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Revert "Stops on curves false positives"

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This reverts commit f22bcfee36.
This commit is contained in:
whoisdomi
2026-08-24 20:03:54 -05:00
parent f13350b7ec
commit 52eb586c65
3 changed files with 3 additions and 42 deletions
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starpilot/common/starpilot_utilities.py
-18
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@@ -124,24 +124,6 @@ def calculate_lane_width(lane_line1, lane_line2, road_edge=None):
return float(distance_to_lane)
def calculate_model_path_length(model_position):
# Distance the model plans to TRAVEL, measured along the path.
#
# position.x[-1] is only the forward projection of the plan's endpoint in the car's
# frame, so it collapses as soon as the path bends: on a highway sweeper it reads
# ~0.85x the real distance, on an off-ramp ~0.30x. Every "is the model planning a
# stop" test compares this against v_ego * T, so pure geometry reads as a stop.
# Measured on route 78511c37de32c375--9c33d63ad6 (32 min): 546 of 1149 false stop
# detections came from the chord collapse alone, with zero true stops depending on it
# (on a straight approach the two are identical to within 0.3%).
x = np.asarray(model_position.x, dtype=np.float64)
y = np.asarray(model_position.y, dtype=np.float64)
if x.size < 2 or y.size != x.size:
return float(x[-1]) if x.size else 0.0
return float(np.sum(np.hypot(np.diff(x), np.diff(y))))
# Credit goes to Pfeiferj!
def calculate_road_curvature(modelData, v_ego):
orientation_rate = np.array(modelData.orientationRate.z)