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Update dec.py

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This commit is contained in:
Kumar
2025-01-18 19:46:19 -07:00
committed by GitHub
parent cb9d92dc3c
commit cd6fb642bd
1 changed files with 5 additions and 3 deletions
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8
sunnypilot/selfdrive/controls/lib/dec/dec.py
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@@ -163,7 +163,7 @@ class DynamicExperimentalController:
"""
Adapts the slow-down threshold based on vehicle speed and recent behavior.
"""
slowdown_scaling_factor: float = (1.0 + 0.07 * np.log(1 + len(self._slow_down_gmac.data)))
slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
adaptive_threshold: float = float(
interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
)
@@ -216,13 +216,15 @@ class DynamicExperimentalController:
self._slow_down_gmac.add_data(slow_down_trigger)
if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
self._slow_down_confidence = _has_slow_down_weighted_average # Store confidence level
else:
self._has_slow_down = False
self._slow_down_confidence = 0.0 # No confidence if no slowdown
# anomaly detection for slow down events
if self._anomaly_detection(self._slow_down_gmac.data):
# Handle anomaly: potentially log it, adjust behavior, or issue a warning
self._has_slow_down *= 0.7 # Reduce rather than fully disablings
self._slow_down_confidence *= 0.85 # Reduce confidence
self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
# blinker detection
self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker