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Minor fixes (#1571) 

* was 5 seconds not .2!

* threshold for moving car highers, this can give FPw
albatross
HaraldSchafer 2020-05-27 14:35:01 -07:00 committed by GitHub
parent 221d9b3fe2
commit 67017d69fe
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2 changed files with 3 additions and 3 deletions
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4
selfdrive/controls/lib/pathplanner.py
View File

@ -126,8 +126,8 @@ class PathPlanner():
# starting
elif self.lane_change_state == LaneChangeState.laneChangeStarting:
# fade out over .2s
self.lane_change_ll_prob = max(self.lane_change_ll_prob - DT_MDL/5, 0.0)
# fade out over .5s
self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2*DT_MDL, 0.0)
# 98% certainty
if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
self.lane_change_state = LaneChangeState.laneChangeFinishing

2
selfdrive/controls/radard.py
View File

@ -52,7 +52,7 @@ def match_vision_to_cluster(v_ego, lead, clusters):
# if no 'sane' match is found return -1
# stationary radar points can be false positives
dist_sane = abs(cluster.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
vel_sane = (abs(cluster.vRel - lead.relVel) < 10) or (v_ego + cluster.vRel > 2)
vel_sane = (abs(cluster.vRel - lead.relVel) < 10) or (v_ego + cluster.vRel > 3)
if dist_sane and vel_sane:
return cluster
else: