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static method

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This commit is contained in:
Jason Wen
2025-01-12 16:46:15 -05:00
parent e1cf216c89
commit 12981e02f7
1 changed files with 8 additions and 7 deletions
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sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py
+8 -7
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@@ -148,13 +148,8 @@ class DynamicExperimentalController:
self._set_mode_timeout = 0
def _adaptive_slowdown_threshold(self):
"""
Adapts the slow-down threshold based on vehicle speed and recent behavior.
"""
return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True):
@staticmethod
def _anomaly_detection(recent_data, threshold=2.0, context_check=True):
"""
Basic anomaly detection using standard deviation.
"""
@@ -169,6 +164,12 @@ class DynamicExperimentalController:
return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
return anomaly
def _adaptive_slowdown_threshold(self):
"""
Adapts the slow-down threshold based on vehicle speed and recent behavior.
"""
return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):
"""
Smoothing the lead detection to avoid erratic behavior.