From f4ca6e0c1695bbf978ce947c12cb468213db682f Mon Sep 17 00:00:00 2001
From: ajouatom <ajouatom@gmail.com>
Date: Wed, 27 Aug 2025 16:20:05 +0900
Subject: [PATCH] fix.. radard

---
 selfdrive/controls/radard.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index cf895728..ea747176 100644
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -125,7 +125,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
 
 
   # 끼어드는차량을 간헐적 멀리있는 차량으로 검출하는 문제가 있음..
-  y_gate  = max(1.5,  lead.yStd[0] * 2.0)
+  y_gate  = min(1.5,  lead.yStd[0] * 2.0)
   v_gate  = max(5.0,  lead.vStd[0] * 2.0)
 
   yv_candidates = [