diff --git a/common/params.cc b/common/params.cc index e5071268b7..5c8002dfb7 100644 --- a/common/params.cc +++ b/common/params.cc @@ -100,6 +100,7 @@ std::unordered_map keys = { {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, + {"EndToEndLong", PERSISTENT}, {"DisableRadar_Allow", PERSISTENT}, {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB {"DisableUpdates", PERSISTENT}, diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index eaecb63a6b..405ef81916 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -248,13 +248,13 @@ class LongitudinalMpc: cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': - cost_weights = [0., 1.0, 0.0, 0.0, 0.0, 1.0] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0] + cost_weights = [0., 0.2, 0.25, 1.0, 0.0, 1.0] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 5.0] elif self.mode == 'e2e': cost_weights = [0., 0.2, 0.25, 1., 0.0, .1] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0] else: - raise NotImplementedError(f'Planner mode {self.mode} not recognized') + raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') self.set_cost_weights(cost_weights, constraint_cost_weights) def set_cur_state(self, v, a): @@ -347,7 +347,7 @@ class LongitudinalMpc: self.source = 'e2e' else: - raise NotImplementedError(f'Planner mode {self.mode} not recognized') + raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update') self.yref[:,1] = x self.yref[:,2] = v @@ -357,8 +357,6 @@ class LongitudinalMpc: self.solver.set(i, "yref", self.yref[i]) self.solver.set(N, "yref", self.yref[N][:COST_E_DIM]) - x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 42ce2bd0ec..b6120d2451 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -6,6 +6,7 @@ from common.numpy_fast import interp import cereal.messaging as messaging from common.conversions import Conversions as CV from common.filter_simple import FirstOrderFilter +from common.params import Params from common.realtime import DT_MDL from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longcontrol import LongCtrlState @@ -47,7 +48,10 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class Planner: def __init__(self, CP, init_v=0.0, init_a=0.0): self.CP = CP - self.mpc = LongitudinalMpc() + params = Params() + # TODO read param in the loop for live toggling + mode = 'blended' if params.get_bool('EndToEndLong') else 'acc' + self.mpc = LongitudinalMpc(mode=mode) self.fcw = False @@ -122,7 +126,8 @@ class Planner: self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone - self.fcw = self.mpc.crash_cnt > 5 + # TODO write fcw in e2e_long mode + self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 if self.fcw: cloudlog.info("FCW triggered") diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 5e0e87e64d..09ff0eed94 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -53,6 +53,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/offroad/icon_monitoring.png", }, + { + "EndToEndLong", + tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"), + tr("Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental."), + "../assets/offroad/icon_road.png", + }, { "DisengageOnAccelerator", tr("Disengage On Accelerator Pedal"), diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index dd9f933dcf..d56f4e8466 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID ドングル番号 (Dongle ID) - + N/A N/A - + Serial シリアル番号 - + Driver Camera 車内カメラ - + PREVIEW 見る - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) - + Reset Calibration ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ - + RESET ﾘｾｯﾄ - + Are you sure you want to reset calibration? ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ - + Review Training Guide 入門書を見る - + REVIEW 見る - + Review the rules, features, and limitations of openpilot openpilot の特徴を見る - + Are you sure you want to review the training guide? 入門書を見てもよろしいですか？ - + Regulatory 認証情報 - + VIEW 見る - + Change Language 言語を変更 - + CHANGE 変更 - + Select a language 言語を選択 - + Reboot 再起動 - + Power Off 電源を切る - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 - + Your device is pointed %1° %2 and %3° %4. このデバイスは%2の%1°、%4の%3°に向けます。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 再起動してもよろしいですか？ - + Disengage to Reboot openpilot をキャンセルして再起動ができます - + Are you sure you want to power off? シャットダウンしてもよろしいですか？ - + Disengage to Power Off openpilot をキャンセルしてシャットダウンができます @@ -718,33 +718,33 @@ location set SettingsWindow - + × × - + Device デバイス - - + + Network ﾈｯﾄﾜｰｸ - + Toggles 切り替え - + Software ｿﾌﾄｳｪｱ - + Navigation ﾅﾋﾞｹﾞｰｼｮﾝ @@ -983,89 +983,89 @@ location set SoftwarePanel - + Git Branch Git ブランチ - + Git Commit Git コミット - + OS Version OS バージョン - + Version バージョン - + Last Update Check 最終更新確認 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 - + Check for Update 更新プログラムをチェック - + CHECKING 確認中 - + Switch Branch ブランチの切り替え - + ENTER 切替 - - + + The new branch will be pulled the next time the updater runs. updater を実行する時にブランチを切り替えます。 - + Enter branch name ブランチ名を入力 - + UNINSTALL アンインストール - + Uninstall %1 %1をアンインストール - + Are you sure you want to uninstall? アンインストールしてもよろしいですか？ - + failed to fetch update 更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました - - + + CHECK 確認 @@ -1194,41 +1194,51 @@ location set + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ - + When enabled, pressing the accelerator pedal will disengage openpilot. 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 - + Show ETA in 24h Format 24時間表示 - + Use 24h format instead of am/pm AM/PM の代わりに24時間形式を使用します - + Show Map on Left Side of UI ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示 - + Show map on left side when in split screen view. 分割画面表示の場合、ディスプレイの左側にマップを表示します。 - + openpilot Longitudinal Control openpilot 縦方向制御 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index d4abe86196..bb4f884aa9 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 언어를 선택하세요 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅 하시겠습니까? - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까? - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -718,33 +718,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -983,89 +983,89 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + Switch Branch 브랜치 변경 - + ENTER 입력하세요 - - + + The new branch will be pulled the next time the updater runs. 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. - + Enter branch name 브랜치명 입력 - + UNINSTALL 제거 - + Uninstall %1 %1 제거 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1194,41 +1194,51 @@ location set + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal 가속페달 조작시 해제 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - + Show ETA in 24h Format 24시간 형식으로 도착예정시간 표시 - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + Show Map on Left Side of UI UI 왼쪽에 지도 표시 - + Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. - + openpilot Longitudinal Control openpilot Longitudinal Control - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot은 차량'의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다! diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index e0d6a3c049..c0ef5c88fe 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera Câmera voltada para o Motorista - + PREVIEW PREVISUAL - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado) - + Reset Calibration Resetar Calibragem - + RESET RESET - + Are you sure you want to reset calibration? Tem certeza que quer resetar a calibragem? - + Review Training Guide Revisar o Treinamento - + REVIEW REVISAR - + Review the rules, features, and limitations of openpilot Revisar regras, aprimoramentos e limitações do openpilot - + Are you sure you want to review the training guide? Tem certeza que quer rever o treinamento? - + Regulatory Regulatório - + VIEW VER - + Change Language Mudar Linguagem - + CHANGE MUDAR - + Select a language Selecione uma linguagem - + Reboot Reiniciar - + Power Off Desligar - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, resetar raramente é necessário. - + Your device is pointed %1° %2 and %3° %4. Seu dispositivo está montado %1° %2 e %3° %4. - + down baixo - + up cima - + left esquerda - + right direita - + Are you sure you want to reboot? Tem certeza que quer reiniciar? - + Disengage to Reboot Desacione para Reiniciar - + Are you sure you want to power off? Tem certeza que quer desligar? - + Disengage to Power Off Desacione para Desligar @@ -722,33 +722,33 @@ trabalho definido SettingsWindow - + × × - + Device Dispositivo - - + + Network Rede - + Toggles Ajustes - + Software Software - + Navigation Navegação @@ -987,89 +987,89 @@ trabalho definido SoftwarePanel - + Git Branch Ramo Git - + Git Commit Commit Git - + OS Version Versão do Sistema - + Version Versão - + Last Update Check Verificação da última atualização - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado. - + Check for Update Verifique atualizações - + CHECKING VERIFICANDO - + Switch Branch Trocar Branch - + ENTER INSERIR - - + + The new branch will be pulled the next time the updater runs. A nova branch será aplicada ao verificar atualizações. - + Enter branch name Inserir o nome da branch - + UNINSTALL DESINSTALAR - + Uninstall %1 Desintalar o %1 - + Are you sure you want to uninstall? Tem certeza que quer desinstalar? - + failed to fetch update falha ao buscar atualização - - + + CHECK VERIFICAR @@ -1198,41 +1198,51 @@ trabalho definido + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal Desacionar Com Pedal Do Acelerador - + When enabled, pressing the accelerator pedal will disengage openpilot. Quando ativado, pressionar o pedal do acelerador desacionará o openpilot. - + Show ETA in 24h Format Mostrar ETA em formato 24h - + Use 24h format instead of am/pm Use o formato 24h em vez de am/pm - + Show Map on Left Side of UI Exibir Mapa no Lado Esquerdo - + Show map on left side when in split screen view. Exibir mapa do lado esquerdo quando a tela for dividida. - + openpilot Longitudinal Control openpilot Controle Longitudinal - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB! diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index a26cddc0c3..e8c9b8ec52 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） - + N/A N/A - + Serial 序列号 - + Driver Camera 驾驶员摄像头 - + PREVIEW 预览 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - + Reset Calibration 重置设备校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - + Review Training Guide 新手指南 - + REVIEW 查看 - + Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - + Regulatory 监管信息 - + VIEW 查看 - + Change Language 切换语言 - + CHANGE 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - + down 朝下 - + up 朝上 - + left 朝左 - + right 朝右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 取消openpilot以重新启动 - + Are you sure you want to power off? 您确定要关机吗？ - + Disengage to Power Off 取消openpilot以关机 @@ -716,33 +716,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -981,89 +981,89 @@ location set SoftwarePanel - + Git Branch Git Branch - + Git Commit Git Commit - + OS Version 系统版本 - + Version 软件版本 - + Last Update Check 上次检查更新 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查更新 - + Switch Branch 切换分支 - + ENTER 输入 - - + + The new branch will be pulled the next time the updater runs. 分支将在更新服务下次启动时自动切换。 - + Enter branch name 输入分支名称 - + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 @@ -1192,41 +1192,51 @@ location set + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal 踩油门时取消控制 - + When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将取消openpilot。 - + Show ETA in 24h Format 以24小时格式显示预计到达时间 - + Use 24h format instead of am/pm 使用24小时制代替am/pm - + Show Map on Left Side of UI 在介面左侧显示地图 - + Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 - + openpilot Longitudinal Control openpilot纵向控制 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index f4681f85d9..9b792e6df0 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛員攝像頭 - + PREVIEW 預覽 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 - + Change Language 更改語言 - + CHANGE 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -718,33 +718,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -983,89 +983,89 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + Switch Branch 切換分支 - + ENTER 切換 - - + + The new branch will be pulled the next time the updater runs. 新的分支將會在下次檢查更新時切換過去。 - + Enter branch name 輸入分支名稱 - + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1194,41 +1194,51 @@ location set + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal 油門取消控車 - + When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - + Show ETA in 24h Format 預計到達時間單位改用 24 小時制 - + Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - + Show Map on Left Side of UI 將地圖顯示在畫面的左側 - + Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 - + openpilot Longitudinal Control openpilot 縱向控制 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！