LaneLineCheck 옵션: 차선변경 판단 및 HUD 색상 연동

common/params_keys.h

@@ -278,6 +278,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LaneChangeNeedTorque", {PERSISTENT, INT, "0"}},
     {"LaneChangeDelay", {PERSISTENT, INT, "0"}},
     {"LaneChangeBsd", {PERSISTENT, INT, "0"}},
+    {"LaneLineCheck", {PERSISTENT, INT, "0"}},
     {"MaxAngleFrames", {PERSISTENT, INT, "89"}},
 
     {"SoftHoldMode", {PERSISTENT, INT, "0"}},

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -644,6 +644,9 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
   ret = []
 
   md = CS.MD
+  if not hasattr(create_ccnc_messages, '_lane_line_check') or frame % 100 == 0:
+    create_ccnc_messages._lane_line_check = Params().get_int("LaneLineCheck")
+  lane_line_check = create_ccnc_messages._lane_line_check
   desire, lane_changing = _get_desire_and_lane_changing(md)
 
   if CP.flags & HyundaiFlags.CAMERA_SCC.value:
@@ -743,14 +746,22 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
         values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 and lat_active else 0
 
         lane_color = 6 if md is not None and md.meta.laneChangeAvailableLeft else 2
-        lane_color = 4 if CS.out.leftLaneLine >= 20 or CS.out.leftBlindspot else lane_color
+        if lane_line_check >= 1:
+          lane_line_warn_left = CS.out.leftLaneLine % 10 not in (0, 5)   # 실선이면 주황
+        else:
+          lane_line_warn_left = CS.out.leftLaneLine >= 20                  # 노란색이면 주황
+        lane_color = 4 if lane_line_warn_left or CS.out.leftBlindspot else lane_color
         if hud_control.leftLaneDepart:
           values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
         else:
           values["LANELINE_LEFT"] = lane_color if hud_control.leftLaneVisible else 0
 
         lane_color = 6 if md is not None and md.meta.laneChangeAvailableRight else 2
-        lane_color = 4 if CS.out.rightLaneLine >= 20 or CS.out.rightBlindspot else lane_color
+        if lane_line_check >= 1:
+          lane_line_warn_right = CS.out.rightLaneLine % 10 not in (0, 5)
+        else:
+          lane_line_warn_right = CS.out.rightLaneLine >= 20
+        lane_color = 4 if lane_line_warn_right or CS.out.rightBlindspot else lane_color
         if hud_control.rightLaneDepart:
           values["LANELINE_RIGHT"] = 4 if (frame // 50) % 2 == 0 else 1
         else:

selfdrive/carrot_settings.json

@@ -1649,6 +1649,22 @@
       "ctitle": "变道盲点监测 (BSD)",
       "cdescr": "0: BSD 检测 (允许转向力矩), 1: 阻止转向力矩, -1: 忽略 BSD"
     },
+    {
+      "group": "조향일반",
+      "name": "LaneLineCheck",
+      "title": "차선변경 차선판단",
+      "descr": "0: 색상+타입(노란선차단)\n1: 타입만(점선/실선)\n2: 타입만+실선토크override",
+      "egroup": "LAT",
+      "etitle": "LaneChange LineCheck",
+      "edescr": "0: Color+Type(block yellow), 1: Type only, 2: Type+torque override solid",
+      "min": 0,
+      "max": 2,
+      "default": 0,
+      "unit": 1,
+      "cgroup": "转向",
+      "ctitle": "变道车道判断",
+      "cdescr": "0: 颜色+类型(黄线阻止), 1: 仅类型(虚线/实线), 2: 仅类型+实线扭矩override"
+    },
     {
       "group": "시작",
       "name": "HapticFeedbackWhenSpeedCamera",

selfdrive/controls/lib/desire_helper.py

@@ -57,6 +57,7 @@ def __init__(self):
     # params
     self.laneChangeNeedTorque = 0
     self.laneChangeBsd = 0
+    self.laneLineCheck = 0
     self.laneChangeDelay = 0.0
     self.modelTurnSpeedFactor = 0.0
     self.model_turn_speed = 200.0
@@ -76,6 +77,7 @@ def _update_params_periodic(self):
     if self.frame % 100 == 0:
       self.laneChangeNeedTorque = self.params.get_int("LaneChangeNeedTorque")
       self.laneChangeBsd = self.params.get_int("LaneChangeBsd")
+      self.laneLineCheck = self.params.get_int("LaneLineCheck")
       self.laneChangeDelay = self.params.get_float("LaneChangeDelay") * 0.1
       self.modelTurnSpeedFactor = self.params.get_float("ModelTurnSpeedFactor") * 0.1
 
@@ -191,8 +193,14 @@ def _process_sides(self, carstate, modeldata, radarState):
     self.right.update_obstacles(v_ego, radarState.leadRight, carstate.rightBlindspot, ignore_bsd, bsd_hold_sec=2.0)
 
     # compute available (include BSD+object)
-    self.left.compute_lane_change_available(lane_line_info_lt_20=(self.left.lane_line_info_raw < 20), ignore_bsd=ignore_bsd)
-    self.right.compute_lane_change_available(lane_line_info_lt_20=(self.right.lane_line_info_raw < 20), ignore_bsd=ignore_bsd)
+    if self.laneLineCheck >= 1:
+      left_line_ok = self.left.lane_line_info_mod in (0, 5)
+      right_line_ok = self.right.lane_line_info_mod in (0, 5)
+    else:
+      left_line_ok = self.left.lane_line_info_raw < 20
+      right_line_ok = self.right.lane_line_info_raw < 20
+    self.left.compute_lane_change_available(lane_line_info_lt_20=left_line_ok, ignore_bsd=ignore_bsd)
+    self.right.compute_lane_change_available(lane_line_info_lt_20=right_line_ok, ignore_bsd=ignore_bsd)
 
     self.left.update_triggers()
     self.right.update_triggers()
@@ -350,10 +358,17 @@ def update(self, carstate, modeldata, lateral_active, lane_change_prob, carrotMa
               # 차선변경 시작 조건:
               # - side.lane_change_available는 BSD+object 포함(요구사항)
               # - 하지만 BSD 중에도 torque override 허용해야 하므로, BSD 분기를 별도로 둠(원본 동작 유지)
-              start_gate = (side.lane_change_available_geom and self.lane_change_delay == 0) or side.lane_line_info_edge_detect
+              # LaneLineCheck=2: 실선에서도 토크 override 허용
+              solid_line_blocked = (self.laneLineCheck >= 2) and (not side.lane_change_available_geom) and \
+                                   (side.lane_available or side.edge_available)
+              start_gate = (side.lane_change_available_geom and self.lane_change_delay == 0) or \
+                           side.lane_line_info_edge_detect or solid_line_blocked
 
               if start_gate:
-                if bsd_active:
+                if solid_line_blocked:
+                  if torque_applied and not (bsd_active and block_lanechange_bsd):
+                    self.lane_change_state = LaneChangeState.laneChangeStarting
+                elif bsd_active:
                   if torque_applied and (not block_lanechange_bsd):
                     self.lane_change_state = LaneChangeState.laneChangeStarting
                 elif self.laneChangeNeedTorque > 0 or self.next_lane_change:

selfdrive/ui/qt/offroad/settings.cc

@@ -698,6 +698,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   latLongToggles->addItem(new CValueControl("LaneChangeNeedTorque", tr("LaneChange need torque"), tr("-1:Disable lanechange, 0: no need torque, 1:need torque"), -1, 1, 1));
   latLongToggles->addItem(new CValueControl("LaneChangeDelay", tr("LaneChange delay"), tr("x0.1sec"), 0, 100, 5));
   latLongToggles->addItem(new CValueControl("LaneChangeBsd", tr("LaneChange Bsd"), tr("-1:ignore bsd, 0:BSD detect, 1: block steer torque"), -1, 1, 1));
+  latLongToggles->addItem(new CValueControl("LaneLineCheck", tr("LaneChange LineCheck"), tr("0:Color+Type, 1:Type only, 2:Type+torque override solid"), 0, 2, 1));
   latLongToggles->addItem(new CValueControl("CustomSR", tr("LAT: SteerRatiox0.1(0)"), tr("Custom SteerRatio"), 0, 300, 1));
   latLongToggles->addItem(new CValueControl("SteerRatioRate", tr("LAT: SteerRatioRatex0.01(100)"), tr("SteerRatio apply rate"), 30, 170, 1));
   latLongToggles->addItem(new CValueControl("PathOffset", tr("LAT: PathOffset"), tr("(-)left, (+)right"), -150, 150, 1));