Feature to alert user of faster adjacent lanes

[sshane]

idea thanks to greengree

Features:

• alerts you if you are using openpilot and an adjacent lane is traveling on average faster than your current lane
  • does not alert you if:
    • you are below a minimum highway speed
    • you are not engaged
• works well in curves, it offsets the lane positions using dPoly and every track's distance

Dynamic follow changes:

• If effective profile is changed, increase cost temporarily to get to new profile distance quicker

todo:

• make roadtrip and relaxed farther
• tune how often it alerts the user, and for how long
• move lanespeed to a new process
• add button to screen to enable/disable alert
• add better decision making deciding when to alert user
  • right now it just waits for a specific amount of time of a lane being faster before alerting
    • maybe disable alerts if user recently changed lanes
    • maybe change minimum fastest lane time based on speed or traffic conditions
      • working on this, just need to tune it
• change the lane width dynamically based on what openpilot sees from the model
• Fix how adjacent lane lines are interpreted. Right now we just add the lane width to the path, however we should angle it based on the path's position from car so that the lane width remains constant, no matter what angle the path is at