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time to get closer

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firestar5683
2026-08-05 16:42:25 -05:00
parent 2a38c61f10
commit 73eac7d282
2 changed files with 8 additions and 1 deletions
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selfdrive/controls/lib/lead_behavior.py
+3 -1
View File
@@ -34,6 +34,7 @@ RADARLESS_MATCHED_FOLLOW_HEADWAY_BELOW_TARGET = 0.35
RADARLESS_MATCHED_FOLLOW_HEADWAY_ABOVE_TARGET = 0.90
RADARLESS_MATCHED_FOLLOW_MAX_LEAD_BRAKE = 0.35
RADARLESS_MATCHED_FOLLOW_MIN_MODEL_PROB = 0.70
FAR_LEAD_COAST_MIN_GAP = 3.5
def _smoothstep(value: float, start: float, end: float) -> float:
@@ -173,4 +174,5 @@ def should_disable_far_lead_throttle(v_ego: float, lead_distance: float, desired
gentle_closing = 0.35 < closing_speed < max(1.35, 0.05 * v_ego)
ttc = lead_distance / max(closing_speed, 1e-3) if closing_speed > 0.1 else 1e6
return coast_window_open and coast_window_far and gentle_closing and ttc > 7.5 and lead_distance > desired_gap + 7.0
return (coast_window_open and coast_window_far and gentle_closing and ttc > 7.5 and
lead_distance > desired_gap + FAR_LEAD_COAST_MIN_GAP)
selfdrive/controls/tests/test_lead_behavior.py
+5
View File
@@ -74,6 +74,11 @@ def test_disable_far_lead_throttle_keeps_mild_coast_near_target_gap():
assert should_disable
def test_disable_far_lead_throttle_waits_until_reduced_gap():
should_disable = should_disable_far_lead_throttle(31.4, 43.5, 38.0, 0.5, False)
assert should_disable
def test_disable_far_lead_throttle_rejects_fast_closing():
should_disable = should_disable_far_lead_throttle(31.4, 52.0, 38.0, 3.5, False)
assert not should_disable