From ae2f502767e4d9317ee7fb246c977036aa1113cc Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Tue, 2 Jun 2026 00:29:10 -0500 Subject: [PATCH] g90 long --- selfdrive/controls/radard.py | 4 +++- selfdrive/controls/tests/test_leads.py | 4 ++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index bc32b657f..4b7fa3d00 100644 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -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 diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py index ce836c807..31590abea 100644 --- a/selfdrive/controls/tests/test_leads.py +++ b/selfdrive/controls/tests/test_leads.py @@ -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)