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Lead detection sensitivity

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent 40b5e24b1b
commit af4e8a5ede
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/radard.py
+2 -2
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@@ -216,7 +216,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
frogpilot_plan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace, frogpilot_plan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace,
low_speed_override: bool = True) -> dict[str, Any]: low_speed_override: bool = True) -> dict[str, Any]:
# Determine leads, this is where the essential logic happens # Determine leads, this is where the essential logic happens
if len(tracks) > 0 and ready and lead_msg.prob > .5: if len(tracks) > 0 and ready and lead_msg.prob > frogpilot_toggles.lead_detection_probability:
track = match_vision_to_track(v_ego, lead_msg, model_data, tracks, frogpilot_toggles) track = match_vision_to_track(v_ego, lead_msg, model_data, tracks, frogpilot_toggles)
else: else:
track = None track = None
@@ -224,7 +224,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
lead_dict = {'status': False} lead_dict = {'status': False}
if track is not None: if track is not None:
lead_dict = track.get_RadarState(lead_msg.prob) lead_dict = track.get_RadarState(lead_msg.prob)
elif (track is None) and ready and (lead_msg.prob > .5): elif (track is None) and ready and (lead_msg.prob > frogpilot_toggles.lead_detection_probability):
lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
if low_speed_override: if low_speed_override: