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This commit is contained in:
Jason Wen
2025-01-12 18:37:47 -05:00
parent 1c1ef06489
commit b42c060b2e
1 changed files with 6 additions and 7 deletions
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sunnypilot/selfdrive/controls/lib/dec/dec.py
+6 -7
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@@ -111,10 +111,10 @@ class WeightedMovingAverageCalculator:
class DynamicExperimentalController:
def __init__(self, params=None):
self._params = params or Params()
self._is_enabled = self._params.get_bool("DynamicExperimentalControl")
self._mode = 'acc'
self._mode_prev = 'acc'
self._mode_changed = False
self._is_enabled: bool = self._params.get_bool("DynamicExperimentalControl")
self._mode: str = 'acc'
self._mode_prev: str = 'acc'
self._mode_changed: bool = False
# Use weighted moving average for filtering leads
self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
@@ -160,12 +160,11 @@ class DynamicExperimentalController:
return False
mean: float = float(np.mean(recent_data))
std_dev: float = float(np.std(recent_data))
anomaly: bool = bool(float(recent_data[-1]) > mean + threshold * std_dev)
anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
# Context check to ensure repeated anomaly
if context_check:
count_above_threshold: int = int(np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev))
return bool(count_above_threshold > 1)
return bool(np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1)
return anomaly
def _adaptive_slowdown_threshold(self) -> float: