From cd6fb642bd8c4132016cd0dc8dea9e968aec00ca Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sat, 18 Jan 2025 19:46:19 -0700 Subject: [PATCH] Update dec.py --- sunnypilot/selfdrive/controls/lib/dec/dec.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py index 5737f4e8d9..d732bd76fc 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/dec.py +++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py @@ -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