From 6fa4a2acd85660f05eb6b37283fe99fde721c10d Mon Sep 17 00:00:00 2001 From: ajouatom Date: Tue, 26 Aug 2025 18:06:04 +0900 Subject: [PATCH] fix.. --- selfdrive/controls/radard.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 3ecf1ac2..cf895728 100644 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -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)