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https://github.com/infiniteCable2/openpilot.git
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Kumar
00eb0e983d
* dec with kalmanfilter * updat pytest * Update sunnypilot/selfdrive/controls/lib/dec/constants.py Co-authored-by: DevTekVE <devtekve@gmail.com> --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
18 lines
721 B
Python
18 lines
721 B
Python
class WMACConstants:
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# Lead detection parameters
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LEAD_WINDOW_SIZE = 6 # Stable detection window
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LEAD_PROB = 0.45 # Balanced threshold for lead detection
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# Slow down detection parameters
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SLOW_DOWN_WINDOW_SIZE = 5 # Responsive but stable
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SLOW_DOWN_PROB = 0.3 # Balanced threshold for slow down scenarios
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# Optimized slow down distance curve - smooth and progressive
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SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
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SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
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# Slowness detection parameters
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SLOWNESS_WINDOW_SIZE = 10 # Stable slowness detection
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SLOWNESS_PROB = 0.55 # Clear threshold for slowness
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SLOWNESS_CRUISE_OFFSET = 1.025 # Conservative cruise speed offset
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