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New KL model + laneless toggle (#20454) 

* New model: 0bf38240-6b55-42b0-bcfb-da08ff5cd0b9/650

* laneless baby

* hardcode model difference for now

* kale toggle

* kale emoji

* sensible description

* make clear it is not just for ui

* emojis dont work yet

* 9671a8fe-539f-4a04-a163-54571df21139/650

* new model

* only read param on rising edge of ignition

* update toggle text

* fix that

* update refs

Co-authored-by: mitchell <mitchellgoffpc@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7ee79c9923
This commit is contained in:
HaraldSchafer 2021-03-24 01:10:31 -07:00 committed by GitHub
parent 079da64cf2
commit eae1fa481c
11 changed files with 43 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
common/params_pyx.pyx
View File

@ -22,6 +22,7 @@ keys = {
b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"CommunityFeaturesToggle": [TxType.PERSISTENT],
b"EndToEndToggle": [TxType.PERSISTENT],
b"CompletedTrainingVersion": [TxType.PERSISTENT],
b"DisablePowerDown": [TxType.PERSISTENT],
b"DisableUpdates": [TxType.PERSISTENT],

4
models/supercombo.dlc
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:1deb3bc8c64341b21d39b4e23b9b780b71e87b049a0a8d514f89e6fccbdf057d
size 63447275
oid sha256:059efa4e4c5f1430271362147e4b2eda650dc7ca9bad6a63725cc616afdf7f77
size 63447299

4
models/supercombo.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7e1402596b5417e65f8559f6fee0b6358bc73f84a141d173d76e0d2f9ef3cd5b
size 63313285
oid sha256:f3c6f00e1e847a285fc0b834f610f4064d682d3e9f0878ba11fccb4e43692b4c
size 63313286

4
selfdrive/controls/lib/lane_planner.py
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@ -8,10 +8,13 @@ TRAJECTORY_SIZE = 33
# camera offset is meters from center car to camera
if EON:
CAMERA_OFFSET = 0.06
PATH_OFFSET = 0.0
elif TICI:
CAMERA_OFFSET = -0.04
PATH_OFFSET = -0.04
else:
CAMERA_OFFSET = 0.0
PATH_OFFSET = 0.0
@ -56,6 +59,7 @@ class LanePlanner:
def get_d_path(self, v_ego, path_t, path_xyz):
# Reduce reliance on lanelines that are too far apart or
# will be in a few seconds
path_xyz[:,1] -= PATH_OFFSET
l_prob, r_prob = self.lll_prob, self.rll_prob
width_pts = self.rll_y - self.lll_y
prob_mods = []

7
selfdrive/controls/lib/lateral_planner.py
View File

@ -1,6 +1,7 @@
import os
import math
import numpy as np
from common.params import Params
from common.realtime import sec_since_boot, DT_MDL
from common.numpy_fast import interp, clip
from selfdrive.swaglog import cloudlog
@ -53,6 +54,7 @@ class LateralPlanner():
self.setup_mpc()
self.solution_invalid_cnt = 0
self.use_lanelines = Params().get('EndToEndToggle') != b'1'
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_timer = 0.0
@ -158,7 +160,10 @@ class LateralPlanner():
if self.desire == log.LateralPlan.Desire.laneChangeRight or self.desire == log.LateralPlan.Desire.laneChangeLeft:
self.LP.lll_prob *= self.lane_change_ll_prob
self.LP.rll_prob *= self.lane_change_ll_prob
d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
if self.use_lanelines:
d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
else:
d_path_xyz = self.path_xyz
y_pts = np.interp(v_ego * self.t_idxs[:MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
heading_pts = np.interp(v_ego * self.t_idxs[:MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
self.y_pts = y_pts

1
selfdrive/manager/manager.py
View File

@ -30,6 +30,7 @@ def manager_init(spinner=None):
default_params = [
("CommunityFeaturesToggle", "0"),
("EndToEndToggle", "0"),
("CompletedTrainingVersion", "0"),
("IsRHD", "0"),
("IsMetric", "0"),

2
selfdrive/test/process_replay/model_replay_ref_commit
View File

@ -1 +1 @@
1ed77847fe3f53b14595bab8f1f47134fee03c9b
6c2409d2b1a93b675e4cd4ae7e67fc56ec3824dc

29
selfdrive/ui/paint.cc
View File

@ -140,21 +140,26 @@ static void draw_frame(UIState *s) {
static void ui_draw_vision_lane_lines(UIState *s) {
const UIScene &scene = s->scene;
// paint lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene.lane_line_probs[i]);
ui_draw_line(s, scene.lane_line_vertices[i], &color, nullptr);
}
NVGpaint track_bg;
if (!scene.end_to_end) {
// paint lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene.lane_line_probs[i]);
ui_draw_line(s, scene.lane_line_vertices[i], &color, nullptr);
}
// paint road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
ui_draw_line(s, scene.road_edge_vertices[i], &color, nullptr);
// paint road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
ui_draw_line(s, scene.road_edge_vertices[i], &color, nullptr);
}
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
} else {
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
COLOR_RED, COLOR_RED_ALPHA(0));
}
// paint path
NVGpaint track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
ui_draw_line(s, scene.track_vertices, nullptr, &track_bg);
}

8
selfdrive/ui/qt/offroad/settings.cc
View File

@ -50,13 +50,17 @@ QWidget * toggles_panel() {
"Use features from the open source community that are not maintained or supported by comma.ai and have not been confirmed to meet the standard safety model. These features include community supported cars and community supported hardware. Be extra cautious when using these features",
"../assets/offroad/icon_shell.png"
));
toggles_list->addWidget(horizontal_line());
ParamControl *record_toggle = new ParamControl("RecordFront",
"Record and Upload Driver Camera",
"Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
"../assets/offroad/icon_network.png");
toggles_list->addWidget(horizontal_line());
toggles_list->addWidget(record_toggle);
toggles_list->addWidget(horizontal_line());
toggles_list->addWidget(new ParamControl("EndToEndToggle",
"Ignore lanelines (Experimental)",
"In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
"../assets/offroad/icon_road.png"));
bool record_lock = Params().read_db_bool("RecordFrontLock");
record_toggle->setEnabled(!record_lock);

1
selfdrive/ui/ui.cc
View File

@ -340,6 +340,7 @@ static void update_status(UIState *s) {
s->scene.started_frame = s->sm->frame;
read_param(&s->scene.is_rhd, "IsRHD");
read_param(&s->scene.end_to_end, "EndToEndToggle");
s->active_app = cereal::UiLayoutState::App::NONE;
s->sidebar_collapsed = true;
s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;

3
selfdrive/ui/ui.hpp
View File

@ -33,6 +33,7 @@
#define COLOR_BLACK_ALPHA(x) nvgRGBA(0, 0, 0, x)
#define COLOR_WHITE nvgRGBA(255, 255, 255, 255)
#define COLOR_WHITE_ALPHA(x) nvgRGBA(255, 255, 255, x)
#define COLOR_RED_ALPHA(x) nvgRGBA(201, 34, 49, x)
#define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
#define COLOR_RED nvgRGBA(201, 34, 49, 255)
@ -132,7 +133,7 @@ typedef struct UIScene {
vertex_data lead_vertices[2];
float light_sensor, accel_sensor, gyro_sensor;
bool started, ignition, is_metric, longitudinal_control;
bool started, ignition, is_metric, longitudinal_control, end_to_end;
uint64_t started_frame;
} UIScene;