experimental mode (#26416)

* experimental mode * rename param * red lights old-commit-hash: 9a3f468051
2026-02-18 21:14:01 +08:00 · 2022-11-08 14:45:01 -08:00
parent 34adf259e8
commit 74979a7c76
16 changed files with 101 additions and 90 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,9 +1,13 @@
-Version 0.8.17 (2022-XX-XX)
+Version 0.8.17 (2022-11-XX)
 ========================
 * New driving model
  * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
 * New driver monitoring model
  * New end-to-end distracted trigger
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for red lights and stop signs
+  * openpilot defaults to chill mode, enable experimental in settings
 * Self-tuning torque lateral controller parameters
  * Parameters learned live for each car
 * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
@@ -12,7 +16,7 @@ Version 0.8.17 (2022-XX-XX)
  * Matched speeds shown on car's dash
  * Improved update experience
  * Border turns grey while overriding steering
-  * Added button to bookmark events while driving; view them later in comma connect
+  * Bookmark events while driving; view them in comma connect
 * AGNOS 6
 * tools: new and improved cabana thanks to deanlee!
 * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
--- a/common/params.cc
+++ b/common/params.cc
@@ -102,7 +102,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DashcamOverride", PERSISTENT},
    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"DisablePowerDown", PERSISTENT},
-    {"EndToEndLong", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -147,7 +147,7 @@ class Controls:
    if not self.CP.experimentalLongitudinalAvailable:
      self.params.remove("ExperimentalLongitudinalEnabled")
    if not self.CP.openpilotLongitudinalControl:
-      self.params.remove("EndToEndLong")
+      self.params.remove("ExperimentalMode")

    self.CC = car.CarControl.new_message()
    self.CS_prev = car.CarState.new_message()
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -66,7 +66,7 @@ class LongitudinalPlanner:
    self.solverExecutionTime = 0.0

  def read_param(self):
-    e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl
+    e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl
    self.mpc.mode = 'blended' if e2e else 'acc'

  def parse_model(self, model_msg, model_error):
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -26,7 +26,7 @@ class TestCruiseSpeed(unittest.TestCase):
  def test_cruise_speed(self):
    params = Params()
    for e2e in [False, True]:
-      params.put_bool("EndToEndLong", e2e)
+      params.put_bool("ExperimentalMode", e2e)
      for speed in np.arange(5, 40, 5):
        print(f'Testing {speed} m/s')
        cruise_speed = float(speed)
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -27,7 +27,7 @@ class TestFollowingDistance(unittest.TestCase):
  def test_following_distance(self):
    params = Params()
    for e2e in [False, True]:
-      params.put_bool("EndToEndLong", e2e)
+      params.put_bool("ExperimentalMode", e2e)
      for speed in np.arange(0, 40, 5):
        print(f'Testing {speed} m/s')
        v_lead = float(speed)
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -143,11 +143,11 @@ def run_maneuver_worker(k):
    params = Params()

    man = maneuvers[k]
-    params.put_bool("EndToEndLong", True)
+    params.put_bool("ExperimentalMode", True)
    print(man.title, ' in e2e mode')
    valid, _ = man.evaluate()
    self.assertTrue(valid, msg=man.title)
-    params.put_bool("EndToEndLong", False)
+    params.put_bool("ExperimentalMode", False)
    print(man.title, ' in acc mode')
    valid, _ = man.evaluate()
    self.assertTrue(valid, msg=man.title)
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -36,6 +36,21 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/offroad/icon_openpilot.png",
      false,
    },
+    {
+      "ExperimentalMode",
+      tr("Experimental mode"),
+      "",
+      "../assets/offroad/icon_road.png",
+      false,
+    },
+    {
+      "ExperimentalLongitudinalEnabled",
+      tr("Experimental openpilot longitudinal control"),
+      tr("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br>\
+          openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control."),
+      "../assets/offroad/icon_speed_limit.png",
+      true,
+    },
    {
      "IsLdwEnabled",
      tr("Enable Lane Departure Warnings"),
@@ -64,20 +79,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/offroad/icon_disengage_on_accelerator.svg",
      false,
    },
-    {
-      "EndToEndLong",
-      tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"),
-      "",
-      "../assets/offroad/icon_road.png",
-      false,
-    },
-    {
-      "ExperimentalLongitudinalEnabled",
-      tr("Experimental openpilot longitudinal control"),
-      tr("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>"),
-      "../assets/offroad/icon_speed_limit.png",
-      true,
-    },
 #ifdef ENABLE_MAPS
    {
      "NavSettingTime24h",
@@ -116,9 +117,15 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }

 void TogglesPanel::updateToggles() {
-  auto e2e_toggle = toggles["EndToEndLong"];
+  auto e2e_toggle = toggles["ExperimentalMode"];
  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
-  const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.");
+  const QString e2e_description = tr("\
+    openpilot defaults to driving in <b>chill mode</b>.\
+    Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. \
+    Experimental features are listed below:\
+    <br> \
+    <h4>🌮 End-to-End Longitudinal Control 🌮</h4> \
+    Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs.");

  auto cp_bytes = params.get("CarParamsPersistent");
  if (!cp_bytes.empty()) {
@@ -140,7 +147,7 @@ void TogglesPanel::updateToggles() {
    } else {
      // no long for now
      e2e_toggle->setEnabled(false);
-      params.remove("EndToEndLong");
+      params.remove("ExperimentalMode");

      const QString no_long = tr("openpilot longitudinal control is not currently available for this car.");
      const QString exp_long = tr("Enable experimental longitudinal control to enable this.");
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -461,7 +461,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  // paint path
  QLinearGradient bg(0, height(), 0, height() / 4);
  float start_hue, end_hue;
-  if (scene.end_to_end_long) {
+  if (scene.experimental_mode) {
    const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
    float acceleration_future = 0;
    if (acceleration.getZ().size() > 16) {
@@ -567,7 +567,7 @@ void AnnotatedCameraWidget::paintGL() {
    } else if (v_ego > 15) {
      wide_cam_requested = false;
    }
-    wide_cam_requested = wide_cam_requested && s->scene.end_to_end_long;
+    wide_cam_requested = wide_cam_requested && s->scene.experimental_mode;
    // TODO: also detect when ecam vision stream isn't available
    // for replay of old routes, never go to widecam
    wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -966,22 +966,10 @@ location set</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 エンドツーエンドのアクセル制御 (超α版) 🌮</translation>
-    </message>
    <message>
        <source>Experimental openpilot longitudinal control</source>
        <translation>実験段階のopenpilotによるアクセル制御</translation>
    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation>&lt;b&gt;警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。&lt;/b&gt;</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation>アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。</translation>
-    </message>
    <message>
        <source>openpilot longitudinal control is not currently available for this car.</source>
        <translation>openpilotによるアクセル制御は、この車では現在利用できません。</translation>
@@ -1014,6 +1002,18 @@ location set</source>
        <source>Show map on left side when in split screen view.</source>
        <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
    </message>
+    <message>
+        <source>Experimental mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;&lt;br&gt;          openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control on this car. Enable this to switch to openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>    openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;.    Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode.     Experimental features are listed below:    &lt;br&gt;     &lt;h4&gt;🌮 End-to-End Longitudinal Control 🌮&lt;/h4&gt;     Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -966,22 +966,10 @@ location set</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 e2e 롱컨트롤 사용 (매우 실험적) 🌮 </translation>
-    </message>
    <message>
        <source>Experimental openpilot longitudinal control</source>
        <translation>openpilot 롱컨트롤 (실험적)</translation>
    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation>&lt;b&gt;경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.&lt;/b&gt;</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation>주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적)</translation>
-    </message>
    <message>
        <source>openpilot longitudinal control is not currently available for this car.</source>
        <translation>현재 이 차량에는 openpilot 롱컨트롤을 사용할 수 없습니다.</translation>
@@ -1014,6 +1002,18 @@ location set</source>
        <source>Show map on left side when in split screen view.</source>
        <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
    </message>
+    <message>
+        <source>Experimental mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;&lt;br&gt;          openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control on this car. Enable this to switch to openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>    openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;.    Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode.     Experimental features are listed below:    &lt;br&gt;     &lt;h4&gt;🌮 End-to-End Longitudinal Control 🌮&lt;/h4&gt;     Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -970,22 +970,10 @@ trabalho definido</translation>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor.</translation>
    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 End-to-end longitudinal (experimental) 🌮</translation>
-    </message>
    <message>
        <source>Experimental openpilot longitudinal control</source>
        <translation>Controle longitudinal experimental openpilot</translation>
    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation>&lt;b&gt;AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.&lt;/b&gt;</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation>Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental.</translation>
-    </message>
    <message>
        <source>openpilot longitudinal control is not currently available for this car.</source>
        <translation>controle longitudinal openpilot não está disponível para este carro.</translation>
@@ -1018,6 +1006,18 @@ trabalho definido</translation>
        <source>Show map on left side when in split screen view.</source>
        <translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
    </message>
+    <message>
+        <source>Experimental mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;&lt;br&gt;          openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control on this car. Enable this to switch to openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>    openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;.    Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode.     Experimental features are listed below:    &lt;br&gt;     &lt;h4&gt;🌮 End-to-End Longitudinal Control 🌮&lt;/h4&gt;     Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -964,22 +964,10 @@ location set</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 端对端纵向控制（实验性功能） 🌮</translation>
-    </message>
    <message>
        <source>Experimental openpilot longitudinal control</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation>让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。</translation>
-    </message>
    <message>
        <source>openpilot longitudinal control is not currently available for this car.</source>
        <translation type="unfinished"></translation>
@@ -1012,6 +1000,18 @@ location set</source>
        <source>Show map on left side when in split screen view.</source>
        <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
    </message>
+    <message>
+        <source>Experimental mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;&lt;br&gt;          openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control on this car. Enable this to switch to openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>    openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;.    Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode.     Experimental features are listed below:    &lt;br&gt;     &lt;h4&gt;🌮 End-to-End Longitudinal Control 🌮&lt;/h4&gt;     Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -966,22 +966,10 @@ location set</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 端對端縱向控制（實驗性功能） 🌮</translation>
-    </message>
    <message>
        <source>Experimental openpilot longitudinal control</source>
        <translation>使用 openpilot 縱向控制（實驗）</translation>
    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation>&lt;b&gt;注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。&lt;/b&gt;</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation>讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。</translation>
-    </message>
    <message>
        <source>openpilot longitudinal control is not currently available for this car.</source>
        <translation>openpilot 縱向控制目前不適用於這輛車。</translation>
@@ -1014,6 +1002,18 @@ location set</source>
        <source>Show map on left side when in split screen view.</source>
        <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
    </message>
+    <message>
+        <source>Experimental mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;&lt;br&gt;          openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control on this car. Enable this to switch to openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>    openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;.    Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode.     Experimental features are listed below:    &lt;br&gt;     &lt;h4&gt;🌮 End-to-End Longitudinal Control 🌮&lt;/h4&gt;     Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -174,7 +174,7 @@ void ui_update_params(UIState *s) {
  auto params = Params();
  s->scene.is_metric = params.getBool("IsMetric");
  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
-  s->scene.end_to_end_long = params.getBool("EndToEndLong");
+  s->scene.experimental_mode = params.getBool("ExperimentalMode");
 }

 void UIState::updateStatus() {
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -104,7 +104,7 @@ typedef struct UIScene {
  QPointF lead_vertices[2];

  float light_sensor;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long;
+  bool started, ignition, is_metric, map_on_left, longitudinal_control, experimental_mode;
  uint64_t started_frame;
 } UIScene;