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new cut_in

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ajouatom
2025-08-27 18:46:23 +09:00
parent f4ca6e0c16
commit b9b6e9b333
1 changed files with 6 additions and 2 deletions
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8
selfdrive/controls/radard.py
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@@ -518,6 +518,9 @@ class RadarD:
return
md_x, md_y = md.position.x, md.position.y
lane_xs = md.laneLines[1].x
left_ys = md.laneLines[1].y
right_ys = md.laneLines[2].y
left_list, right_list, center_list = [], [], []
@@ -540,8 +543,9 @@ class RadarD:
right_list.append(ld)
# cut-in
cut_in_width = 2.6 #3.4 # 끼어들기 차폭
if abs(dy_with_vel) < cut_in_width / 2 and (3 < c.dRel < 20 and c.vLead > 4 and c.cnt > int(2.0/DT_MDL) and dy * c.yvLead_filtered < 0):
left_y = np.interp(c.dRel, lane_xs, left_ys)
right_y = np.interp(c.dRel, lane_xs, right_ys)
if left_y < dy_with_vel < right_y and (3 < c.dRel < 20 and c.vLead > 4 and c.cnt > int(2.0/DT_MDL) and dy * c.yvLead_filtered < 0):
if not self.leadCutIn['status'] or c.dRel < self.leadCutIn['dRel']:
self.leadCutIn = c.get_RadarState(lead_msg.prob)