not fully meeting the above requirements.
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Binary file not shown.
Binary file not shown.
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@ -63,6 +63,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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promptDriverDistracted @38;
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driverDistracted @39;
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geofence @40;
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driverMonitorOn @41;
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driverMonitorOff @42;
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preDriverUnresponsive @43;
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promptDriverUnresponsive @44;
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driverUnresponsive @45;
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}
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}
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@ -302,6 +307,8 @@ struct CarParams {
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hondaBosch @5;
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ford @6;
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cadillac @7;
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hyundai @8;
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chrysler @9;
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}
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# things about the car in the manual
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@ -21,6 +21,8 @@ struct Map(Key, Value) {
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struct InitData {
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kernelArgs @0 :List(Text);
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kernelVersion @15 :Text;
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gctx @1 :Text;
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dongleId @2 :Text;
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@ -32,6 +34,7 @@ struct InitData {
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androidBuildInfo @5 :AndroidBuildInfo;
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androidSensors @6 :List(AndroidSensor);
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androidProperties @16 :Map(Text, Text);
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chffrAndroidExtra @7 :ChffrAndroidExtra;
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iosBuildInfo @14 :IosBuildInfo;
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@ -399,6 +402,7 @@ struct Live100Data {
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angleOffset @27 :Float32;
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gpsPlannerActive @40 :Bool;
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engageable @41 :Bool; # can OP be engaged?
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driverMonitoringOn @43 :Bool;
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enum ControlState {
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disabled @0;
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@ -1533,6 +1537,13 @@ struct OrbKeyFrame {
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struct DriverMonitoring {
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frameId @0 :UInt32;
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descriptor @1 :List(Float32);
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||||
std @2 :Float32;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
lastKmsg @1 :Data;
|
||||
lastPmsg @2 :Data;
|
||||
}
|
||||
|
||||
struct Event {
|
||||
|
|
@ -1599,5 +1610,6 @@ struct Event {
|
|||
uiLayoutState @57 :UiLayoutState;
|
||||
orbFeaturesSummary @58 :OrbFeaturesSummary;
|
||||
driverMonitoring @59 :DriverMonitoring;
|
||||
boot @60 :Boot;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,12 +12,14 @@ esq = 6.69437999014 * 0.001
|
|||
e1sq = 6.73949674228 * 0.001
|
||||
|
||||
|
||||
def geodetic2ecef(geodetic):
|
||||
def geodetic2ecef(geodetic, radians=False):
|
||||
geodetic = np.array(geodetic)
|
||||
input_shape = geodetic.shape
|
||||
geodetic = np.atleast_2d(geodetic)
|
||||
lat = (np.pi/180)*geodetic[:,0]
|
||||
lon = (np.pi/180)*geodetic[:,1]
|
||||
|
||||
ratio = 1.0 if radians else (np.pi / 180.0)
|
||||
lat = ratio*geodetic[:,0]
|
||||
lon = ratio*geodetic[:,1]
|
||||
alt = geodetic[:,2]
|
||||
|
||||
xi = np.sqrt(1 - esq * np.sin(lat)**2)
|
||||
|
|
@ -28,41 +30,41 @@ def geodetic2ecef(geodetic):
|
|||
return ecef.reshape(input_shape)
|
||||
|
||||
|
||||
def ecef2geodetic(ecef):
|
||||
def ecef2geodetic(ecef, radians=False):
|
||||
"""
|
||||
Convert ECEF coordinates to geodetic using ferrari's method
|
||||
"""
|
||||
def ferrari(x, y, z):
|
||||
# ferrari's method
|
||||
r = np.sqrt(x * x + y * y)
|
||||
Esq = a * a - b * b
|
||||
F = 54 * b * b * z * z
|
||||
G = r * r + (1 - esq) * z * z - esq * Esq
|
||||
C = (esq * esq * F * r * r) / (pow(G, 3))
|
||||
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
|
||||
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
|
||||
Q = np.sqrt(1 + 2 * esq * esq * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
|
||||
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
|
||||
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
|
||||
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
|
||||
Z_0 = b * b * z / (a * V)
|
||||
h = U * (1 - b * b / (a * V))
|
||||
lat = (180/np.pi)*np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = (180/np.pi)*np.arctan2(y, x)
|
||||
return lat, lon, h
|
||||
|
||||
geodetic = []
|
||||
ecef = np.array(ecef)
|
||||
# Save shape and export column
|
||||
ecef = np.atleast_1d(ecef)
|
||||
input_shape = ecef.shape
|
||||
ecef = np.atleast_2d(ecef)
|
||||
for p in ecef:
|
||||
geodetic.append(ferrari(*p))
|
||||
geodetic = np.array(geodetic)
|
||||
x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
|
||||
|
||||
ratio = 1.0 if radians else (180.0 / np.pi)
|
||||
|
||||
# Conver from ECEF to geodetic using Ferrari's methods
|
||||
# https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
r = np.sqrt(x * x + y * y)
|
||||
Esq = a * a - b * b
|
||||
F = 54 * b * b * z * z
|
||||
G = r * r + (1 - esq) * z * z - esq * Esq
|
||||
C = (esq * esq * F * r * r) / (pow(G, 3))
|
||||
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
|
||||
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
|
||||
Q = np.sqrt(1 + 2 * esq * esq * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
|
||||
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
|
||||
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
|
||||
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
|
||||
Z_0 = b * b * z / (a * V)
|
||||
h = U * (1 - b * b / (a * V))
|
||||
lat = ratio*np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = ratio*np.arctan2(y, x)
|
||||
|
||||
# stack the new columns and return to the original shape
|
||||
geodetic = np.column_stack((lat, lon, h))
|
||||
return geodetic.reshape(input_shape)
|
||||
|
||||
|
||||
|
||||
class LocalCoord(object):
|
||||
"""
|
||||
Allows conversions to local frames. In this case NED.
|
||||
|
|
|
|||
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
|
|
@ -1,6 +1,6 @@
|
|||
#!/usr/bin/env python
|
||||
from common.realtime import sec_since_boot
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
|
|
@ -209,7 +209,7 @@ class CarInterface(object):
|
|||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.hudControl.visualAlert, c.cruiseControl.cancel)
|
||||
|
|
|
|||
|
|
@ -4,7 +4,8 @@ from common.kalman.simple_kalman import KF1D
|
|||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
|
||||
CruiseButtons, is_eps_status_ok
|
||||
CruiseButtons, is_eps_status_ok, \
|
||||
STEER_THRESHOLD
|
||||
|
||||
def get_powertrain_can_parser(CP, canbus):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
|
|
@ -91,7 +92,7 @@ class CarState(object):
|
|||
self.user_gas_pressed = self.pedal_gas > 0
|
||||
|
||||
self.steer_torque_driver = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
|
||||
self.steer_override = abs(self.steer_torque_driver) > 1.0
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
|
||||
|
||||
# 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
|
||||
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#!/usr/bin/env python
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
|
|
@ -308,7 +308,7 @@ class CarInterface(object):
|
|||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
hud_v_cruise = c.hudControl.setSpeed
|
||||
if hud_v_cruise > 70:
|
||||
hud_v_cruise = 0
|
||||
|
|
|
|||
|
|
@ -47,6 +47,7 @@ FINGERPRINTS = {
|
|||
}],
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
DBC = {
|
||||
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
|
|
|
|||
|
|
@ -1,3 +1,4 @@
|
|||
from cereal import car
|
||||
from collections import namedtuple
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.controls.lib.drive_helpers import rate_limit
|
||||
|
|
@ -61,11 +62,12 @@ class CarController(object):
|
|||
self.brake_last = 0.
|
||||
self.enable_camera = enable_camera
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.new_radar_config = False
|
||||
|
||||
def update(self, sendcan, enabled, CS, frame, actuators, \
|
||||
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
|
||||
snd_beep, snd_chime):
|
||||
radar_error, hud_v_cruise, hud_show_lanes, hud_show_car, \
|
||||
hud_alert, snd_beep, snd_chime):
|
||||
|
||||
""" Controls thread """
|
||||
|
||||
|
|
@ -167,6 +169,8 @@ class CarController(object):
|
|||
|
||||
if (frame % radar_send_step) == 0:
|
||||
idx = (frame/radar_send_step) % 4
|
||||
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, idx))
|
||||
if not self.new_radar_config: # only change state once
|
||||
self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
|
||||
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
|
||||
|
||||
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@ from common.numpy_fast import interp
|
|||
from common.kalman.simple_kalman import KF1D
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.honda.values import CAR, DBC
|
||||
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD
|
||||
|
||||
def parse_gear_shifter(can_gear_shifter, car_fingerprint):
|
||||
|
||||
|
|
@ -284,10 +284,8 @@ class CarState(object):
|
|||
else:
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
|
||||
#rdx has different steer override threshold
|
||||
steer_thrsld = 400 if self.CP.carFingerprint == CAR.ACURA_RDX else 1200
|
||||
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > steer_thrsld
|
||||
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
|
||||
|
||||
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
||||
|
||||
|
|
|
|||
|
|
@ -117,7 +117,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
|
|||
return commands
|
||||
|
||||
|
||||
def create_radar_commands(v_ego, car_fingerprint, idx):
|
||||
def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
|
||||
"""Creates an iterable of CAN messages for the radar system."""
|
||||
commands = []
|
||||
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
|
||||
|
|
@ -129,7 +129,8 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
|
|||
|
||||
if car_fingerprint == CAR.CIVIC:
|
||||
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1)) # add 8 on idx.
|
||||
idx_offset = 0xc if new_radar_config else 0x8 # radar in civic 2018 requires 0xc
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
|
||||
else:
|
||||
if car_fingerprint == CAR.CRV:
|
||||
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import numpy as np
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
|
@ -567,7 +567,7 @@ class CarInterface(object):
|
|||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
if c.hudControl.speedVisible:
|
||||
hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
|
||||
else:
|
||||
|
|
@ -600,6 +600,7 @@ class CarInterface(object):
|
|||
c.cruiseControl.override, \
|
||||
c.cruiseControl.cancel, \
|
||||
pcm_accel, \
|
||||
perception_state.radarErrors, \
|
||||
hud_v_cruise, c.hudControl.lanesVisible, \
|
||||
hud_show_car = c.hudControl.leadVisible, \
|
||||
hud_alert = hud_alert, \
|
||||
|
|
|
|||
|
|
@ -28,6 +28,7 @@ class RadarInterface(object):
|
|||
self.pts = {}
|
||||
self.track_id = 0
|
||||
self.radar_fault = False
|
||||
self.radar_wrong_config = False
|
||||
self.radar_off_can = CP.radarOffCan
|
||||
|
||||
self.delay = 0.1 # Delay of radar
|
||||
|
|
@ -61,6 +62,7 @@ class RadarInterface(object):
|
|||
if ii == 0x400:
|
||||
# check for radar faults
|
||||
self.radar_fault = cpt['RADAR_STATE'] != 0x79
|
||||
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
|
||||
elif cpt['LONG_DIST'] < 255:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = car.RadarState.RadarPoint.new_message()
|
||||
|
|
@ -81,6 +83,8 @@ class RadarInterface(object):
|
|||
errors.append("commIssue")
|
||||
if self.radar_fault:
|
||||
errors.append("fault")
|
||||
if self.radar_wrong_config:
|
||||
errors.append("wrongConfig")
|
||||
ret.errors = errors
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
|
|
|
|||
|
|
@ -104,5 +104,19 @@ DBC = {
|
|||
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
}
|
||||
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
CAR.ACCORD: 1200,
|
||||
CAR.ACURA_ILX: 1200,
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.CIVIC: 1200,
|
||||
CAR.CIVIC_HATCH: 1200,
|
||||
CAR.CRV: 1200,
|
||||
CAR.CRV_5G: 1200,
|
||||
CAR.ODYSSEY: 1200,
|
||||
CAR.PILOT: 1200,
|
||||
CAR.RIDGELINE: 1200,
|
||||
}
|
||||
|
||||
# TODO: get these from dbc file
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
#!/usr/bin/env python
|
||||
import zmq
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
|
@ -117,6 +117,6 @@ class CarInterface(object):
|
|||
|
||||
return ret.as_reader()
|
||||
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
# in mock no carcontrols
|
||||
return False
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
|
|||
create_steer_command, create_ui_command, \
|
||||
create_ipas_steer_command, create_accel_command, \
|
||||
create_fcw_command
|
||||
from selfdrive.car.toyota.values import ECU, STATIC_MSGS
|
||||
from selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
|
||||
from selfdrive.can.packer import CANPacker
|
||||
|
||||
# Accel limits
|
||||
|
|
@ -209,7 +209,7 @@ class CarController(object):
|
|||
else:
|
||||
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
|
||||
|
||||
if frame % 10 == 0 and ECU.CAM in self.fake_ecus:
|
||||
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
|
||||
for addr in TARGET_IDS:
|
||||
can_sends.append(create_video_target(frame/10, addr))
|
||||
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
from selfdrive.car.toyota.values import CAR, DBC
|
||||
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
|
|
@ -7,7 +7,7 @@ import numpy as np
|
|||
|
||||
def parse_gear_shifter(can_gear, car_fingerprint):
|
||||
# TODO: Use values from DBC to parse this field
|
||||
if car_fingerprint == CAR.PRIUS:
|
||||
if car_fingerprint in [CAR.PRIUS, CAR.CHRH, CAR.CAMRYH]:
|
||||
if can_gear == 0x0:
|
||||
return "park"
|
||||
elif can_gear == 0x1:
|
||||
|
|
@ -19,7 +19,7 @@ def parse_gear_shifter(can_gear, car_fingerprint):
|
|||
elif can_gear == 0x4:
|
||||
return "brake"
|
||||
elif car_fingerprint in [CAR.RAV4, CAR.RAV4H,
|
||||
CAR.LEXUS_RXH, CAR.COROLLA]:
|
||||
CAR.LEXUS_RXH, CAR.COROLLA, CAR.CHR, CAR.CAMRY]:
|
||||
if can_gear == 0x20:
|
||||
return "park"
|
||||
elif can_gear == 0x10:
|
||||
|
|
@ -147,8 +147,6 @@ class CarState(object):
|
|||
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
|
||||
self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
|
||||
|
||||
# we could use the override bit from dbc, but it's triggered at too high torque values
|
||||
self.steer_override = abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']) > 100
|
||||
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
|
||||
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
|
||||
self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
|
||||
|
|
@ -156,6 +154,8 @@ class CarState(object):
|
|||
self.brake_error = 0
|
||||
self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
|
||||
self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
|
||||
# we could use the override bit from dbc, but it's triggered at too high torque values
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
|
||||
|
||||
self.user_brake = 0
|
||||
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
#!/usr/bin/env python
|
||||
from common.realtime import sec_since_boot
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
|
|
@ -75,8 +75,8 @@ class CarInterface(object):
|
|||
if candidate == CAR.PRIUS:
|
||||
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.70
|
||||
ret.steerRatio = 15.59 # unknown end-to-end spec
|
||||
tire_stiffness_factor = 0.7933
|
||||
ret.steerRatio = 15.00 # unknown end-to-end spec
|
||||
tire_stiffness_factor = 0.6371 # hand-tune
|
||||
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
|
||||
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
|
|
@ -110,6 +110,24 @@ class CarInterface(object):
|
|||
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
|
||||
elif candidate in [CAR.CHR, CAR.CHRH]:
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.63906
|
||||
ret.steerRatio = 13.6
|
||||
tire_stiffness_factor = 0.7933
|
||||
ret.mass = 3300. * CV.LB_TO_KG + std_cargo
|
||||
ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.82448
|
||||
ret.steerRatio = 13.7
|
||||
tire_stiffness_factor = 0.7933
|
||||
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
ret.steerRateCost = 1.
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
|
|
@ -118,7 +136,7 @@ class CarInterface(object):
|
|||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # rav4 hybrid can do stop and go
|
||||
ret.minEnableSpeed = -1.
|
||||
elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
|
||||
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
|
||||
|
|
@ -150,9 +168,9 @@ class CarInterface(object):
|
|||
ret.brakeMaxBP = [5., 20.]
|
||||
ret.brakeMaxV = [1., 0.8]
|
||||
|
||||
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
|
||||
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
|
||||
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
|
||||
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
|
||||
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
|
||||
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
|
||||
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
|
||||
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
|
||||
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
|
||||
|
|
@ -304,7 +322,7 @@ class CarInterface(object):
|
|||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
|
||||
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
|
||||
|
|
|
|||
|
|
@ -1,11 +1,13 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
import time
|
||||
from selfdrive.can.parser import CANParser
|
||||
from cereal import car
|
||||
from common.realtime import sec_since_boot
|
||||
import zmq
|
||||
from selfdrive.services import service_list
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.car.toyota.values import NO_DSU_CAR
|
||||
|
||||
|
||||
RADAR_MSGS = list(range(0x210, 0x220))
|
||||
|
|
@ -30,15 +32,21 @@ class RadarInterface(object):
|
|||
|
||||
self.delay = 0.0 # Delay of radar
|
||||
|
||||
# Nidec
|
||||
self.rcp = _create_radard_can_parser()
|
||||
self.no_dsu_car = CP.carFingerprint in NO_DSU_CAR
|
||||
|
||||
context = zmq.Context()
|
||||
self.logcan = messaging.sub_sock(context, service_list['can'].port)
|
||||
|
||||
def update(self):
|
||||
canMonoTimes = []
|
||||
|
||||
ret = car.RadarState.new_message()
|
||||
if self.no_dsu_car:
|
||||
# TODO: make a adas dbc file for dsu-less models
|
||||
time.sleep(0.05)
|
||||
return ret
|
||||
|
||||
canMonoTimes = []
|
||||
updated_messages = set()
|
||||
while 1:
|
||||
tm = int(sec_since_boot() * 1e9)
|
||||
|
|
@ -47,7 +55,6 @@ class RadarInterface(object):
|
|||
if 0x21f in updated_messages:
|
||||
break
|
||||
|
||||
ret = car.RadarState.new_message()
|
||||
errors = []
|
||||
if not self.rcp.can_valid:
|
||||
errors.append("commIssue")
|
||||
|
|
|
|||
|
|
@ -2,10 +2,14 @@ from selfdrive.car import dbc_dict
|
|||
|
||||
class CAR:
|
||||
PRIUS = "TOYOTA PRIUS 2017"
|
||||
RAV4H = "TOYOTA RAV4 2017 HYBRID"
|
||||
RAV4H = "TOYOTA RAV4 HYBRID 2017"
|
||||
RAV4 = "TOYOTA RAV4 2017"
|
||||
COROLLA = "TOYOTA COROLLA 2017"
|
||||
LEXUS_RXH = "LEXUS RX HYBRID 2017"
|
||||
CHR = "TOYOTA C-HR 2018"
|
||||
CHRH = "TOYOTA C-HR HYBRID 2018"
|
||||
CAMRY = "TOYOTA CAMRY 2018"
|
||||
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
|
||||
|
||||
|
||||
class ECU:
|
||||
|
|
@ -59,14 +63,16 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
|
|||
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
|
||||
]
|
||||
|
||||
ECU_FINGERPRINT = {
|
||||
ECU.CAM: 0x2e4, # steer torque cmd
|
||||
ECU.DSU: 0x343, # accel cmd
|
||||
ECU.APGS: 0x835, # angle cmd
|
||||
}
|
||||
|
||||
def check_ecu_msgs(fingerprint, candidate, ecu):
|
||||
|
||||
def check_ecu_msgs(fingerprint, ecu):
|
||||
# return True if fingerprint contains messages normally sent by a given ecu
|
||||
ecu_msgs = [x[0] for x in STATIC_MSGS if (x[1] == ecu and
|
||||
candidate in x[2] and
|
||||
x[3] == 0)]
|
||||
|
||||
return any(msg for msg in fingerprint if msg in ecu_msgs)
|
||||
return ECU_FINGERPRINT[ecu] in fingerprint
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
|
|
@ -97,8 +103,25 @@ FINGERPRINTS = {
|
|||
CAR.LEXUS_RXH: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
|
||||
}],
|
||||
CAR.CHR: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
|
||||
}],
|
||||
CAR.CHRH: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8,1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556:8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRY: [
|
||||
#XLE and LE
|
||||
{
|
||||
36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRYH: [
|
||||
#LE
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572:8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 100
|
||||
|
||||
DBC = {
|
||||
CAR.RAV4H: dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
|
|
@ -106,4 +129,10 @@ DBC = {
|
|||
CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CHR: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CHRH: dbc_dict('toyota_chr_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CAMRY: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
}
|
||||
|
||||
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
|
||||
|
|
|
|||
|
|
@ -0,0 +1,56 @@
|
|||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
|
||||
#ifdef __linux__
|
||||
#include <sys/eventfd.h>
|
||||
#else
|
||||
#include <sys/time.h>
|
||||
#include <sys/event.h>
|
||||
#define EVENT_IDENT 42
|
||||
#endif
|
||||
|
||||
#include "efd.h"
|
||||
|
||||
|
||||
int efd_init() {
|
||||
#ifdef __linux__
|
||||
return eventfd(0, EFD_CLOEXEC);
|
||||
#else
|
||||
int fd = kqueue();
|
||||
assert(fd >= 0);
|
||||
|
||||
struct kevent kev;
|
||||
EV_SET(&kev, EVENT_IDENT, EVFILT_USER, EV_ADD | EV_CLEAR, 0, 0, NULL);
|
||||
|
||||
struct timespec timeout = {0, 0};
|
||||
int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
|
||||
assert(err != -1);
|
||||
|
||||
return fd;
|
||||
#endif
|
||||
}
|
||||
|
||||
void efd_write(int fd) {
|
||||
#ifdef __linux__
|
||||
eventfd_write(fd, 1);
|
||||
#else
|
||||
struct kevent kev;
|
||||
EV_SET(&kev, EVENT_IDENT, EVFILT_USER, 0, NOTE_TRIGGER, 0, NULL);
|
||||
|
||||
struct timespec timeout = {0, 0};
|
||||
int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
|
||||
assert(err != -1);
|
||||
#endif
|
||||
}
|
||||
|
||||
void efd_clear(int fd) {
|
||||
#ifdef __linux__
|
||||
eventfd_t efd_cnt;
|
||||
eventfd_read(fd, &efd_cnt);
|
||||
#else
|
||||
struct kevent kev;
|
||||
struct timespec timeout = {0, 0};
|
||||
int nfds = kevent(fd, NULL, 0, &kev, 1, &timeout);
|
||||
assert(nfds != -1);
|
||||
#endif
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
#ifndef EFD_H
|
||||
#define EFD_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// event fd: a semaphore that can be poll()'d
|
||||
int efd_init();
|
||||
void efd_write(int fd);
|
||||
void efd_clear(int fd);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -1 +1 @@
|
|||
#define COMMA_VERSION "0.5-release"
|
||||
#define COMMA_VERSION "0.5.1-release"
|
||||
|
|
|
|||
|
|
@ -292,7 +292,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
|
|||
return actuators, v_cruise_kph, driver_status, angle_offset
|
||||
|
||||
|
||||
def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
|
||||
def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
|
||||
carcontrol, live100, livempc, AM, driver_status,
|
||||
LaC, LoC, angle_offset, passive):
|
||||
|
||||
|
|
@ -323,7 +323,7 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
|
|||
CC.hudControl.audibleAlert = AM.audible_alert
|
||||
|
||||
# send car controls over can
|
||||
CI.apply(CC)
|
||||
CI.apply(CC, perception_state)
|
||||
|
||||
# ***** publish state to logger *****
|
||||
# publish controls state at 100Hz
|
||||
|
|
@ -337,6 +337,7 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
|
|||
"alertStatus": AM.alert_status,
|
||||
"alertBlinkingRate": AM.alert_rate,
|
||||
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
|
||||
"driverMonitoringOn": bool(driver_status.monitor_on),
|
||||
"canMonoTimes": list(CS.canMonoTimes),
|
||||
"planMonoTime": plan_ts,
|
||||
"enabled": isEnabled(state),
|
||||
|
|
@ -446,7 +447,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
|||
CP.safetyModel = car.CarParams.SafetyModels.noOutput
|
||||
|
||||
fcw_enabled = params.get("IsFcwEnabled") == "1"
|
||||
driver_monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
geofence = None
|
||||
try:
|
||||
from selfdrive.controls.lib.geofence import Geofence
|
||||
|
|
@ -460,7 +460,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
|||
VM = VehicleModel(CP)
|
||||
LaC = LatControl(VM)
|
||||
AM = AlertManager()
|
||||
driver_status = DriverStatus(driver_monitor_on)
|
||||
driver_status = DriverStatus()
|
||||
|
||||
if not passive:
|
||||
AM.add("startup", False)
|
||||
|
|
@ -516,7 +516,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
|||
prof.checkpoint("State Control")
|
||||
|
||||
# publish data
|
||||
CC = data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
|
||||
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
|
||||
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
|
||||
prof.checkpoint("Sent")
|
||||
|
||||
|
|
|
|||
|
|
@ -74,7 +74,7 @@ class AlertManager(object):
|
|||
Priority.MID, None, "beepSingle", .2, 0., 0.),
|
||||
|
||||
"fcw": Alert(
|
||||
"Brake!",
|
||||
"BRAKE!",
|
||||
"Risk of Collision",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
|
||||
|
|
@ -98,23 +98,53 @@ class AlertManager(object):
|
|||
Priority.LOW, None, None, .2, .2, .2),
|
||||
|
||||
"preDriverDistracted": Alert(
|
||||
"TAKE CONTROL: User Appears Distracted",
|
||||
"KEEP EYES ON ROAD: User Appears Distracted",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
|
||||
|
||||
"promptDriverDistracted": Alert(
|
||||
"TAKE CONTROL",
|
||||
"KEEP EYES ON ROAD",
|
||||
"User Appears Distracted",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"driverDistracted": Alert(
|
||||
"DISENGAGEMENT REQUIRED",
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"User Was Distracted",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"preDriverUnresponsive": Alert(
|
||||
"TOUCH STEERING WHEEL: No Driver Monitoring",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
|
||||
|
||||
"promptDriverUnresponsive": Alert(
|
||||
"TOUCH STEERING WHEEL",
|
||||
"User Is Unresponsive",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"driverUnresponsive": Alert(
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"User Was Unresponsive",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"driverMonitorOff": Alert(
|
||||
"DRIVER MONITOR IS UNAVAILABLE",
|
||||
"Accuracy Is Low",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, None, None, .4, 0., 4.),
|
||||
|
||||
"driverMonitorOn": Alert(
|
||||
"DRIVER MONITOR IS AVAILABLE",
|
||||
"Accuracy Is High",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, None, None, .4, 0., 4.),
|
||||
|
||||
"geofence": Alert(
|
||||
"DISENGAGEMENT REQUIRED",
|
||||
"Not in Geofenced Area",
|
||||
|
|
|
|||
|
|
@ -18,12 +18,22 @@ _CAMERA_X_CONV = 0.375 # 160*864/320/1152
|
|||
_PITCH_WEIGHT = 1.5 # pitch matters a lot more
|
||||
_METRIC_THRESHOLD = 0.4
|
||||
_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
|
||||
_DTM = 0.2 # driver monitor runs at 5Hz
|
||||
_DISTRACTED_FILTER_F = 0.3 # 0.3Hz
|
||||
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
|
||||
_DTM = 0.1 # driver monitor runs at 10Hz
|
||||
_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
|
||||
_STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid
|
||||
_DISTRACTED_FILTER_F = 0.6 # 0.6Hz, 0.25s ts
|
||||
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
|
||||
_VARIANCE_FILTER_F = 0.008 # 0.008Hz, 20s ts
|
||||
_VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
|
||||
|
||||
|
||||
class MonitorChangeEvent:
|
||||
NO_CHANGE = 0
|
||||
PARAM_ON = 1
|
||||
PARAM_OFF = 2
|
||||
VARIANCE_HIGH = 3
|
||||
VARIANCE_LOW = 4
|
||||
|
||||
class _DriverPose():
|
||||
def __init__(self):
|
||||
self.yaw = 0.
|
||||
|
|
@ -32,16 +42,30 @@ class _DriverPose():
|
|||
self.yaw_offset = 0.
|
||||
self.pitch_offset = 0.
|
||||
|
||||
def _monitor_hysteresys(variance_level, monitor_valid_prev):
|
||||
var_thr = 0.63 if monitor_valid_prev else 0.37
|
||||
return variance_level < var_thr
|
||||
|
||||
class DriverStatus():
|
||||
def __init__(self, monitor_on):
|
||||
def __init__(self, monitor_on=False):
|
||||
self.pose = _DriverPose()
|
||||
self.monitor_on = monitor_on
|
||||
self.monitor_param_on = monitor_on
|
||||
self.monitor_valid = True # variance needs to be low
|
||||
self.monitor_change_event = MonitorChangeEvent.NO_CHANGE
|
||||
self.awareness = 1.
|
||||
self.driver_distracted = False
|
||||
self.driver_distraction_level = 0.
|
||||
self.variance_high = False
|
||||
self.variance_level = 0.
|
||||
self.ts_last_check = 0.
|
||||
self._set_timers()
|
||||
|
||||
def _reset_filters(self):
|
||||
self.driver_distraction_level = 0.
|
||||
self.variance_level = 0.
|
||||
self.monitor_valid = True
|
||||
|
||||
def _set_timers(self):
|
||||
if self.monitor_on:
|
||||
self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
|
||||
|
|
@ -64,14 +88,23 @@ class DriverStatus():
|
|||
#print "%02.4f" % np.degrees(pose.pitch), "%02.4f" % np.degrees(pitch_error), "%03.4f" % np.degrees(pose.pitch_offset), metric
|
||||
return 1 if metric > _METRIC_THRESHOLD else 0
|
||||
|
||||
def get_pose(self, driver_monitoring, params):
|
||||
ts = sec_since_boot()
|
||||
|
||||
# don's check for param too often as it's a kernel call
|
||||
if ts - self.ts_last_check > 1.:
|
||||
self.monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
self._set_timers()
|
||||
self.ts_last_check = ts
|
||||
def _monitor_change_check(self, monitor_param_on_prev, monitor_valid_prev, monitor_on_prev):
|
||||
if not monitor_param_on_prev and self.monitor_param_on:
|
||||
self._reset_filters()
|
||||
return MonitorChangeEvent.PARAM_ON
|
||||
elif monitor_param_on_prev and not self.monitor_param_on:
|
||||
self._reset_filters()
|
||||
return MonitorChangeEvent.PARAM_OFF
|
||||
elif monitor_on_prev and not self.monitor_valid:
|
||||
return MonitorChangeEvent.VARIANCE_HIGH
|
||||
elif self.monitor_param_on and not monitor_valid_prev and self.monitor_valid:
|
||||
return MonitorChangeEvent.VARIANCE_LOW
|
||||
else:
|
||||
return MonitorChangeEvent.NO_CHANGE
|
||||
|
||||
|
||||
def get_pose(self, driver_monitoring, params):
|
||||
|
||||
self.pose.pitch = driver_monitoring.descriptor[0]
|
||||
self.pose.yaw = driver_monitoring.descriptor[1]
|
||||
|
|
@ -79,9 +112,28 @@ class DriverStatus():
|
|||
self.pose.yaw_offset = (driver_monitoring.descriptor[3] * _CAMERA_X_CONV + _CAMERA_OFFSET_X) * _CAMERA_FOV_X
|
||||
self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y # positive y is down
|
||||
self.driver_distracted = self._is_driver_distracted(self.pose)
|
||||
# first order filter
|
||||
# first order filters
|
||||
self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
|
||||
_DISTRACTED_FILTER_K * self.driver_distracted
|
||||
self.variance_high = driver_monitoring.std > _STD_THRESHOLD
|
||||
self.variance_level = (1. - _VARIANCE_FILTER_K) * self.variance_level + \
|
||||
_VARIANCE_FILTER_K * self.variance_high
|
||||
|
||||
monitor_param_on_prev = self.monitor_param_on
|
||||
monitor_valid_prev = self.monitor_valid
|
||||
monitor_on_prev = self.monitor_on
|
||||
|
||||
# don't check for param too often as it's a kernel call
|
||||
ts = sec_since_boot()
|
||||
if ts - self.ts_last_check > 1.:
|
||||
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
self.ts_last_check = ts
|
||||
|
||||
self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
|
||||
self.monitor_on = self.monitor_valid and self.monitor_param_on
|
||||
self.monitor_change_event = self._monitor_change_check(monitor_param_on_prev, monitor_valid_prev, monitor_on_prev)
|
||||
self._set_timers()
|
||||
|
||||
|
||||
def update(self, events, driver_engaged, ctrl_active, standstill):
|
||||
|
||||
|
|
@ -90,20 +142,28 @@ class DriverStatus():
|
|||
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
|
||||
# always reset if driver is in control (unless we are in red alert state) or op isn't active
|
||||
self.awareness = 1.
|
||||
if not ctrl_active:
|
||||
# hold monitor_level constant when control isn't active
|
||||
self.variance_level = 0. if self.monitor_valid else 1.
|
||||
|
||||
if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
|
||||
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
alert = None
|
||||
if self.awareness <= 0.:
|
||||
# terminal red alert: disengagement required
|
||||
events.append(create_event('driverDistracted', [ET.WARNING]))
|
||||
alert = 'driverDistracted' if self.monitor_on else 'driverUnresponsive'
|
||||
elif self.awareness <= self.threshold_prompt:
|
||||
# prompt orange alert
|
||||
events.append(create_event('promptDriverDistracted', [ET.WARNING]))
|
||||
alert = 'promptDriverDistracted' if self.monitor_on else 'promptDriverUnresponsive'
|
||||
elif self.awareness <= self.threshold_pre:
|
||||
# pre green alert
|
||||
events.append(create_event('preDriverDistracted', [ET.WARNING]))
|
||||
alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
|
||||
if alert is not None:
|
||||
events.append(create_event(alert, [ET.WARNING]))
|
||||
|
||||
self.monitor_change_event = MonitorChangeEvent.NO_CHANGE
|
||||
|
||||
return events
|
||||
|
||||
|
|
|
|||
|
|
@ -1,11 +1,11 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
|
||||
import numpy as np
|
||||
import math
|
||||
import numpy as np
|
||||
from copy import copy
|
||||
from cereal import log
|
||||
from collections import defaultdict
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
from common.numpy_fast import interp
|
||||
import selfdrive.messaging as messaging
|
||||
|
|
@ -303,6 +303,7 @@ class Planner(object):
|
|||
|
||||
self.last_gps_planner_plan = None
|
||||
self.gps_planner_active = False
|
||||
self.perception_state = log.Live20Data.new_message()
|
||||
|
||||
def choose_solution(self, v_cruise_setpoint, enabled):
|
||||
if enabled:
|
||||
|
|
@ -374,6 +375,7 @@ class Planner(object):
|
|||
self.PP.c_prob = 1.0
|
||||
|
||||
if l20 is not None:
|
||||
self.perception_state = copy(l20.live20)
|
||||
self.last_l20_ts = l20.logMonoTime
|
||||
self.last_l20 = cur_time
|
||||
self.radar_dead = False
|
||||
|
|
|
|||
|
|
@ -26,6 +26,7 @@ DIMSV = 2
|
|||
XV, SPEEDV = 0, 1
|
||||
VISION_POINT = -1
|
||||
|
||||
|
||||
class EKFV1D(EKF):
|
||||
def __init__(self):
|
||||
super(EKFV1D, self).__init__(False)
|
||||
|
|
@ -137,7 +138,8 @@ def radard_thread(gctx=None):
|
|||
|
||||
# run kalman filter only if prob is high enough
|
||||
if PP.lead_prob > 0.7:
|
||||
ekfv.update(speedSensorV.read(PP.lead_dist, covar=PP.lead_var))
|
||||
reading = speedSensorV.read(PP.lead_dist, covar=np.matrix(PP.lead_var))
|
||||
ekfv.update_scalar(reading)
|
||||
ekfv.predict(tsv)
|
||||
ar_pts[VISION_POINT] = (float(ekfv.state[XV]), np.polyval(PP.d_poly, float(ekfv.state[XV])),
|
||||
float(ekfv.state[SPEEDV]), False)
|
||||
|
|
@ -145,6 +147,7 @@ def radard_thread(gctx=None):
|
|||
ekfv.state[XV] = PP.lead_dist
|
||||
ekfv.covar = (np.diag([PP.lead_var, ekfv.var_init]))
|
||||
ekfv.state[SPEEDV] = 0.
|
||||
|
||||
if VISION_POINT in ar_pts:
|
||||
del ar_pts[VISION_POINT]
|
||||
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -118,7 +118,6 @@ persistent_processes = [
|
|||
'uploader',
|
||||
'ui',
|
||||
'gpsd',
|
||||
'ubloxd',
|
||||
'updated',
|
||||
]
|
||||
|
||||
|
|
@ -129,7 +128,7 @@ car_started_processes = [
|
|||
'radard',
|
||||
'visiond',
|
||||
'proclogd',
|
||||
'orbd',
|
||||
'ubloxd',
|
||||
]
|
||||
|
||||
def register_managed_process(name, desc, car_started=False):
|
||||
|
|
@ -298,6 +297,9 @@ def manager_thread():
|
|||
cloudlog.info("manager start")
|
||||
cloudlog.info({"environ": os.environ})
|
||||
|
||||
# save boot log
|
||||
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
|
||||
|
||||
for p in persistent_processes:
|
||||
start_managed_process(p)
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -2,7 +2,7 @@
|
|||
import os
|
||||
import zmq
|
||||
from smbus2 import SMBus
|
||||
|
||||
from cereal import log
|
||||
from selfdrive.version import training_version
|
||||
from selfdrive.swaglog import cloudlog
|
||||
import selfdrive.messaging as messaging
|
||||
|
|
@ -10,9 +10,9 @@ from selfdrive.services import service_list
|
|||
from selfdrive.loggerd.config import ROOT
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
from common.numpy_fast import clip
|
||||
|
||||
import cereal
|
||||
ThermalStatus = cereal.log.ThermalData.ThermalStatus
|
||||
ThermalStatus = log.ThermalData.ThermalStatus
|
||||
|
||||
def read_tz(x):
|
||||
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
|
||||
|
|
@ -74,9 +74,9 @@ _FAN_SPEEDS = [0, 16384, 32768, 65535]
|
|||
# max fan speed only allowed if battery if hot
|
||||
_BAT_TEMP_THERSHOLD = 45.
|
||||
|
||||
def handle_fan(max_temp, bat_temp, fan_speed):
|
||||
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_temp)
|
||||
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_temp)
|
||||
def handle_fan(max_cpu_temp, bat_temp, fan_speed):
|
||||
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
|
||||
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
|
||||
|
||||
if new_speed_h > fan_speed:
|
||||
# update speed if using the high thresholds results in fan speed increment
|
||||
|
|
@ -164,31 +164,32 @@ def thermald_thread():
|
|||
msg.thermal.usbOnline = bool(int(f.read()))
|
||||
|
||||
# TODO: add car battery voltage check
|
||||
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
|
||||
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
|
||||
max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
|
||||
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
|
||||
max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
|
||||
bat_temp = msg.thermal.bat/1000.
|
||||
fan_speed = handle_fan(max_temp, bat_temp, fan_speed)
|
||||
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed)
|
||||
msg.thermal.fanSpeed = fan_speed
|
||||
|
||||
# thermal logic here
|
||||
|
||||
if max_temp < 70.0:
|
||||
thermal_status = ThermalStatus.green
|
||||
if max_temp > 85.0:
|
||||
cloudlog.warning("over temp: %r", max_temp)
|
||||
thermal_status = ThermalStatus.yellow
|
||||
|
||||
# from controls
|
||||
overtemp_proc = any(t > 950 for t in
|
||||
(msg.thermal.cpu0, msg.thermal.cpu1, msg.thermal.cpu2,
|
||||
msg.thermal.cpu3, msg.thermal.mem, msg.thermal.gpu))
|
||||
overtemp_bat = msg.thermal.bat > 60000 # 60c
|
||||
if overtemp_proc or overtemp_bat:
|
||||
# TODO: hysteresis
|
||||
thermal_status = ThermalStatus.red
|
||||
|
||||
if max_temp > 107.0 or msg.thermal.bat >= 63000:
|
||||
# thermal logic with hysterisis
|
||||
if max_cpu_temp > 107. or bat_temp >= 63.:
|
||||
# onroad not allowed
|
||||
thermal_status = ThermalStatus.danger
|
||||
elif max_comp_temp > 95. or bat_temp > 60.:
|
||||
# hysteresis between onroad not allowed and engage not allowed
|
||||
thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
|
||||
elif max_cpu_temp > 90.0:
|
||||
# hysteresis between engage not allowed and uploader not allowed
|
||||
thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
|
||||
elif max_cpu_temp > 85.0:
|
||||
# uploader not allowed
|
||||
thermal_status = ThermalStatus.yellow
|
||||
elif max_cpu_temp > 75.0:
|
||||
# hysteresis between uploader not allowed and all good
|
||||
thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
|
||||
else:
|
||||
# all good
|
||||
thermal_status = ThermalStatus.green
|
||||
|
||||
# **** starting logic ****
|
||||
|
||||
|
|
@ -225,7 +226,7 @@ def thermald_thread():
|
|||
|
||||
# if any CPU gets above 107 or the battery gets above 63, kill all processes
|
||||
# controls will warn with CPU above 95 or battery above 60
|
||||
if msg.thermal.thermalStatus >= ThermalStatus.danger:
|
||||
if thermal_status >= ThermalStatus.danger:
|
||||
# TODO: Add a better warning when this is happening
|
||||
should_start = False
|
||||
|
||||
|
|
|
|||
|
|
@ -65,6 +65,8 @@ const int box_w = vwp_w-sbr_w-(bdr_s*2);
|
|||
const int box_h = vwp_h-(bdr_s*2);
|
||||
const int viz_w = vwp_w-(bdr_s*2);
|
||||
const int header_h = 420;
|
||||
const int footer_h = 280;
|
||||
const int footer_y = vwp_h-bdr_s-footer_h;
|
||||
|
||||
const uint8_t bg_colors[][4] = {
|
||||
[STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xff},
|
||||
|
|
@ -110,6 +112,7 @@ typedef struct UIScene {
|
|||
float curvature;
|
||||
int engaged;
|
||||
bool engageable;
|
||||
bool monitoring_active;
|
||||
|
||||
bool uilayout_sidebarcollapsed;
|
||||
bool uilayout_mapenabled;
|
||||
|
|
@ -158,6 +161,7 @@ typedef struct UIState {
|
|||
int font_sans_semibold;
|
||||
int font_sans_bold;
|
||||
int img_wheel;
|
||||
int img_face;
|
||||
|
||||
zsock_t *thermal_sock;
|
||||
void *thermal_sock_raw;
|
||||
|
|
@ -379,6 +383,9 @@ static void ui_init(UIState *s) {
|
|||
assert(s->img_wheel >= 0);
|
||||
s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
|
||||
|
||||
assert(s->img_face >= 0);
|
||||
s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);
|
||||
|
||||
// init gl
|
||||
s->frame_program = load_program(frame_vertex_shader, frame_fragment_shader);
|
||||
assert(s->frame_program);
|
||||
|
|
@ -981,6 +988,31 @@ static void ui_draw_vision_wheel(UIState *s) {
|
|||
nvgFill(s->vg);
|
||||
}
|
||||
|
||||
static void ui_draw_vision_face(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
const int face_size = 96;
|
||||
const int face_x = (scene->ui_viz_rx + face_size + (bdr_s * 2));
|
||||
const int face_y = (footer_y + ((footer_h - face_size) / 2));
|
||||
const int face_img_size = (face_size * 1.5);
|
||||
const int face_img_x = (face_x - (face_img_size / 2));
|
||||
const int face_img_y = (face_y - (face_size / 4));
|
||||
float face_img_alpha = scene->monitoring_active ? 1.0f : 0.15f;
|
||||
float face_bg_alpha = scene->monitoring_active ? 0.3f : 0.1f;
|
||||
NVGcolor face_bg = nvgRGBA(0, 0, 0, (255 * face_bg_alpha));
|
||||
NVGpaint face_img = nvgImagePattern(s->vg, face_img_x, face_img_y,
|
||||
face_img_size, face_img_size, 0, s->img_face, face_img_alpha);
|
||||
|
||||
nvgBeginPath(s->vg);
|
||||
nvgCircle(s->vg, face_x, (face_y + (bdr_s * 1.5)), face_size);
|
||||
nvgFillColor(s->vg, face_bg);
|
||||
nvgFill(s->vg);
|
||||
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRect(s->vg, face_img_x, face_img_y, face_img_size, face_img_size);
|
||||
nvgFillPaint(s->vg, face_img);
|
||||
nvgFill(s->vg);
|
||||
}
|
||||
|
||||
static void ui_draw_vision_header(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
int ui_viz_rx = scene->ui_viz_rx;
|
||||
|
|
@ -1000,6 +1032,18 @@ static void ui_draw_vision_header(UIState *s) {
|
|||
ui_draw_vision_wheel(s);
|
||||
}
|
||||
|
||||
static void ui_draw_vision_footer(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
int ui_viz_rx = scene->ui_viz_rx;
|
||||
int ui_viz_rw = scene->ui_viz_rw;
|
||||
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRect(s->vg, ui_viz_rx, footer_y, ui_viz_rw, footer_h);
|
||||
|
||||
// Driver Monitoring
|
||||
ui_draw_vision_face(s);
|
||||
}
|
||||
|
||||
static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
|
||||
const char* va_text1, const char* va_text2) {
|
||||
const UIScene *scene = &s->scene;
|
||||
|
|
@ -1109,8 +1153,11 @@ static void ui_draw_vision(UIState *s) {
|
|||
} else if (scene->cal_status == CALIBRATION_UNCALIBRATED) {
|
||||
// Calibration Status
|
||||
ui_draw_calibration_status(s);
|
||||
} else {
|
||||
ui_draw_vision_footer(s);
|
||||
}
|
||||
|
||||
|
||||
nvgEndFrame(s->vg);
|
||||
glDisable(GL_BLEND);
|
||||
}
|
||||
|
|
@ -1399,6 +1446,7 @@ static void ui_update(UIState *s) {
|
|||
s->scene.engaged = datad.enabled;
|
||||
s->scene.engageable = datad.engageable;
|
||||
s->scene.gps_planner_active = datad.gpsPlannerActive;
|
||||
s->scene.monitoring_active = datad.driverMonitoringOn;
|
||||
// printf("recv %f\n", datad.vEgo);
|
||||
|
||||
s->scene.frontview = datad.rearViewCam;
|
||||
|
|
@ -1634,12 +1682,6 @@ static void* light_sensor_thread(void *args) {
|
|||
|
||||
int SENSOR_LIGHT = 7;
|
||||
|
||||
struct stat buffer;
|
||||
if (stat("/sys/bus/i2c/drivers/cyccg", &buffer) == 0) {
|
||||
LOGD("LeEco light sensor detected");
|
||||
SENSOR_LIGHT = 5;
|
||||
}
|
||||
|
||||
device->activate(device, SENSOR_LIGHT, 0);
|
||||
device->activate(device, SENSOR_LIGHT, 1);
|
||||
device->setDelay(device, SENSOR_LIGHT, ms2ns(100));
|
||||
|
|
@ -1653,9 +1695,7 @@ static void* light_sensor_thread(void *args) {
|
|||
LOG_100("light_sensor_poll failed: %d", n);
|
||||
}
|
||||
if (n > 0) {
|
||||
if (SENSOR_LIGHT == 5) s->light_sensor = buffer[0].light * 2;
|
||||
else s->light_sensor = buffer[0].light;
|
||||
//printf("new light sensor value: %f\n", s->light_sensor);
|
||||
s->light_sensor = buffer[0].light;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Loading…
Reference in New Issue