41 lines
1.5 KiB
41 lines
1.5 KiB
from cereal import log
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from openpilot.common.realtime import DT_CTRL
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from openpilot.common.conversions import Conversions as CV
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CAMERA_OFFSET = 0.04
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LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
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LANE_DEPARTURE_THRESHOLD = 0.1
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class LaneDepartureWarning:
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def __init__(self):
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self.left = False
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self.right = False
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self.last_blinker_frame = 0
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def update(self, frame, modelV2, CS, CC):
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if CS.leftBlinker or CS.rightBlinker:
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self.last_blinker_frame = frame
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recent_blinker = (frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
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ldw_allowed = CS.vEgo > LDW_MIN_SPEED and not recent_blinker and not CC.latActive
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desire_prediction = modelV2.meta.desirePrediction
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if len(desire_prediction) and ldw_allowed:
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right_lane_visible = modelV2.laneLineProbs[2] > 0.5
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left_lane_visible = modelV2.laneLineProbs[1] > 0.5
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l_lane_change_prob = desire_prediction[log.Desire.laneChangeLeft]
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r_lane_change_prob = desire_prediction[log.Desire.laneChangeRight]
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lane_lines = modelV2.laneLines
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l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
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r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
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self.left = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
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self.right = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
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else:
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self.left, self.right = False, False
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@property
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def warning(self) -> bool:
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return bool(self.left or self.right)
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