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
  • selfdrive.controls.lib.desire_helper module
  • selfdrive.controls.lib.drive_helpers module
  • selfdrive.controls.lib.events module
  • selfdrive.controls.lib.lane_planner module
  • selfdrive.controls.lib.latcontrol module
  • selfdrive.controls.lib.latcontrol_angle module
  • selfdrive.controls.lib.latcontrol_indi module
  • selfdrive.controls.lib.latcontrol_pid module
  • selfdrive.controls.lib.latcontrol_torque module
  • selfdrive.controls.lib.lateral_planner module
  • selfdrive.controls.lib.longcontrol module
  • selfdrive.controls.lib.longitudinal_planner module
  • selfdrive.controls.lib.pid module
  • selfdrive.controls.lib.radar_helpers module
  • selfdrive.controls.lib.vehicle_model module
  • 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

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