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Radard: ignore leads without model confirmation wider than 1.0m (#25664)

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Dont stop for cars next to you without model confirmation
old-commit-hash: 4c05c88c10f24d771c76bd8b078426a06a82b4f8
This commit is contained in:
HaraldSchafer
2022-09-04 13:29:13 -07:00
committed by GitHub
parent b8a6a961fe
commit cd2636a712
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/radar_helpers.py
+1 -1
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@@ -152,7 +152,7 @@ class Cluster():
def potential_low_speed_lead(self, v_ego):
# stop for stuff in front of you and low speed, even without model confirmation
return abs(self.yRel) < 1.5 and (v_ego < v_ego_stationary) and self.dRel < 25
return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25
def is_potential_fcw(self, model_prob):
return model_prob > .9