From cd2636a712659659a90bbbcf89f2355bdd4252c7 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Sun, 4 Sep 2022 13:29:13 -0700 Subject: [PATCH] Radard: ignore leads without model confirmation wider than 1.0m (#25664) Dont stop for cars next to you without model confirmation old-commit-hash: 4c05c88c10f24d771c76bd8b078426a06a82b4f8 --- selfdrive/controls/lib/radar_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 85699866b0..0e2b96668f 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -152,7 +152,7 @@ class Cluster(): def potential_low_speed_lead(self, v_ego): # stop for stuff in front of you and low speed, even without model confirmation - return abs(self.yRel) < 1.5 and (v_ego < v_ego_stationary) and self.dRel < 25 + return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25 def is_potential_fcw(self, model_prob): return model_prob > .9