@ -1,20 +1,34 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import importlib import importlib
import math import math
from collections import defaultdict , deque from collections import deque
from typing import Optional , Dict , Any
import cere al . messaging as messaging import capnp
from cereal import car from cereal import messaging , log , car
from common . numpy_fast import interp from common . numpy_fast import interp
from common . params import Params from common . params import Params
from common . realtime import Ratekeeper , Priority , config_realtime_process from common . realtime import Ratekeeper , Priority , config_realtime_process
from selfdrive . controls . lib . radar_helpers import Cluster , Track , RADAR_TO_CAMERA
from system . swaglog import cloudlog from system . swaglog import cloudlog
from third_party . cluster . fastcluster_py import cluster_points_centroid
from common . kalman . simple_kalman import KF1D
class KalmanParams ( ) :
def __init__ ( self , dt ) : # Default lead acceleration decay set to 50% at 1s
_LEAD_ACCEL_TAU = 1.5
# radar tracks
SPEED , ACCEL = 0 , 1 # Kalman filter states enum
# stationary qualification parameters
V_EGO_STATIONARY = 4. # no stationary object flag below this speed
RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car
RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame
class KalmanParams :
def __init__ ( self , dt : float ) :
# Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library. # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
# hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s
assert dt > .01 and dt < .2 , " Radar time step must be between .01s and 0.2s " assert dt > .01 and dt < .2 , " Radar time step must be between .01s and 0.2s "
@ -35,13 +49,81 @@ class KalmanParams():
self . K = [ [ interp ( dt , dts , K0 ) ] , [ interp ( dt , dts , K1 ) ] ] self . K = [ [ interp ( dt , dts , K0 ) ] , [ interp ( dt , dts , K1 ) ] ]
def laplacian_pdf ( x , mu , b ) : class Track :
def __init__ ( self , v_lead : float , kalman_params : KalmanParams ) :
self . cnt = 0
self . aLeadTau = _LEAD_ACCEL_TAU
self . K_A = kalman_params . A
self . K_C = kalman_params . C
self . K_K = kalman_params . K
self . kf = KF1D ( [ [ v_lead ] , [ 0.0 ] ] , self . K_A , self . K_C , self . K_K )
def update ( self , d_rel : float , y_rel : float , v_rel : float , v_lead : float , measured : float ) :
# relative values, copy
self . dRel = d_rel # LONG_DIST
self . yRel = y_rel # -LAT_DIST
self . vRel = v_rel # REL_SPEED
self . vLead = v_lead
self . measured = measured # measured or estimate
# computed velocity and accelerations
if self . cnt > 0 :
self . kf . update ( self . vLead )
self . vLeadK = float ( self . kf . x [ SPEED ] [ 0 ] )
self . aLeadK = float ( self . kf . x [ ACCEL ] [ 0 ] )
# Learn if constant acceleration
if abs ( self . aLeadK ) < 0.5 :
self . aLeadTau = _LEAD_ACCEL_TAU
else :
self . aLeadTau * = 0.9
self . cnt + = 1
def get_key_for_cluster ( self ) :
# Weigh y higher since radar is inaccurate in this dimension
return [ self . dRel , self . yRel * 2 , self . vRel ]
def reset_a_lead ( self , aLeadK : float , aLeadTau : float ) :
self . kf = KF1D ( [ [ self . vLead ] , [ aLeadK ] ] , self . K_A , self . K_C , self . K_K )
self . aLeadK = aLeadK
self . aLeadTau = aLeadTau
def get_RadarState ( self , model_prob : float = 0.0 ) :
return {
" dRel " : float ( self . dRel ) ,
" yRel " : float ( self . yRel ) ,
" vRel " : float ( self . vRel ) ,
" vLead " : float ( self . vLead ) ,
" vLeadK " : float ( self . vLeadK ) ,
" aLeadK " : float ( self . aLeadK ) ,
" status " : True ,
" fcw " : self . is_potential_fcw ( model_prob ) ,
" modelProb " : model_prob ,
" radar " : True ,
" aLeadTau " : float ( self . aLeadTau )
}
def potential_low_speed_lead ( self , v_ego : float ) :
# stop for stuff in front of you and low speed, even without model confirmation
# Radar points closer than 0.75, are almost always glitches on toyota radars
return abs ( self . yRel ) < 1.0 and ( v_ego < V_EGO_STATIONARY ) and ( 0.75 < self . dRel < 25 )
def is_potential_fcw ( self , model_prob : float ) :
return model_prob > .9
def __str__ ( self ) :
ret = f " x: { self . dRel : 4.1f } y: { self . yRel : 4.1f } v: { self . vRel : 4.1f } a: { self . aLeadK : 4.1f } "
return ret
def laplacian_pdf ( x : float , mu : float , b : float ) :
b = max ( b , 1e-4 ) b = max ( b , 1e-4 )
return math . exp ( - abs ( x - mu ) / b ) return math . exp ( - abs ( x - mu ) / b )
def match_vision_to_cluster ( v_ego , lead , clusters ) : def match_vision_to_track ( v_ego : float , lead : capnp . _DynamicStructReader , tracks : Dict [ int , Track ] ) :
# match vision point to best statistical cluster match
offset_vision_dist = lead . x [ 0 ] - RADAR_TO_CAMERA offset_vision_dist = lead . x [ 0 ] - RADAR_TO_CAMERA
def prob ( c ) : def prob ( c ) :
@ -52,59 +134,84 @@ def match_vision_to_cluster(v_ego, lead, clusters):
# This is isn't exactly right, but good heuristic # This is isn't exactly right, but good heuristic
return prob_d * prob_y * prob_v return prob_d * prob_y * prob_v
clus te r= max ( clusters , key = prob ) track = max ( tracks . values ( ) , key = prob )
# if no 'sane' match is found return -1 # if no 'sane' match is found return -1
# stationary radar points can be false positives # stationary radar points can be false positives
dist_sane = abs ( clus te r. dRel - offset_vision_dist ) < max ( [ ( offset_vision_dist ) * .25 , 5.0 ] ) dist_sane = abs ( track . dRel - offset_vision_dist ) < max ( [ ( offset_vision_dist ) * .25 , 5.0 ] )
vel_sane = ( abs ( clus te r. vRel + v_ego - lead . v [ 0 ] ) < 10 ) or ( v_ego + clus te r. vRel > 3 ) vel_sane = ( abs ( track . vRel + v_ego - lead . v [ 0 ] ) < 10 ) or ( v_ego + track . vRel > 3 )
if dist_sane and vel_sane : if dist_sane and vel_sane :
return clus te r return track
else : else :
return None return None
def get_lead ( v_ego , ready , clusters , lead_msg , model_v_ego , low_speed_override = True ) : def get_RadarState_from_vision ( lead_msg : capnp . _DynamicStructReader , v_ego : float , model_v_ego : float ) :
lead_v_rel_pred = lead_msg . v [ 0 ] - model_v_ego
return {
" dRel " : float ( lead_msg . x [ 0 ] - RADAR_TO_CAMERA ) ,
" yRel " : float ( - lead_msg . y [ 0 ] ) ,
" vRel " : float ( lead_v_rel_pred ) ,
" vLead " : float ( v_ego + lead_v_rel_pred ) ,
" vLeadK " : float ( v_ego + lead_v_rel_pred ) ,
" aLeadK " : 0.0 ,
" aLeadTau " : 0.3 ,
" fcw " : False ,
" modelProb " : float ( lead_msg . prob ) ,
" radar " : False ,
" status " : True
}
def get_lead ( v_ego : float , ready : bool , tracks : Dict [ int , Track ] , lead_msg : capnp . _DynamicStructReader , model_v_ego : float , low_speed_override : bool = True ) - > Dict [ str , Any ] :
# Determine leads, this is where the essential logic happens # Determine leads, this is where the essential logic happens
if len ( clusters ) > 0 and ready and lead_msg . prob > .5 : if len ( track s ) > 0 and ready and lead_msg . prob > .5 :
cluster = match_vision_to_cluster ( v_ego , lead_msg , clusters ) track = match_vision_to_track ( v_ego , lead_msg , track s )
else : else :
cluster = None track = None
lead_dict = { ' status ' : False } lead_dict = { ' status ' : False }
if cluster is not None : if track is not None :
lead_dict = cluster . get_RadarState ( lead_msg . prob ) lead_dict = track . get_RadarState ( lead_msg . prob )
elif ( cluster is None ) and ready and ( lead_msg . prob > .5 ) : elif ( track is None ) and ready and ( lead_msg . prob > .5 ) :
lead_dict = Cluster ( ) . get_RadarState_from_vision ( lead_msg , v_ego , model_v_ego ) lead_dict = get_RadarState_from_vision ( lead_msg , v_ego , model_v_ego )
if low_speed_override : if low_speed_override :
low_speed_clusters = [ c for c in clusters if c . potential_low_speed_lead ( v_ego ) ] low_speed_track s = [ c for c in tracks . values ( ) if c . potential_low_speed_lead ( v_ego ) ]
if len ( low_speed_clusters ) > 0 : if len ( low_speed_track s ) > 0 :
closest_cluster = min ( low_speed_clusters , key = lambda c : c . dRel ) closest_track = min ( low_speed_track s , key = lambda c : c . dRel )
# Only choose new clus te r if it is actually closer than the previous one # Only choose new track if it is actually closer than the previous one
if ( not lead_dict [ ' status ' ] ) or ( closest_clus te r . dRel < lead_dict [ ' dRel ' ] ) : if ( not lead_dict [ ' status ' ] ) or ( closest_track . dRel < lead_dict [ ' dRel ' ] ) :
lead_dict = closest_clus te r . get_RadarState ( ) lead_dict = closest_track . get_RadarState ( )
return lead_dict return lead_dict
class RadarD ( ) : class RadarD :
def __init__ ( self , radar_ts , delay = 0 ) : def __init__ ( self , radar_ts : float , delay : int = 0 ) :
self . current_time = 0 self . current_time = 0. 0
self . tracks = defaultdict ( dict ) self . tracks : Dict [ int , Track ] = { }
self . kalman_params = KalmanParams ( radar_ts ) self . kalman_params = KalmanParams ( radar_ts )
# v_ego self . v_ego = 0.0
self . v_ego = 0. self . v_ego_hist = deque ( [ 0.0 ] , maxlen = delay + 1 )
self . v_ego_hist = deque ( [ 0 ] , maxlen = delay + 1 )
self . radar_state : Optional [ capnp . _DynamicStructBuilder ] = None
self . radar_state_valid = False
self . ready = False self . ready = False
def update ( self , sm , rr ) : def update ( self , sm : messaging . SubMaster , rr : Optional [ car . RadarData ] ) :
self . current_time = 1e-9 * max ( sm . logMonoTime . values ( ) ) self . current_time = 1e-9 * max ( sm . logMonoTime . values ( ) )
radar_points = [ ]
radar_errors = [ ]
if rr is not None :
radar_points = rr . points
radar_errors = rr . errors
if sm . updated [ ' carState ' ] : if sm . updated [ ' carState ' ] :
self . v_ego = sm [ ' carState ' ] . vEgo self . v_ego = sm [ ' carState ' ] . vEgo
self . v_ego_hist . append ( self . v_ego ) self . v_ego_hist . append ( self . v_ego )
@ -112,7 +219,7 @@ class RadarD():
self . ready = True self . ready = True
ar_pts = { } ar_pts = { }
for pt in rr . points : for pt in radar_ points :
ar_pts [ pt . trackId ] = [ pt . dRel , pt . yRel , pt . vRel , pt . measured ] ar_pts [ pt . trackId ] = [ pt . dRel , pt . yRel , pt . vRel , pt . measured ]
# *** remove missing points from meta data *** # *** remove missing points from meta data ***
@ -132,41 +239,12 @@ class RadarD():
self . tracks [ ids ] = Track ( v_lead , self . kalman_params ) self . tracks [ ids ] = Track ( v_lead , self . kalman_params )
self . tracks [ ids ] . update ( rpt [ 0 ] , rpt [ 1 ] , rpt [ 2 ] , v_lead , rpt [ 3 ] ) self . tracks [ ids ] . update ( rpt [ 0 ] , rpt [ 1 ] , rpt [ 2 ] , v_lead , rpt [ 3 ] )
idens = list ( sorted ( self . tracks . keys ( ) ) )
track_pts = [ self . tracks [ iden ] . get_key_for_cluster ( ) for iden in idens ]
# If we have multiple points, cluster them
if len ( track_pts ) > 1 :
cluster_idxs = cluster_points_centroid ( track_pts , 2.5 )
clusters = [ None ] * ( max ( cluster_idxs ) + 1 )
for idx in range ( len ( track_pts ) ) :
cluster_i = cluster_idxs [ idx ]
if clusters [ cluster_i ] is None :
clusters [ cluster_i ] = Cluster ( )
clusters [ cluster_i ] . add ( self . tracks [ idens [ idx ] ] )
elif len ( track_pts ) == 1 :
# FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1
cluster_idxs = [ 0 ]
clusters = [ Cluster ( ) ]
clusters [ 0 ] . add ( self . tracks [ idens [ 0 ] ] )
else :
clusters = [ ]
# if a new point, reset accel to the rest of the cluster
for idx in range ( len ( track_pts ) ) :
if self . tracks [ idens [ idx ] ] . cnt < = 1 :
aLeadK = clusters [ cluster_idxs [ idx ] ] . aLeadK
aLeadTau = clusters [ cluster_idxs [ idx ] ] . aLeadTau
self . tracks [ idens [ idx ] ] . reset_a_lead ( aLeadK , aLeadTau )
# *** publish radarState *** # *** publish radarState ***
dat = messaging . new_message ( ' radarState ' ) self . radar_state_valid = sm . all_checks ( ) and len ( radar_errors ) == 0
dat . valid = sm . all_checks ( ) and len ( rr . errors ) == 0 self . radar_state = log . RadarState . new_message ( )
radarState = dat . radarState self . radar_state . mdMonoTime = sm . logMonoTime [ ' modelV2 ' ]
radarState . mdMonoTime = sm . logMonoTime [ ' modelV2 ' ] self . radar_state . radarErrors = list ( radar_errors )
radarState . radarErrors = list ( rr . errors ) self . radar_state . carStateMonoTime = sm . logMonoTime [ ' carState ' ]
radarState . carStateMonoTime = sm . logMonoTime [ ' carState ' ]
if len ( sm [ ' modelV2 ' ] . temporalPose . trans ) : if len ( sm [ ' modelV2 ' ] . temporalPose . trans ) :
model_v_ego = sm [ ' modelV2 ' ] . temporalPose . trans [ 0 ] model_v_ego = sm [ ' modelV2 ' ] . temporalPose . trans [ 0 ]
@ -174,18 +252,38 @@ class RadarD():
model_v_ego = self . v_ego model_v_ego = self . v_ego
leads_v3 = sm [ ' modelV2 ' ] . leadsV3 leads_v3 = sm [ ' modelV2 ' ] . leadsV3
if len ( leads_v3 ) > 1 : if len ( leads_v3 ) > 1 :
radarState . leadOne = get_lead ( self . v_ego , self . ready , clusters , leads_v3 [ 0 ] , model_v_ego , low_speed_override = True ) self . radar_state . leadOne = get_lead ( self . v_ego , self . ready , self . tracks , leads_v3 [ 0 ] , model_v_ego , low_speed_override = True )
radarState . leadTwo = get_lead ( self . v_ego , self . ready , clusters , leads_v3 [ 1 ] , model_v_ego , low_speed_override = False ) self . radar_state . leadTwo = get_lead ( self . v_ego , self . ready , self . tracks , leads_v3 [ 1 ] , model_v_ego , low_speed_override = False )
return dat
def publish ( self , pm : messaging . PubMaster , lag_ms : float ) :
assert self . radar_state is not None
radar_msg = messaging . new_message ( " radarState " )
radar_msg . valid = self . radar_state_valid
radar_msg . radarState = self . radar_state
radar_msg . radarState . cumLagMs = lag_ms
pm . send ( " radarState " , radar_msg )
# publish tracks for UI debugging (keep last)
tracks_msg = messaging . new_message ( ' liveTracks ' , len ( self . tracks ) )
for index , tid in enumerate ( sorted ( self . tracks . keys ( ) ) ) :
tracks_msg . liveTracks [ index ] = {
" trackId " : tid ,
" dRel " : float ( self . tracks [ tid ] . dRel ) ,
" yRel " : float ( self . tracks [ tid ] . yRel ) ,
" vRel " : float ( self . tracks [ tid ] . vRel ) ,
}
pm . send ( ' liveTracks ' , tracks_msg )
# fuses camera and radar data for best lead detection # fuses camera and radar data for best lead detection
def radard_thread ( sm = None , pm = None , can_sock = None ) : def radard_thread ( sm : Optional [ messaging . SubMaster ] = None , pm : Optional [ messaging . PubMaster ] = None , can_sock : Optional [ messaging . SubSocket ] = None ) :
config_realtime_process ( 5 , Priority . CTRL_LOW ) config_realtime_process ( 5 , Priority . CTRL_LOW )
# wait for stats about the car to come in from controls # wait for stats about the car to come in from controls
cloudlog . info ( " radard is waiting for CarParams " ) cloudlog . info ( " radard is waiting for CarParams " )
CP = car . CarParams . from_bytes ( Params ( ) . get ( " CarParams " , block = True ) ) with car . CarParams . from_bytes ( Params ( ) . get ( " CarParams " , block = True ) ) as msg :
CP = msg
cloudlog . info ( " radard got CarParams " ) cloudlog . info ( " radard got CarParams " )
# import the radar from the fingerprint # import the radar from the fingerprint
@ -214,28 +312,13 @@ def radard_thread(sm=None, pm=None, can_sock=None):
sm . update ( 0 ) sm . update ( 0 )
dat = RD . update ( sm , rr ) RD . update ( sm , rr )
dat . radarState . cumLagMs = - rk . remaining * 1000. RD . publish ( pm , - rk . remaining * 1000.0 )
pm . send ( ' radarState ' , dat )
# *** publish tracks for UI debugging (keep last) ***
tracks = RD . tracks
dat = messaging . new_message ( ' liveTracks ' , len ( tracks ) )
for cnt , ids in enumerate ( sorted ( tracks . keys ( ) ) ) :
dat . liveTracks [ cnt ] = {
" trackId " : ids ,
" dRel " : float ( tracks [ ids ] . dRel ) ,
" yRel " : float ( tracks [ ids ] . yRel ) ,
" vRel " : float ( tracks [ ids ] . vRel ) ,
}
pm . send ( ' liveTracks ' , dat )
rk . monitor_time ( ) rk . monitor_time ( )
def main ( sm = None , pm = None , can_sock = None ) : def main ( sm : Optional [ messaging . SubMaster ] = None , pm : Optional [ messaging . PubMaster ] = None , can_sock : messaging . SubSocket = None ) :
radard_thread ( sm , pm , can_sock ) radard_thread ( sm , pm , can_sock )
sshane
2 years ago