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54 lines
2.2 KiB
54 lines
2.2 KiB
import math
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from enum import StrEnum, auto
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from cereal import car, messaging
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.locationd.helpers import Pose
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from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
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from opendbc.car.lateral import ISO_LATERAL_ACCEL
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from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
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MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
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MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
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class ExcessiveActuationType(StrEnum):
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LONGITUDINAL = auto()
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LATERAL = auto()
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class ExcessiveActuationCheck:
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def __init__(self):
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self._excessive_counter = 0
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self._engaged_counter = 0
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def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
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# CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
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# longitudinal
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accel_calibrated = calibrated_pose.acceleration.x
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excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
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# lateral
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yaw_rate = calibrated_pose.angular_velocity.yaw
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roll = sm['liveParameters'].roll
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roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
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# Prevent false positives after overriding
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excessive_lat_actuation = False
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self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
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if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
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if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
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excessive_lat_actuation = True
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# livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
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livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
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self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
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excessive_type = None
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if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
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if excessive_long_actuation:
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excessive_type = ExcessiveActuationType.LONGITUDINAL
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else:
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excessive_type = ExcessiveActuationType.LATERAL
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return excessive_type
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