From 67017d69fe02d9ed6a9cfba54565a403e59afcc4 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 27 May 2020 14:35:01 -0700 Subject: [PATCH] Minor fixes (#1571) * was 5 seconds not .2! * threshold for moving car highers, this can give FPw --- selfdrive/controls/lib/pathplanner.py | 4 ++-- selfdrive/controls/radard.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index a8de48013a..a92efa1ade 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -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 diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 116968143d..e4d6f97234 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -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: