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firestar5683
2026-07-04 13:47:48 -05:00
parent a630533b44
commit 3317d545be
2 changed files with 10 additions and 6 deletions
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starpilot/assets/vision_models/speed_limit_us_value_classifier.onnx
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starpilot/system/speed_limit_vision.py
+10 -6
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@@ -16,13 +16,14 @@ from openpilot.common.constants import CV
from openpilot.common.realtime import set_core_affinity
from openpilot.system.hardware import PC
INFERENCE_INTERVAL = 0.5
INFERENCE_INTERVAL = 0.25
FOLLOWUP_INFERENCE_INTERVAL = 0.2
FOLLOWUP_WINDOW_SECONDS = 2.0
BUSY_INFERENCE_INTERVAL = 1.0
LIVE_POSE_RECOVERY_THROTTLE_SECONDS = 2.0
LIVE_POSE_RECOVERY_INFERENCE_INTERVAL = 1.0
DEVICE_BUSY_CPU_USAGE_PERCENT = 88.0
DEVICE_BUSY_AVG_CPU_USAGE_PERCENT = 78.0
DEVICE_BUSY_MAX_CPU_USAGE_PERCENT = 92.0
MIN_DETECTION_CONFIDENCE = 0.2
STRONG_DETECTION_CONFIDENCE = 0.72
OCR_MIN_CONFIDENCE = 0.35
@@ -131,10 +132,10 @@ US_CLASSIFIER_SPEED_VALUES = (15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75
SCHOOL_ZONE_SPEED_VALUES = frozenset((15, 20, 25))
US_DETECTOR_MIN_CONFIDENCE = 0.10
US_CLASSIFIER_MIN_CONFIDENCE = 0.50
US_CLASSIFIER_REJECT_MIN_CONFIDENCE = 0.45
US_REJECT_CLASSIFIER_MIN_CONFIDENCE = 0.60
US_CLASSIFIER_REJECT_MIN_CONFIDENCE = 0.85
US_REJECT_CLASSIFIER_MIN_CONFIDENCE = 0.85
DETECTOR_CLASSIFIER_EXPANSIONS = (
(0.00, 0.00, 0.00, 0.00, 0.60),
(0.00, 0.00, 0.00, 0.00, 1.10),
(0.10, 0.06, 0.10, 0.12, 1.00),
(0.06, 0.00, 0.10, 0.10, 0.75),
(0.00, 0.00, 0.18, 0.18, 0.55),
@@ -703,7 +704,10 @@ class SpeedLimitVisionDaemon:
cpu_usage = list(self.sm["deviceState"].cpuUsagePercent)
if not cpu_usage:
return False
return sum(cpu_usage) / len(cpu_usage) >= DEVICE_BUSY_CPU_USAGE_PERCENT
return (
sum(cpu_usage) / len(cpu_usage) >= DEVICE_BUSY_AVG_CPU_USAGE_PERCENT or
max(cpu_usage) >= DEVICE_BUSY_MAX_CPU_USAGE_PERCENT
)
def _inference_interval(self, now):
in_followup = now < self.followup_until