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firestarsdog
18 lines
607 B
Python
18 lines
607 B
Python
"""Lead evidence that keeps cruise comfort tuning out of braking situations."""
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import math
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def braking_lead_relevant(lead: object, v_ego: float) -> bool:
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if not getattr(lead, 'present', False):
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return False
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try:
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lead_speed = float(lead.vLead)
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lead_accel = float(lead.aLeadK)
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distance = float(lead.dRel)
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except (AttributeError, TypeError, ValueError, OverflowError):
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return True
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if not all(math.isfinite(value) for value in (v_ego, lead_speed, lead_accel, distance)):
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return True
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return v_ego - lead_speed > 0.5 or lead_accel < -0.4 or distance < max(18.0, 2.0 * v_ego)
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