clarified-moonstone

starpilot/system/speed_limit_vision.py

@@ -157,8 +157,8 @@ SPEED_LIMIT_CLASSES = {
   13: 90,
 }
 
-VALID_SPEED_LIMITS_MPH = set(range(10, 125, 5))
-MIN_PUBLISHABLE_SPEED_LIMIT_MPH = 20
+VALID_SPEED_LIMITS_MPH = set(range(5, 125, 5))
+MIN_PUBLISHABLE_SPEED_LIMIT_MPH = 5
 LEGACY_MODEL_PATH = Path(__file__).resolve().parents[1] / "assets" / "vision_models" / "speed_limit_vision.onnx"
 US_DETECTOR_MODEL_PATH = Path(__file__).resolve().parents[1] / "assets" / "vision_models" / "speed_limit_us_detector.onnx"
 US_CLASSIFIER_MODEL_PATH = Path(__file__).resolve().parents[1] / "assets" / "vision_models" / "speed_limit_us_value_classifier.onnx"
@@ -168,7 +168,7 @@ US_DETECTOR_CLASSES = {
   1: "advisory_speed_limit",
   2: "school_zone_speed_limit",
 }
-US_CLASSIFIER_SPEED_VALUES = (15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75)
+US_CLASSIFIER_SPEED_VALUES = (10, 100, 15, 20, 25, 30, 35, 40, 45, 5, 50, 55, 60, 65, 70, 75, 80, 90)
 EXTENDED_CLASSIFIER_SPEED_VALUES = frozenset((5, 10, 80, 90, 100))
 SCHOOL_ZONE_SPEED_VALUES = frozenset((15, 20, 25))
 US_DETECTOR_MIN_CONFIDENCE = 0.06

starpilot/system/tests/test_speed_limit_vision.py

@@ -78,7 +78,7 @@ def test_published_sign_value_uses_configured_units():
 
 @pytest.mark.parametrize(("confidence", "expected"), ((0.89, None), (0.91, (80, 0.91))))
 def test_extended_classifier_values_require_high_confidence(monkeypatch, confidence, expected):
-  speed_values = (10, 100, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 90)
+  speed_values = (10, 100, 15, 20, 25, 30, 35, 40, 45, 5, 50, 55, 60, 65, 70, 75, 80, 90)
   probabilities = np.zeros(len(speed_values) + 1, dtype=np.float32)
   probabilities[speed_values.index(80)] = confidence
   probabilities[-1] = 1.0 - confidence
@@ -102,6 +102,15 @@ def test_extended_classifier_values_require_high_confidence(monkeypatch, confide
     assert result == pytest.approx(expected)
 
 
+def test_five_mph_detection_is_publishable():
+  daemon = SpeedLimitVisionDaemon.__new__(SpeedLimitVisionDaemon)
+
+  detection = daemon._publishable_detection(slv.Detection(5, 0.95))
+
+  assert detection is not None
+  assert detection.speed_limit_mph == 5
+
+
 def test_speed_change_requires_two_matching_reads_below_single_read_threshold():
   daemon = daemon_with_history(40, [(55, 0.82)])
   assert daemon._confirm_detection() is None