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fix... vLead

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ajouatom 2025-02-27 11:56:47 +09:00
parent 22712b2ab6
commit 95677491d2
1 changed files with 2 additions and 1 deletions
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3
selfdrive/controls/radard.py
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@ -84,7 +84,8 @@ class Track:
if self.cnt > 0:
self.kf.update(self.vLead)
alpha = 0.15
dv = 0.0 if abs(self.vLead) < 0.5 else self.vLead - self.vLead_last
#dv = 0.0 if abs(self.vLead) < 0.5 else self.vLead - self.vLead_last
dv = self.vLead - self.vLead_last
self.aLead = self.aLead * (1 - alpha) + dv / DT_MDL * alpha
self.vLeadK = float(self.kf.x[SPEED][0])