Minor fixes (#1571)

* was 5 seconds not .2!

* threshold for moving car highers, this can give FPw

selfdrive/controls/lib/pathplanner.py

@@ -126,8 +126,8 @@ class PathPlanner():
 
       # starting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting:
-        # fade out over .2s
+        # fade out over .5s
-        self.lane_change_ll_prob = max(self.lane_change_ll_prob - DT_MDL/5, 0.0)
+        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

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: