From 95677491d2b55590991c2649b665f204588304d2 Mon Sep 17 00:00:00 2001 From: ajouatom Date: Thu, 27 Feb 2025 11:56:47 +0900 Subject: [PATCH] fix... vLead --- selfdrive/controls/radard.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index de1c2e5..5871aff 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -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])