selfdrive.controls package

Subpackages

• selfdrive.controls.lib package
  • Subpackages
    • selfdrive.controls.lib.cluster package
      • Submodules
      • selfdrive.controls.lib.cluster.fastcluster_py module
      • selfdrive.controls.lib.cluster.libfastcluster module
      • Module contents
    • selfdrive.controls.lib.lateral_mpc_lib package
      • Submodules
      • selfdrive.controls.lib.lateral_mpc_lib.lat_mpc module
      • Module contents
    • selfdrive.controls.lib.longitudinal_mpc_lib package
      • Submodules
      • selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc module
      • Module contents
  • Submodules
  • selfdrive.controls.lib.alertmanager module
    • AlertEntry
      • AlertEntry.active()
      • AlertEntry.alert
      • AlertEntry.end_frame
      • AlertEntry.start_frame
    • AlertManager
      • AlertManager.add_many()
      • AlertManager.process_alerts()
    • set_offroad_alert()
  • selfdrive.controls.lib.desire_helper module
    • DesireHelper
      • DesireHelper.update()
  • selfdrive.controls.lib.drive_helpers module
    • apply_deadzone()
    • get_lag_adjusted_curvature()
    • initialize_v_cruise()
    • rate_limit()
    • update_v_cruise()
  • selfdrive.controls.lib.events module
    • Alert
    • ET
      • ET.ENABLE
      • ET.IMMEDIATE_DISABLE
      • ET.NO_ENTRY
      • ET.OVERRIDE_LATERAL
      • ET.OVERRIDE_LONGITUDINAL
      • ET.PERMANENT
      • ET.PRE_ENABLE
      • ET.SOFT_DISABLE
      • ET.USER_DISABLE
      • ET.WARNING
    • EngagementAlert
    • Events
      • Events.add()
      • Events.add_from_msg()
      • Events.any()
      • Events.clear()
      • Events.create_alerts()
      • Events.names
      • Events.to_msg()
    • ImmediateDisableAlert
    • NoEntryAlert
    • NormalPermanentAlert
    • Priority
      • Priority.HIGH
      • Priority.HIGHEST
      • Priority.LOW
      • Priority.LOWER
      • Priority.LOWEST
      • Priority.MID
    • SoftDisableAlert
    • StartupAlert
    • UserSoftDisableAlert
    • below_engage_speed_alert()
    • below_steer_speed_alert()
    • calibration_incomplete_alert()
    • calibration_invalid_alert()
    • camera_malfunction_alert()
    • comm_issue_alert()
    • get_display_speed()
    • high_cpu_usage_alert()
    • joystick_alert()
    • low_memory_alert()
    • modeld_lagging_alert()
    • no_gps_alert()
    • out_of_space_alert()
    • overheat_alert()
    • posenet_invalid_alert()
    • process_not_running_alert()
    • soft_disable_alert()
    • startup_master_alert()
    • user_soft_disable_alert()
    • wrong_car_mode_alert()
  • selfdrive.controls.lib.latcontrol module
    • LatControl
      • LatControl.reset()
      • LatControl.update()
  • selfdrive.controls.lib.latcontrol_angle module
    • LatControlAngle
      • LatControlAngle.update()
  • selfdrive.controls.lib.latcontrol_indi module
    • LatControlINDI
      • LatControlINDI.G
      • LatControlINDI.RC
      • LatControlINDI.inner_loop_gain
      • LatControlINDI.outer_loop_gain
      • LatControlINDI.reset()
      • LatControlINDI.update()
  • selfdrive.controls.lib.latcontrol_pid module
    • LatControlPID
      • LatControlPID.reset()
      • LatControlPID.update()
  • selfdrive.controls.lib.latcontrol_torque module
    • LatControlTorque
      • LatControlTorque.update()
      • LatControlTorque.update_live_torque_params()
  • selfdrive.controls.lib.lateral_planner module
    • LateralPlanner
      • LateralPlanner.publish()
      • LateralPlanner.reset_mpc()
      • LateralPlanner.update()
  • selfdrive.controls.lib.longcontrol module
    • LongControl
      • LongControl.reset()
      • LongControl.update()
    • long_control_state_trans()
  • selfdrive.controls.lib.longitudinal_planner module
    • LongitudinalPlanner
      • LongitudinalPlanner.parse_model()
      • LongitudinalPlanner.publish()
      • LongitudinalPlanner.read_param()
      • LongitudinalPlanner.update()
    • get_max_accel()
    • limit_accel_in_turns()
  • selfdrive.controls.lib.pid module
    • PIDController
      • PIDController.error_integral
      • PIDController.k_d
      • PIDController.k_i
      • PIDController.k_p
      • PIDController.reset()
      • PIDController.update()
  • selfdrive.controls.lib.radar_helpers module
    • Cluster
      • Cluster.aLeadK
      • Cluster.aLeadTau
      • Cluster.aRel
      • Cluster.add()
      • Cluster.dPath
      • Cluster.dRel
      • Cluster.get_RadarState()
      • Cluster.get_RadarState_from_vision()
      • Cluster.is_potential_fcw()
      • Cluster.measured
      • Cluster.potential_low_speed_lead()
      • Cluster.vLat
      • Cluster.vLead
      • Cluster.vLeadK
      • Cluster.vRel
      • Cluster.yRel
    • Track
      • Track.get_key_for_cluster()
      • Track.reset_a_lead()
      • Track.update()
  • selfdrive.controls.lib.vehicle_model module
    • VehicleModel
      • VehicleModel.calc_curvature()
      • VehicleModel.curvature_factor()
      • VehicleModel.get_steer_from_curvature()
      • VehicleModel.get_steer_from_yaw_rate()
      • VehicleModel.roll_compensation()
      • VehicleModel.steady_state_sol()
      • VehicleModel.update_params()
      • VehicleModel.yaw_rate()
    • calc_slip_factor()
    • create_dyn_state_matrices()
    • dyn_ss_sol()
    • kin_ss_sol()
  • Module contents

Submodules

selfdrive.controls.controlsd module

class selfdrive.controls.controlsd.Controls(sm=None, pm=None, can_sock=None, CI=None)

Bases: object

controlsd_thread()

data_sample()

Receive data from sockets and update carState

publish_logs(CS, start_time, CC, lac_log)

Send actuators and hud commands to the car, send controlsstate and MPC logging

set_initial_state()

state_control(CS)

Given the state, this function returns a CarControl packet

state_transition(CS)

Compute conditional state transitions and execute actions on state transitions

step()

update_button_timers(buttonEvents)

update_events(CS)

Compute carEvents from carState

selfdrive.controls.controlsd.main(sm=None, pm=None, logcan=None)

selfdrive.controls.plannerd module

selfdrive.controls.plannerd.main(sm=None, pm=None)

selfdrive.controls.plannerd.plannerd_thread(sm=None, pm=None)

selfdrive.controls.radard module

class selfdrive.controls.radard.KalmanParams(dt)

Bases: object

class selfdrive.controls.radard.RadarD(radar_ts, delay=0)

Bases: object

update(sm, rr)

selfdrive.controls.radard.get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True)

selfdrive.controls.radard.laplacian_cdf(x, mu, b)

selfdrive.controls.radard.main(sm=None, pm=None, can_sock=None)

selfdrive.controls.radard.match_vision_to_cluster(v_ego, lead, clusters)

selfdrive.controls.radard.radard_thread(sm=None, pm=None, can_sock=None)

Module contents