Block lane change start on blindspot detection (#1712)

* use BSM to block lane change start

* remove duplicate entry

* add approaching

selfdrive/car/toyota/carstate.py

@@ -104,8 +104,8 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
 
     if self.CP.carFingerprint in TSS2_CAR:
-      ret.leftBlindspot = cp.vl["BSM"]['L_ADJACENT'] == 1
+      ret.leftBlindspot = (cp.vl["BSM"]['L_ADJACENT'] == 1) or (cp.vl["BSM"]['L_APPROACHING'] == 1)
-      ret.rightBlindspot = cp.vl["BSM"]['R_ADJACENT'] == 1
+      ret.rightBlindspot = (cp.vl["BSM"]['R_ADJACENT'] == 1) or (cp.vl["BSM"]['R_APPROACHING'] == 1)
 
     return ret
 
@@ -173,7 +173,9 @@ class CarState(CarStateBase):
 
     if CP.carFingerprint in TSS2_CAR:
       signals += [("L_ADJACENT", "BSM", 0)]
+      signals += [("L_APPROACHING", "BSM", 0)]
       signals += [("R_ADJACENT", "BSM", 0)]
+      signals += [("R_APPROACHING", "BSM", 0)]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 

selfdrive/controls/controlsd.py

@@ -183,10 +183,15 @@ class Controls:
 
     # Handle lane change
     if self.sm['pathPlan'].laneChangeState == LaneChangeState.preLaneChange:
-      if self.sm['pathPlan'].laneChangeDirection == LaneChangeDirection.left:
+      direction = self.sm['pathPlan'].laneChangeDirection
-        self.events.add(EventName.preLaneChangeLeft)
+      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        self.events.add(EventName.laneChangeBlocked)
       else:
-        self.events.add(EventName.preLaneChangeRight)
+        if direction == LaneChangeDirection.left:
+          self.events.add(EventName.preLaneChangeLeft)
+        else:
+          self.events.add(EventName.preLaneChangeRight)
     elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
                                         LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)

selfdrive/controls/lib/events.py

@@ -206,8 +206,6 @@ EVENTS = {
 
   EventName.gasPressed: {ET.PRE_ENABLE: None},
 
-  EventName.laneChangeBlocked: {},
-
   # ********** events only containing alerts displayed in all states **********
 
   EventName.debugAlert: {
@@ -443,6 +441,14 @@ EVENTS = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
   },
 
+  EventName.laneChangeBlocked: {
+    ET.WARNING: Alert(
+      "Car Detected in Blindspot",
+      "Monitor Other Vehicles",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
+  },
+
   EventName.laneChange: {
     ET.WARNING: Alert(
       "Changing Lane",

selfdrive/controls/lib/pathplanner.py

@@ -114,6 +114,9 @@ class PathPlanner():
                        ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                         (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
+      blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                            (sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left))
+
       lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
 
       # State transitions
@@ -126,7 +129,7 @@ class PathPlanner():
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
-        elif torque_applied:
+        elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
       # starting

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-12861083f7fdcfd2876d7f8102f1853a3248e2a7
+f0ff304da1765fd9cfd36d8c730f280315df91bf