From 2c10aae495cc0b601001634d8ee7eaa07faf0022 Mon Sep 17 00:00:00 2001 From: ajouatom Date: Wed, 8 Oct 2025 08:01:13 +0900 Subject: [PATCH] Reapply "remove model turn speed.." This reverts commit 544ac168114814df5293f4a7481ea4769bc4b6b3. --- cereal/log.capnp | 1 - common/params_keys.h | 1 - selfdrive/carrot/carrot_serv.py | 5 ----- selfdrive/carrot_settings.json | 13 ------------- selfdrive/controls/lib/desire_helper.py | 13 ------------- selfdrive/modeld/modeld.py | 1 - selfdrive/ui/qt/offroad/settings.cc | 1 - system/manager/manager.py | 1 - 8 files changed, 36 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 99e4fc7b..e3e600d0 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1179,7 +1179,6 @@ struct ModelDataV2 { desire @14 :Desire; laneChangeProb @15 :Float32; desireLog @16 : Text; - modelTurnSpeed @17 :Float32; # deprecated diff --git a/common/params_keys.h b/common/params_keys.h index 305073c5..cfe46fc9 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -184,7 +184,6 @@ inline static std::unordered_map keys = { {"AutoNaviCountDownMode", PERSISTENT}, {"TurnSpeedControlMode", PERSISTENT}, {"MapTurnSpeedFactor", PERSISTENT}, - {"ModelTurnSpeedFactor", PERSISTENT}, {"StoppingAccel", PERSISTENT}, {"AutoSpeedUptoRoadSpeedLimit", PERSISTENT}, {"AutoRoadSpeedAdjust", PERSISTENT}, diff --git a/selfdrive/carrot/carrot_serv.py b/selfdrive/carrot/carrot_serv.py index 06177556..8c881fd5 100644 --- a/selfdrive/carrot/carrot_serv.py +++ b/selfdrive/carrot/carrot_serv.py @@ -814,11 +814,6 @@ class CarrotServ: speed_n_sources.append((route_speed, "route")) #speed_n_sources.append((self.calculate_current_speed(dist, speed * self.mapTurnSpeedFactor, 0, 1.2), "route")) - - model_turn_speed = max(sm['modelV2'].meta.modelTurnSpeed, self.autoCurveSpeedLowerLimit) - if model_turn_speed < 200 and abs(vturn_speed) < 120: - speed_n_sources.append((model_turn_speed, "model")) - desired_speed, source = min(speed_n_sources, key=lambda x: x[0]) if CS is not None: diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json index 6e898f8b..bb85d27a 100644 --- a/selfdrive/carrot_settings.json +++ b/selfdrive/carrot_settings.json @@ -1744,19 +1744,6 @@ "default": 100, "unit": 10 }, - { - "group": "감속제어", - "name": "ModelTurnSpeedFactor", - "title": "모델턴속도반영시간(0)x0.1sec", - "descr": "클수록 모델의 미래속도가 반영됩니다.", - "egroup": "SPEED", - "etitle": "ModelTurnSpeed time(0)x0.1sec", - "edescr": "future model speed", - "min": 0, - "max": 80, - "default": 0, - "unit": 10 - }, { "group": "감속제어", "name": "AutoNaviSpeedSafetyFactor", diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 192a5b54..2b1d1012 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -152,9 +152,6 @@ class DesireHelper: self.auto_lane_change_enable = False self.next_lane_change = False - self.modelTurnSpeedFactor = 0.0 - self.model_turn_speed = 0.0 - def check_lane_state(self, modeldata): lane_width_left, self.distance_to_road_edge_left, self.distance_to_road_edge_left_far, lane_prob_left = calculate_lane_width(modeldata.laneLines[0], modeldata.laneLineProbs[0], modeldata.laneLines[1], modeldata.roadEdges[0]) @@ -194,13 +191,6 @@ class DesireHelper: else: self.turn_disable_count = max(0, self.turn_disable_count - 1) #print(f"desire_state = {desire_state}, turn_desire_state = {self.turn_desire_state}, disable_count = {self.desire_disable_count}") - - def make_model_turn_speed(self, modeldata): - if self.modelTurnSpeedFactor > 0: - model_turn_speed = np.interp(self.modelTurnSpeedFactor, modeldata.velocity.t, modeldata.velocity.x) * CV.MS_TO_KPH * 1.2 - self.model_turn_speed = self.model_turn_speed * 0.9 + model_turn_speed * 0.1 - else: - self.model_turn_speed = 200.0 def update(self, carstate, modeldata, lateral_active, lane_change_prob, carrotMan, radarState): @@ -208,12 +198,9 @@ class DesireHelper: self.laneChangeNeedTorque = self.params.get_int("LaneChangeNeedTorque") self.laneChangeBsd = self.params.get_int("LaneChangeBsd") self.laneChangeDelay = self.params.get_float("LaneChangeDelay") * 0.1 - self.modelTurnSpeedFactor= self.params.get_float("ModelTurnSpeedFactor") * 0.1 self.frame += 1 - self.make_model_turn_speed(modeldata) - self.carrot_lane_change_count = max(0, self.carrot_lane_change_count - 1) self.lane_change_delay = max(0, self.lane_change_delay - DT_MDL) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index d823502e..7405ee15 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -425,7 +425,6 @@ def main(demo=False): modelv2_send.modelV2.meta.distanceToRoadEdgeRight = float(DH.distance_to_road_edge_right) modelv2_send.modelV2.meta.desire = DH.desire modelv2_send.modelV2.meta.laneChangeProb = DH.lane_change_ll_prob - modelv2_send.modelV2.meta.modelTurnSpeed = float(DH.model_turn_speed) fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index bfdfaaa4..691436e3 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -857,7 +857,6 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) { speedToggles->addItem(new CValueControl("AutoNaviCountDownMode", tr("NaviCountDown mode(2)"), tr("0: off, 1:tbt+camera, 2:tbt+camera+bump"), 0, 2, 1)); speedToggles->addItem(new CValueControl("TurnSpeedControlMode", tr("Turn Speed control mode(1)"), tr("0: off, 1:vision, 2:vision+route, 3: route"), 0, 3, 1)); speedToggles->addItem(new CValueControl("MapTurnSpeedFactor", tr("Map TurnSpeed Factor(100)"), "", 50, 300, 5)); - speedToggles->addItem(new CValueControl("ModelTurnSpeedFactor", tr("Model TurnSpeed Factor(0)"), "", 0, 80, 10)); speedToggles->addItem(new CValueControl("AutoTurnControl", tr("ATC: Auto turn control(0)"), tr("0:None, 1: lane change, 2: lane change + speed, 3: speed"), 0, 3, 1)); speedToggles->addItem(new CValueControl("AutoTurnControlSpeedTurn", tr("ATC: Turn Speed (20)"), tr("0:None, turn speed"), 0, 100, 5)); speedToggles->addItem(new CValueControl("AutoTurnControlTurnEnd", tr("ATC: Turn CtrlDistTime (6)"), tr("dist=speed*time"), 0, 30, 1)); diff --git a/system/manager/manager.py b/system/manager/manager.py index 506ef341..d519c87f 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -87,7 +87,6 @@ def get_default_params(): ("AutoNaviCountDownMode", "2"), ("TurnSpeedControlMode", "1"), ("MapTurnSpeedFactor", "90"), - ("ModelTurnSpeedFactor", "0"), ("StoppingAccel", "0"), ("StopDistanceCarrot", "550"), ("JLeadFactor3", "0"),