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Update dynamic_experimental_controller.py

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Kumar
2024-08-21 17:41:52 -07:00
committed by GitHub
parent dd40b8a1e8
commit 5e798af4a1
1 changed files with 3 additions and 2 deletions
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selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
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@@ -196,8 +196,9 @@ class DynamicExperimentalController:
# lead detection with smoothing
self._lead_gmac.add_data(lead_one.status)
lead_prob = self._lead_gmac.get_weighted_average() or 0
self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
#lead_prob = self._lead_gmac.get_weighted_average() or 0
#self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
# adaptive slow down detection
adaptive_threshold = self._adaptive_slowdown_threshold()