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ajouatom
2025-08-26 18:06:04 +09:00
parent 29a1d2b34e
commit 6fa4a2acd8
1 changed files with 2 additions and 2 deletions
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4
selfdrive/controls/radard.py
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@@ -105,7 +105,7 @@ def laplacian_pdf(x: float, mu: float, b: float):
diff = abs(x - mu) / max(b, 1e-4)
return 0.0 if diff > 50.0 else math.exp(-diff)
def match_vision_to_track_carrot(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
#vel_tolerance = 25.0 if lead.prob > 0.99 else 10.0
max_vision_dist = max(offset_vision_dist * 1.25, 5.0)
@@ -165,7 +165,7 @@ def match_vision_to_track_carrot(v_ego: float, lead: capnp._DynamicStructReader,
return best_track
def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
def match_vision_to_track_old(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
#vel_tolerance = 25.0 if lead.prob > 0.99 else 10.0
max_offset_vision_dist = max(offset_vision_dist * 0.35, 5.0)