Vision Turn Speed Controller

Added toggles for "Vision Turn Speed Control" along with aggressiveness for the speed and sensitivity for the curve itself.

Credit goes to Pfeiferj!

https: //github.com/pfeiferj
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>

cereal/custom.capnp

@@ -38,6 +38,7 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   slcSpeedLimit @10 :Float64;
   slcSpeedLimitOffset @11 :Float32;
   stoppedEquivalenceFactor @12 :Int16;
+  vtscControllingCurve @13 :Bool;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {

common/params.cc

@@ -241,6 +241,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
     {"CurrentRandomEvent", PERSISTENT},
+    {"CurveSensitivity", PERSISTENT},
     {"CustomColors", PERSISTENT},
     {"CustomIcons", PERSISTENT},
     {"CustomPersonalities", PERSISTENT},
@@ -363,13 +364,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"StoppingDistance", PERSISTENT},
     {"TetheringEnabled", PERSISTENT},
     {"TSS2Tune", PERSISTENT},
+    {"TurnAggressiveness", PERSISTENT},
     {"TurnDesires", PERSISTENT},
     {"UnlimitedLength", PERSISTENT},
     {"Updated", PERSISTENT},
     {"UpdateSchedule", PERSISTENT},
     {"UpdateTime", PERSISTENT},
     {"UseSI", PERSISTENT},
     {"UseVienna", PERSISTENT},
+    {"VisionTurnControl", PERSISTENT},
     {"WheelIcon", PERSISTENT},
 };
 

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -12,6 +12,10 @@
 from openpilot.selfdrive.frogpilot.functions.map_turn_speed_controller import MapTurnSpeedController
 from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
 
+# VTSC variables
+MIN_TARGET_V = 5    # m/s
+TARGET_LAT_A = 1.9  # m/s^2
+
 class FrogPilotPlanner:
   def __init__(self, params, params_memory):
     self.cem = ConditionalExperimentalMode()
@@ -23,6 +27,7 @@ def __init__(self, params, params_memory):
     self.mtsc_target = 0
     self.slc_target = 0
     self.v_cruise = 0
+    self.vtsc_target = 0
 
     self.accel_limits = [A_CRUISE_MIN, get_max_accel(0)]
 
@@ -34,7 +39,7 @@ def update(self, carState, controlsState, modelData, mpc, sm, v_cruise, v_ego):
     road_curvature = FrogPilotFunctions.road_curvature(modelData, v_ego)
 
     # Acceleration profiles
-    v_cruise_changed = (self.mtsc_target) + 1 < v_cruise  # Use stock acceleration profiles to handle MTSC more precisely
+    v_cruise_changed = (self.mtsc_target or self.vtsc_target) + 1 < v_cruise  # Use stock acceleration profiles to handle MTSC/VTSC more precisely
     if v_cruise_changed:
       self.accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
     elif self.acceleration_profile == 1:
@@ -48,10 +53,11 @@ def update(self, carState, controlsState, modelData, mpc, sm, v_cruise, v_ego):
     if self.conditional_experimental_mode and enabled:
       self.cem.update(carState, sm['frogpilotNavigation'], modelData, mpc, sm['radarState'], road_curvature, carState.standstill, v_ego)
 
-    if enabled:
+    if v_ego > MIN_TARGET_V:
       self.v_cruise = self.update_v_cruise(carState, controlsState, modelData, enabled, v_cruise, v_ego)
     else:
       self.mtsc_target = v_cruise
+      self.vtsc_target = v_cruise
       self.v_cruise = v_cruise
 
     # Lane detection
@@ -101,15 +107,36 @@ def update_v_cruise(self, carState, controlsState, modelData, enabled, v_cruise,
       self.overriden_speed = 0
       self.slc_target = v_cruise
 
+    # Pfeiferj's Vision Turn Controller
+    if self.vision_turn_controller:
+      # Set the curve sensitivity
+      orientation_rate = np.array(np.abs(modelData.orientationRate.z)) * self.curve_sensitivity
+      velocity = np.array(modelData.velocity.x)
+
+      # Get the maximum lat accel from the model
+      max_pred_lat_acc = np.amax(orientation_rate * velocity)
+
+      # Get the maximum curve based on the current velocity
+      max_curve = max_pred_lat_acc / (v_ego**2)
+
+      # Set the target lateral acceleration
+      adjusted_target_lat_a = TARGET_LAT_A * self.turn_aggressiveness
+
+      # Get the target velocity for the maximum curve
+      self.vtsc_target = (adjusted_target_lat_a / max_curve)**0.5
+      self.vtsc_target = np.clip(self.vtsc_target, MIN_TARGET_V, v_cruise)
+    else:
+      self.vtsc_target = v_cruise
+
     v_ego_diff = max(carState.vEgoRaw - carState.vEgoCluster, 0)
-    return min(v_cruise, self.mtsc_target, self.slc_target) - v_ego_diff
+    return min(v_cruise, self.mtsc_target, self.slc_target, self.vtsc_target) - v_ego_diff
 
   def publish(self, sm, pm, mpc):
     frogpilot_plan_send = messaging.new_message('frogpilotPlan')
     frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
     frogpilotPlan = frogpilot_plan_send.frogpilotPlan
 
-    frogpilotPlan.adjustedCruise = self.mtsc_target * (CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH)
+    frogpilotPlan.adjustedCruise = float(min(self.mtsc_target, self.vtsc_target) * (CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH))
     frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
 
     frogpilotPlan.desiredFollowDistance = mpc.safe_obstacle_distance - mpc.stopped_equivalence_factor
@@ -127,6 +154,8 @@ def publish(self, sm, pm, mpc):
     frogpilotPlan.slcSpeedLimit = float(self.slc_target)
     frogpilotPlan.slcSpeedLimitOffset = SpeedLimitController.offset
 
+    frogpilotPlan.vtscControllingCurve = bool(self.mtsc_target > self.vtsc_target)
+
     pm.send('frogpilotPlan', frogpilot_plan_send)
 
   def update_frogpilot_params(self, params, params_memory):
@@ -165,3 +194,8 @@ def update_frogpilot_params(self, params, params_memory):
     if self.speed_limit_controller:
       self.speed_limit_controller_override = params.get_int("SLCOverride")
       SpeedLimitController.update_frogpilot_params()
+
+    self.vision_turn_controller = params.get_bool("VisionTurnControl")
+    if self.vision_turn_controller:
+      self.curve_sensitivity = params.get_int("CurveSensitivity") / 100
+      self.turn_aggressiveness = params.get_int("TurnAggressiveness") / 100

selfdrive/frogpilot/ui/control_settings.cc

@@ -62,6 +62,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"SLCOverride", "Override Method", "Choose your preferred method to override the current speed limit.", ""},
 
     {"TurnDesires", "Use Turn Desires", "Use turn desires for enhanced precision in turns below the minimum lane change speed.", "../assets/navigation/direction_continue_right.png"},
+
+    {"VisionTurnControl", "Vision Turn Speed Controller", "Slow down for detected road curvature for smoother curve handling.", "../frogpilot/assets/toggle_icons/icon_vtc.png"},
+    {"CurveSensitivity", "Curve Detection Sensitivity", "Set curve detection sensitivity. Higher values prompt earlier responses, lower values lead to smoother but later reactions.", ""},
+    {"TurnAggressiveness", "Turn Speed Aggressiveness", "Set turn speed aggressiveness. Higher values result in faster turns, lower values yield gentler turns.", ""},
   };
 
   for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -368,6 +372,18 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
       slscPriorityButton->setValue(initialPriorities.join(", "));
       addItem(slscPriorityButton);
 
+    } else if (param == "VisionTurnControl") {
+      FrogPilotParamManageControl *visionTurnControlToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(visionTurnControlToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end());
+        }
+      });
+      toggle = visionTurnControlToggle;
+    } else if (param == "CurveSensitivity" || param == "TurnAggressiveness") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, std::map<int, QString>(), this, false, "%");
+
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);
     }
@@ -409,7 +425,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   mtscKeys = {"MTSCAggressiveness"};
   qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
   speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
-  visionTurnControlKeys = {};
+  visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, [this](bool offroad) {
     if (!offroad) {

selfdrive/ui/qt/onroad.cc

@@ -577,7 +577,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   if (is_cruise_set && cruiseAdjustment) {
     float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
-    QColor min = whiteColor(75), max = greenColor(75);
+    QColor min = whiteColor(75);
+    QColor max = scene.vtsc_controlling_curve ? redColor(75) : greenColor(75);
 
     p.setPen(QPen(QColor::fromRgbF(
       min.redF()   + transition * (max.redF()   - min.redF()),

selfdrive/ui/ui.cc

@@ -256,6 +256,7 @@ static void update_state(UIState *s) {
       scene.speed_limit_overridden_speed = frogpilotPlan.getSlcOverriddenSpeed();
     }
     scene.adjusted_cruise = frogpilotPlan.getAdjustedCruise();
+    scene.vtsc_controlling_curve = frogpilotPlan.getVtscControllingCurve();
   }
   if (sm.updated("liveLocationKalman")) {
     auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();

selfdrive/ui/ui.h

@@ -215,6 +215,7 @@ typedef struct UIScene {
   bool unlimited_road_ui_length;
   bool use_si;
   bool use_vienna_slc_sign;
+  bool vtsc_controlling_curve;
   float adjusted_cruise;
   float lane_line_width;
   float lane_width_left;