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Merge branch 'min-feat/lon/ext-radar' into pre

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Rick Lan
2025-06-20 09:12:33 +08:00
parent 9e2e2e9637 68f69099cc
commit a6f7e6c231
1 changed files with 16 additions and 9 deletions
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opendbc_repo/opendbc/car/radar_interface.py
+16 -9
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@@ -19,15 +19,18 @@ from typing import List, Tuple
DREL_OFFSET = -1.2 # car head to radar
MAX_OBJECTS = 50
MAX_LAT_DIST = 3.6 # lat distance
RCS_MIN = 0.
RCS_MAX = 30.
# RCS_MIN = 0.
# RCS_MAX = 30.
STATIONARY_OBJ_VREL = -20.
STATIONARY_OBJ_LAT_DIST = 3.
CLOSED_OBJ_DREL = 10
CLOSED_OBJ_YREL = 2
# Constants for static point filtering
# 33hz * 5 secs for decay
INITIAL_SCORE = 33*5
INITIAL_SCORE = 50*3
def _create_radar_parser():
messages = [("ObjectData", 0)]
@@ -138,8 +141,8 @@ class RadarInterface(RadarInterfaceBase):
# published to liveTracks via card.py
# liveTracks is 20hz
# radard.py subscribed liveTracks, and is running at 20hz
# publish at 33 hz
if self.frame % 3 == 0:
# publish at 50 hz
if self.frame % 2 == 0:
for track_id in list(self._radar_points.keys()):
should_remove = False
if track_id in self._radar_point_properties:
@@ -150,17 +153,21 @@ class RadarInterface(RadarInterfaceBase):
if not should_remove and self._radar_point_properties[track_id]['score'] < 0:
should_remove = True
# on coming
if not should_remove and self._radar_point_properties[track_id]['movement'] == 2:
# ignore closed objects on both side
if not should_remove and self._radar_points[track_id].dRel < CLOSED_OBJ_DREL and abs(self._radar_points[track_id].yRel) > CLOSED_OBJ_YREL:
should_remove = True
# on coming
# if not should_remove and self._radar_point_properties[track_id]['movement'] == 2:
# should_remove = True
# ignore stationary object on the left/right when driving fast
if not should_remove and self._radar_points[track_id].vRel < STATIONARY_OBJ_VREL and abs(self._radar_points[track_id].yRel) > STATIONARY_OBJ_LAT_DIST:
should_remove = True
# RCS (radar cross section) not within the range
if not should_remove and not (RCS_MIN <= self._radar_point_properties[track_id]['rcs'] <= RCS_MAX):
should_remove = True
# if not should_remove and not (RCS_MIN <= self._radar_point_properties[track_id]['rcs'] <= RCS_MAX):
# should_remove = True
# object is outside the lat dist (too far left or too far right)
if not should_remove and abs(self._radar_points[track_id].yRel) > MAX_LAT_DIST: