From dd03dbc344443fb23441a6883d1c63b12378398f Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 27 Oct 2022 17:31:15 -0700 Subject: [PATCH] Eliminate toyota close radar glitches causing no resume (#26272) Eliminate toyota close radar glitches old-commit-hash: f76a390daf677700fbce49253f93412dd44eee0d --- selfdrive/controls/lib/radar_helpers.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index bf788190cd..4bb0179267 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -151,7 +151,8 @@ 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) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25 + # Radar points closer than 0.75, are almost always glitches on toyota radars + return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25) def is_potential_fcw(self, model_prob): return model_prob > .9