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openpilot v0.5.8 release 

old-commit-hash: b967da5fc1
This commit is contained in:
Vehicle Researcher 2019-01-23 15:34:52 -08:00
parent 3c3d28563b
commit 3bde47d556
536 changed files with 13480 additions and 204 deletions
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21
Dockerfile.openpilot
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@ -1,7 +1,26 @@
FROM ubuntu:16.04
ENV PYTHONUNBUFFERED 1
RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
RUN apt-get update && apt-get install -y \
build-essential \
clang \
vim \
screen \
wget \
bzip2 \
git \
libglib2.0-0 \
python-pip \
capnproto \
libcapnp-dev \
libzmq5-dev \
libffi-dev \
libusb-1.0-0 \
libssl-dev \
ocl-icd-libopencl1 \
ocl-icd-opencl-dev \
opencl-headers
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
COPY requirements_openpilot.txt /tmp/

42
README.md
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@ -65,6 +65,7 @@ Supported Cars
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chrysler | Pacifica Hybrid 2017 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | Custom<sup>8</sup>|
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
@ -100,35 +101,32 @@ Supported Cars
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
<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/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).
<sup>8</sup>Community built Giraffe, find more information [here](https://github.com/adhintz/openpilot/wiki). Comma official Giraffe coming soon.
Community Maintained Cars
------
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- | ------------------|
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>9</sup>|
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>9</sup>|
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
<sup>9</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
In Progress Cars
------
- All TSS-P Toyota with Steering Assist.
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
- Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
- All Hyundai with SmartSense.
- All Kia with SCC and LKAS.
- All Chrysler, Jeep, Fiat with Adaprive Cruise Control and LaneSense.
How can I add support for my car?
------
@ -137,7 +135,7 @@ If your car has adaptive cruise control and lane keep assist, you are in luck. U
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.
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and can be supported after [FlexRay support](https://github.com/commaai/openpilot/pull/463) is merged.
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
@ -187,23 +185,21 @@ By using it, you agree to [our privacy policy](https://community.comma.ai/privac
Testing on PC
------
There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
Also, within openpilot there is a rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different longitudinal control scenarios.
```bash
# Requires working docker
./run_docker_tests.sh
```
The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudinal/index.html`
More extensive testing infrastructure and simulation environments are coming soon.
Contributing
------
We welcome both pull requests and issues on
[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
We welcome both pull requests and issues on [github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
We also have a [bounty program](https://comma.ai/bounties.html).
Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

10
RELEASES.md
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@ -1,3 +1,13 @@
Version 0.5.8 (2019-01-17)
========================
* Open sourced visiond
* Auto-slowdown for upcoming turns
* Chrysler/Jeep/Fiat support thanks to adhintz!
* Honda Civic 2019 support thanks to csouers!
* Improved use of car display in Toyota thanks to arne182!
* No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
* EON stops charging when 12V battery drops below 11.8V
Version 0.5.7 (2018-12-06)
========================
* Speed limit from OpenStreetMap added to UI

4
apk/ai.comma.plus.frame.apk
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@ -1,3 +1,3 @@
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2
cereal/car.capnp
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@ -244,6 +244,8 @@ struct CarControl {
leadVisible @3: Bool;
visualAlert @4: VisualAlert;
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
enum VisualAlert {
# these are the choices from the Honda

25
cereal/log.capnp
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@ -187,10 +187,10 @@ struct SensorEventData {
iOS @1;
fiber @2;
velodyne @3; # Velodyne IMU
# c3 sensors below
bno055 @4;
lsm6ds3 @5;
bmp280 @6;
bno055 @4; # Bosch accelerometer
lsm6ds3 @5; # accelerometer (c2)
bmp280 @6; # barometer (c2)
mmc3416x @7; # magnetometer (c2)
}
}
@ -399,6 +399,8 @@ struct Live100Data {
curvature @37 :Float32; # path curvature from vehicle model
hudLeadDEPRECATED @14 :Int32;
cumLagMs @15 :Float32;
startMonoTime @48 :UInt64;
mapValid @49 :Bool;
enabled @19 :Bool;
active @36 :Bool;
@ -420,6 +422,10 @@ struct Live100Data {
engageable @41 :Bool; # can OP be engaged?
driverMonitoringOn @43 :Bool;
# maps
vCurvature @46 :Float32;
decelForTurn @47 :Bool;
enum ControlState {
disabled @0;
preEnabled @1;
@ -556,6 +562,8 @@ struct Plan {
aTarget @18 :Float32;
jerkFactor @6 :Float32;
hasLead @7 :Bool;
hasLeftLane @23 :Bool;
hasRightLane @24 :Bool;
fcw @8 :Bool;
longitudinalPlanSource @15 :LongitudinalPlanSource;
@ -567,6 +575,7 @@ struct Plan {
# maps
vCurvature @21 :Float32;
decelForTurn @22 :Bool;
mapValid @25 :Bool;
struct GpsTrajectory {
x @0 :List(Float32);
@ -1584,8 +1593,15 @@ struct LiveMapData {
roadCurvatureX @8 :List(Float32);
roadCurvature @9 :List(Float32);
distToTurn @10 :Float32;
mapValid @11 :Bool;
}
struct CameraOdometry {
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
rotStd @3 :List(Float32); # std rad/s in device frame
}
struct Event {
# in nanoseconds?
@ -1654,5 +1670,6 @@ struct Event {
boot @60 :Boot;
liveParameters @61 :LiveParametersData;
liveMapData @62 :LiveMapData;
cameraOdometry @63 :CameraOdometry;
}
}

41
common/transformations/camera.py
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@ -1,5 +1,6 @@
import numpy as np
import common.transformations.orientation as orient
import cv2
FULL_FRAME_SIZE = (1164, 874)
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@ -62,31 +63,35 @@ def roll_from_ke(m):
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
def normalize(img_pts):
def normalize(img_pts, intrinsics=eon_intrinsics):
# normalizes image coordinates
# accepts single pt or array of pts
intrinsics_inv = np.linalg.inv(intrinsics)
img_pts = np.array(img_pts)
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
img_pts_normalized = intrinsics_inv.dot(img_pts.T).T
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
return img_pts_normalized[:,:2].reshape(input_shape)
def denormalize(img_pts):
def denormalize(img_pts, intrinsics=eon_intrinsics):
# denormalizes image coordinates
# accepts single pt or array of pts
img_pts = np.array(img_pts)
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
img_pts_denormalized = intrinsics.dot(img_pts.T).T
img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
return img_pts_denormalized[:,:2].reshape(input_shape)
def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
# device from ecef frame
# device frame is x -> forward, y-> right, z -> down
@ -99,6 +104,7 @@ def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
return pt_device.reshape(input_shape)
def img_from_device(pt_device):
# img coordinates from pts in device frame
# first transforms to view frame, then to img coords
@ -113,3 +119,30 @@ def img_from_device(pt_device):
pt_img = pt_view/pt_view[:,2:3]
return pt_img.reshape(input_shape)[:,:2]
def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
size = img.shape[:2]
rot = orient.rot_from_euler(eulers)
quadrangle = np.array([[0, 0],
[size[1]-1, 0],
[0, size[0]-1],
[size[1]-1, size[0]-1]], dtype=np.float32)
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
if crop:
W_border = (size[1] - crop[0])/2
H_border = (size[0] - crop[1])/2
outside_crop = (((warped_quadrangle[:,0] < W_border) |
(warped_quadrangle[:,0] >= size[1] - W_border)) &
((warped_quadrangle[:,1] < H_border) |
(warped_quadrangle[:,1] >= size[0] - H_border)))
if not outside_crop.all():
raise ValueError("warped image not contained inside crop")
else:
H_border, W_border = 0, 0
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
img_warped = cv2.warpPerspective(img, M, size[::-1])
return img_warped[H_border: size[0] - H_border,
W_border: size[1] - W_border]

2
common/transformations/orientation.py
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@ -221,6 +221,8 @@ def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
ecef_poses = array(ecef_poses)
output_shape = ecef_poses.shape
ned_ecef_init = np.atleast_2d(ned_ecef_init)
if ned_ecef_init.shape[0] == 1:
ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
ecef_poses = np.atleast_2d(ecef_poses)
ned_poses = np.zeros(ecef_poses.shape)

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