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dec: contextual check before setting true

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rav4kumar
2024-09-10 07:20:52 -07:00
parent 2dcc838f73
commit a0dac9282e
1 changed files with 6 additions and 2 deletions
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selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
+6 -2
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@@ -35,7 +35,7 @@ SLOW_DOWN_WINDOW_SIZE = 4
SLOW_DOWN_PROB = 0.6
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.]
SLOW_DOWN_DIST = [25., 40., 60., 85., 100., 110., 120., 130.]
SLOWNESS_WINDOW_SIZE = 12
SLOWNESS_PROB = 0.5
@@ -155,7 +155,7 @@ class DynamicExperimentalController:
"""
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):
def _anomaly_detection(self, recent_data, threshold=2.0, context_check=True):
"""
Basic anomaly detection using standard deviation.
"""
@@ -164,6 +164,10 @@ class DynamicExperimentalController:
mean = np.mean(recent_data)
std_dev = np.std(recent_data)
anomaly = recent_data[-1] > mean + threshold * std_dev
# Context check to ensure repeated anomaly
if context_check:
return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
return anomaly
def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):