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g90 long

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firestar5683
2026-06-02 00:29:10 -05:00
parent 669143a178
commit ae2f502767
2 changed files with 7 additions and 1 deletions
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selfdrive/controls/radard.py
+3 -1
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@@ -130,7 +130,9 @@ def laplacian_pdf(x: float, mu: float, b: float):
def g90_radar_lead_lateral_sane(track: Track) -> bool:
max_y = min(6.0, max(2.5, 1.5 + 0.08 * max(track.dRel, 0.0)))
# The G90 extended radar channels can report close side ghosts in tight turns.
# Keep the gate tight at close range, then widen gradually with distance.
max_y = min(6.0, 1.5 + 0.08 * max(track.dRel, 0.0))
return abs(track.yRel) <= max_y
selfdrive/controls/tests/test_leads.py
+4
View File
@@ -11,10 +11,14 @@ class TestLeads:
def test_g90_radar_filters_side_tracks(self):
side_track = SimpleNamespace(dRel=13.0, yRel=-10.38, cnt=10)
centered_track = SimpleNamespace(dRel=10.8, yRel=-0.21, cnt=5)
close_side_ghost = SimpleNamespace(dRel=2.2, yRel=2.41, cnt=10)
close_centered_track = SimpleNamespace(dRel=2.2, yRel=1.2, cnt=10)
far_low_speed_track = SimpleNamespace(dRel=15.5, yRel=0.58, cnt=5)
assert not g90_radar_lead_lateral_sane(side_track)
assert g90_radar_lead_lateral_sane(centered_track)
assert not g90_radar_lead_lateral_sane(close_side_ghost)
assert g90_radar_lead_lateral_sane(close_centered_track)
assert g90_low_speed_radar_lead_sane(centered_track, 2.0)
assert not g90_low_speed_radar_lead_sane(far_low_speed_track, 3.5)