selfdrive.controls package

Subpackages

Submodules

selfdrive.controls.controlsd module

class selfdrive.controls.controlsd.Controls(CI=None)[source]

Bases: object

controlsd_thread()[source]

data_sample()[source]: Receive data from sockets and update carState

params_thread(evt)[source]

publish_logs(CS, start_time, CC, lac_log)[source]: Send actuators and hud commands to the car, send controlsstate and MPC logging

read_personality_param()[source]

set_initial_state()[source]

state_control(CS)[source]: Given the state, this function returns a CarControl packet

state_transition(CS)[source]: Compute conditional state transitions and execute actions on state transitions

step()[source]

update_events(CS)[source]: Compute onroadEvents from carState

selfdrive.controls.controlsd.main()[source]

selfdrive.controls.plannerd module

selfdrive.controls.plannerd.main()[source]

selfdrive.controls.plannerd.plannerd_thread()[source]

selfdrive.controls.plannerd.publish_ui_plan(sm, pm, longitudinal_planner)[source]

selfdrive.controls.radard module

class selfdrive.controls.radard.KalmanParams(dt: float)[source]: Bases: object

class selfdrive.controls.radard.RadarD(radar_ts: float, delay: int = 0)[source]

Bases: object

publish(pm: PubMaster, lag_ms: float)[source]

update(sm: ~cereal.messaging.SubMaster, rr: <capnp.lib.capnp._StructModule object at 0x7f1343b52550> | None)[source]

class selfdrive.controls.radard.Track(identifier: int, v_lead: float, kalman_params: KalmanParams)[source]

Bases: object

get_RadarState(model_prob: float = 0.0)[source]

get_key_for_cluster()[source]

is_potential_fcw(model_prob: float)[source]

potential_low_speed_lead(v_ego: float)[source]

reset_a_lead(aLeadK: float, aLeadTau: float)[source]

update(d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float)[source]

selfdrive.controls.radard.get_RadarState_from_vision(lead_msg: _DynamicStructReader, v_ego: float, model_v_ego: float)[source]

selfdrive.controls.radard.get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: _DynamicStructReader, model_v_ego: float, low_speed_override: bool = True) → dict[str, Any][source]

selfdrive.controls.radard.laplacian_pdf(x: float, mu: float, b: float)[source]

selfdrive.controls.radard.main()[source]

selfdrive.controls.radard.match_vision_to_track(v_ego: float, lead: _DynamicStructReader, tracks: dict[int, Track])[source]

Module contents