Change radar-based FCW to model-based FCW (#22379)
* just use MPC for fcw checking * thats already bad * model FCW is always good * better fcw * should be good for now * comment * linting * cleaner * unusedpull/214/head
HaraldSchafer
4 years ago
committed by
GitHub
parent
425020a849
commit
a8b4249ebc
5 changed files with 13 additions and 99 deletions
@ -1,76 +0,0 @@ |
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import math |
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from collections import defaultdict |
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from common.numpy_fast import interp |
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_FCW_A_ACT_V = [-3., -2.] |
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_FCW_A_ACT_BP = [0., 30.] |
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class FCWChecker(): |
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def __init__(self): |
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self.reset_lead(0.0) |
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self.common_counters = defaultdict(lambda: 0) |
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def reset_lead(self, cur_time): |
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self.last_fcw_a = 0.0 |
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self.v_lead_max = 0.0 |
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self.lead_seen_t = cur_time |
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self.last_fcw_time = 0.0 |
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self.last_min_a = 0.0 |
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self.counters = defaultdict(lambda: 0) |
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@staticmethod |
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def calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead): |
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max_ttc = 5.0 |
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v_rel = v_ego - v_lead |
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a_rel = a_ego - a_lead |
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# assuming that closing gap ARel comes from lead vehicle decel, |
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# then limit ARel so that v_lead will get to zero in no sooner than t_decel. |
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# This helps underweighting ARel when v_lead is close to zero. |
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t_decel = 2. |
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a_rel = min(a_rel, v_lead / t_decel) |
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# delta of the quadratic equation to solve for ttc |
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delta = v_rel**2 + 2 * x_lead * a_rel |
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# assign an arbitrary high ttc value if there is no solution to ttc |
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if delta < 0.1 or (math.sqrt(delta) + v_rel < 0.1): |
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ttc = max_ttc |
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else: |
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ttc = min(2 * x_lead / (math.sqrt(delta) + v_rel), max_ttc) |
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return ttc |
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def update(self, mpc_solution_a, cur_time, active, v_ego, a_ego, x_lead, v_lead, a_lead, y_lead, vlat_lead, fcw_lead, blinkers): |
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self.last_min_a = min(mpc_solution_a) |
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self.v_lead_max = max(self.v_lead_max, v_lead) |
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self.common_counters['blinkers'] = self.common_counters['blinkers'] + 10.0 / (20 * 3.0) if not blinkers else 0 |
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self.common_counters['v_ego'] = self.common_counters['v_ego'] + 1 if v_ego > 5.0 else 0 |
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if (fcw_lead > 0.99): |
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ttc = self.calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead) |
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self.counters['ttc'] = self.counters['ttc'] + 1 if ttc < 2.5 else 0 |
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self.counters['v_lead_max'] = self.counters['v_lead_max'] + 1 if self.v_lead_max > 2.5 else 0 |
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self.counters['v_ego_lead'] = self.counters['v_ego_lead'] + 1 if v_ego > v_lead else 0 |
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self.counters['lead_seen'] = self.counters['lead_seen'] + 0.33 |
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self.counters['y_lead'] = self.counters['y_lead'] + 1 if abs(y_lead) < 1.0 else 0 |
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self.counters['vlat_lead'] = self.counters['vlat_lead'] + 1 if abs(vlat_lead) < 0.4 else 0 |
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a_thr = interp(v_lead, _FCW_A_ACT_BP, _FCW_A_ACT_V) |
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a_delta = min(mpc_solution_a[:15]) - min(0.0, a_ego) |
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future_fcw_allowed = all(c >= 10 for c in self.counters.values()) |
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future_fcw_allowed = future_fcw_allowed and all(c >= 10 for c in self.common_counters.values()) |
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future_fcw = (self.last_min_a < -3.0 or a_delta < a_thr) and future_fcw_allowed |
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if future_fcw and (self.last_fcw_time + 5.0 < cur_time): |
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self.last_fcw_time = cur_time |
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self.last_fcw_a = self.last_min_a |
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return True |
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return False |
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