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update apks, fix up ALC logic

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This commit is contained in:
Rick Lan
2019-12-17 01:18:45 +10:00
parent b7574d3a55
commit 09be37c457
1 changed files with 7 additions and 5 deletions
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12
selfdrive/controls/lib/pathplanner.py
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@@ -131,8 +131,8 @@ class PathPlanner():
if self.dragon_auto_lc_enabled and self.dragon_auto_lc_timer is not None and cur_time > self.dragon_auto_lc_timer:
torque_applied = True
# allow auto LC when speed is above 50 mph / 80.46 kph
if self.dragon_auto_lc_enabled and v_ego >= 50 * CV.MPH_TO_MS:
# only allow auto lane change above 40 mph / 65kph
if self.dragon_auto_lc_enabled and v_ego >= 40 * CV.MPH_TO_MS:
self.dragon_auto_lc_allowed = True
else:
self.dragon_auto_lc_allowed = False
@@ -141,7 +141,7 @@ class PathPlanner():
# State transitions
if self.dragon_assisted_lc_enabled and self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker:
self.lane_change_state = LaneChangeState.preLaneChange
# only allow auto lane change above 50 mph / 80.46kph
# only allow auto lane change above 40 mph / 65kph
if self.dragon_auto_lc_allowed:
self.dragon_auto_lc_timer = cur_time + 3.
@@ -158,9 +158,11 @@ class PathPlanner():
# finishing
elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.2:
self.lane_change_state = LaneChangeState.preLaneChange
self.dragon_auto_lc_allowed = False
self.dragon_auto_lc_timer = None
# Don't allow starting lane change below 37 mph / 59.54kph
if (v_ego < 37 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
# Don't allow starting lane change below 24 mph / 40kph
if (v_ego < 24 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
self.lane_change_state = LaneChangeState.off
# always reset timer if lane change state is off