mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-09-30 19:33:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix radard comment (#31891)

Browse Source
This commit is contained in:
James
2024-03-15 22:56:04 -07:00
committed by GitHub
parent 1723d27b9c
commit 1cb49ae44d
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/radard.py
+1 -1
View File
@@ -133,7 +133,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0]) prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0])
prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0]) prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
# This is isn't exactly right, but good heuristic # This isn't exactly right, but it's a good heuristic
return prob_d * prob_y * prob_v return prob_d * prob_y * prob_v
track = max(tracks.values(), key=prob) track = max(tracks.values(), key=prob)