From 68158e0612b274f06ae200c99863bee5dfe9d9ed Mon Sep 17 00:00:00 2001 From: BogGyver Date: Fri, 15 Nov 2019 16:12:39 -0500 Subject: [PATCH] AHB tweaks --- selfdrive/car/tesla/radar_interface.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index 2f2057eb135451..1a76d0f9983a31 100644 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -12,7 +12,7 @@ #RADAR_A_MSGS = list(range(0x371, 0x37F , 3)) #RADAR_B_MSGS = list(range(0x372, 0x37F, 3)) -BOSCH_MAX_DIST = 150. #max distance for radar +BOSCH_MAX_DIST = 250. #max distance for radar RADAR_A_MSGS = list(range(0x310, 0x36F , 3)) RADAR_B_MSGS = list(range(0x311, 0x36F, 3)) OBJECT_MIN_PROBABILITY = 20. @@ -21,9 +21,9 @@ VALID_MESSAGE_COUNT_THRESHOLD = 4 #these are settings for Auto High Beam #they are use to detect objects that are moving either in the same direction with us or towards us -AHB_VALID_MESSAGE_COUNT_THRESHOLD = -1 # -1 to use any point -AHB_OBJECT_MIN_PROBABILITY = 0. # 0. to use any point -AHB_CLASS_MIN_PROBABILITY = 0. # 0. to use any point +AHB_VALID_MESSAGE_COUNT_THRESHOLD = 1 # -1 to use any point +AHB_OBJECT_MIN_PROBABILITY = 5. # 0. to use any point +AHB_CLASS_MIN_PROBABILITY = 5. # 0. to use any point AHB_INCOMING_CAR_SPEED_FACTOR = -1.3 # needs to be negative, moving towards us, and more than our speed @@ -136,7 +136,7 @@ def _update(self, updated_messages,v_ego): del self.extPts[message] # this is the logic used for Auto High Beam (AHB) car detection - if (True or cpt['Tracked']) and (cpt['LongDist']>0) and (cpt['LongDist'] < BOSCH_MAX_DIST) and \ + if (cpt['LongDist']>0) and (cpt['LongDist'] < BOSCH_MAX_DIST) and \ (self.valid_cnt[message] > AHB_VALID_MESSAGE_COUNT_THRESHOLD) and (cpt['ProbExist'] >= AHB_OBJECT_MIN_PROBABILITY) and \ (cpt2['Class'] < 4) and (cpt2['ProbClass'] >= AHB_CLASS_MIN_PROBABILITY): # if moving or the relative speed is x% larger than our speed then use to turn high beam off