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Eliminate toyota close radar glitches causing no resume (#26272)

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Eliminate toyota close radar glitches
This commit is contained in:
HaraldSchafer
2022-10-27 17:31:15 -07:00
committed by GitHub
parent dbc30c053c
commit f76a390daf
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/lib/radar_helpers.py
+2 -1
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@@ -151,7 +151,8 @@ 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) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25
# Radar points closer than 0.75, are almost always glitches on toyota radars
return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25)
def is_potential_fcw(self, model_prob):
return model_prob > .9