Nudge speed (commaai#369)

* Add param to change the speed at which a nudge is not required.

* Update description

* Update description

* updates

README.md

@@ -135,8 +135,7 @@ Here are the main parameters you can change with this fork:
   - [`enable_long_derivative`](#pi---pid-controller-for-long-and-lat): This enables derivative-based integral wind-down to help overshooting within the PID loop. Useful for Toyotas with pedals or cars with bad long tuning
   - [`use_lqr`](#pi---pid-controller-for-long-and-lat): Enable this to use LQR for lateral control with any car. It uses the RAV4 tuning, but has proven to work well for many cars
 - **General fork params**:
-  - `alca_nudge_required`: Whether to wait for applied torque to the wheel (nudge) before making lane changes
-  - `alca_min_speed`: The minimum speed allowed for an automatic lane change in mph
+  - `alca_no_nudge_speed`: Above this speed (mph), lane changes initiate IMMEDIATELY after turning on the blinker. Behavior is stock under this speed (waits for torque)
   - `upload_on_hotspot`: Controls whether your EON will upload driving data on your phone's hotspot
   - [`update_behavior`](#Automatic-updates): `off` will never update, `alert` shows an alert on-screen. `auto` will reboot the device when an update is seen
   - `disengage_on_gas`: Whether you want openpilot to disengage on gas input or not

common/op_params.py

@@ -104,9 +104,7 @@ def __init__(self):
                                                             'This is multiplied by any profile that\'s active. Set to 1. to disable', live=True),
                         'min_TR': Param(0.9, NUMBER, 'The minimum allowed following distance in seconds. Default is 0.9 seconds\n'
                                                      'The range is limited from 0.85 to 2.7', live=True),
-                        'alca_nudge_required': Param(True, bool, 'Whether to wait for applied torque to the wheel (nudge) before making lane changes. '
-                                                                 'If False, lane change will occur IMMEDIATELY after signaling'),
-                        'alca_min_speed': Param(25.0, NUMBER, 'The minimum speed allowed for an automatic lane change (in MPH)'),
+                        'alca_no_nudge_speed': Param(90., NUMBER, 'Above this speed (mph), lane changes initiate IMMEDIATELY. Behavior is stock under'),
                         'steer_ratio': Param(None, NONE_OR_NUMBER, '(Can be: None, or a float) If you enter None, openpilot will use the learned sR.\n'
                                                                    'If you use a float/int, openpilot will use that steer ratio instead', live=True),
                         # 'lane_speed_alerts': Param('silent', str, 'Can be: (\'off\', \'silent\', \'audible\')\n'
@@ -136,7 +134,7 @@ def __init__(self):
                         'rav4TSS2_use_indi': Param(False, bool, 'Enable this to use INDI for lat with your TSS2 RAV4', static=True),
                         'standstill_hack': Param(False, bool, 'Some cars support stop and go, you just need to enable this', static=True)}
 
-    self._to_delete = ['steer_rate_fix', 'uniqueID']  # a list of unused params you want to delete from users' params file
+    self._to_delete = ['alca_min_speed', 'alca_nudge_required']  # a list of unused params you want to delete from users' params file
     self._to_reset = []  # a list of params you want reset to their default values
     self._run_init()  # restores, reads, and updates params
 

selfdrive/controls/lib/lateral_planner.py

@@ -105,7 +105,7 @@ def update(self, sm, CP, VM):
 
     # Lane change logic
     one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
-    below_lane_change_speed = v_ego < self.op_params.get('alca_min_speed') * CV.MPH_TO_MS
+    below_lane_change_speed = False
 
     if sm['carState'].leftBlinker:
       self.lane_change_direction = LaneChangeDirection.left
@@ -119,7 +119,7 @@ def update(self, sm, CP, VM):
       torque_applied = sm['carState'].steeringPressed and \
                        ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                         (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
-      if not self.op_params.get('alca_nudge_required'):
+      if v_ego >= self.op_params.get('alca_no_nudge_speed') * CV.MPH_TO_MS:
         torque_applied = True
 
       blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or