radar: port 3-tier lead tracking + vision-coast + Rivian yRel correction#2
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radar: port 3-tier lead tracking + vision-coast + Rivian yRel correction#2rawsignal wants to merge 1 commit into
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Ports the radard lead-tracking work from the sunnypilot fork
(spicysapling/sunnypilot @ fix/lead-track-switching, through aa23300729)
into this Rivian fork. User-selectable via a new "Radar Lead Tracking"
cruise-panel selector (LeadTrackingMode, default = Stable Lead / Tier 2):
- Tier 1 (Stock): stock per-frame greedy vision<->radar match.
- Tier 2 (Stable Lead): lateral-weighted id hysteresis biases the held
radar track, killing per-frame lead flicker where track ids are stable.
- Tier 3 (Stable + Vision Coast): also holds the last-good lead through a
sudden close/slow radar phantom the camera doesn't corroborate (chosen
track-id changed, or radar lateral jump while vision held still), bounded
by a 1 s cap, with a 40 m close-cut-in failsafe that never coasts past a
near lead.
Rivian radar lateral correction: the opendbc Mando interface computes
yRel = 0.5 * -sin(az) * dist; the 0.5 over-compresses the lateral offset so
prob_y can't separate an adjacent-lane car from the in-path lead. Corrected
brand-gated at radar-point ingestion to a 0.70 effective scale (x1.4) so the
matcher, the stored Track, and the emitted lead all see the same lateral;
dRel/vRel untouched, non-Rivian brands are a no-op. Validated on the
sunnypilot corpus (tier-2 brake-jumps -4.7%, 0 gross-streak regressions).
Observability: new radarStateSP cereal message (leadOne/leadTwoCoasting)
drives an opt-in per-chevron coast tint + dev-UI COAST element, gated by
ShowVisionCoastOnChevron (default off).
Validated on macOS: 23 unit tests pass (test_radard_tiers.py), cereal and
params_pyx rebuilt, radarStateSP round-trips, new param keys resolve.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
(cherry picked from commit 9f0e77c)
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Ports the radard lead-tracking work from the sunnypilot fork (spicysapling/sunnypilot @ fix/lead-track-switching, through aa23300729) into this Rivian fork. User-selectable via a new "Radar Lead Tracking" cruise-panel selector (LeadTrackingMode, default = Stable Lead / Tier 2):
Rivian radar lateral correction: the opendbc Mando interface computes yRel = 0.5 * -sin(az) * dist; the 0.5 over-compresses the lateral offset so prob_y can't separate an adjacent-lane car from the in-path lead. Corrected brand-gated at radar-point ingestion to a 0.70 effective scale (x1.4) so the matcher, the stored Track, and the emitted lead all see the same lateral; dRel/vRel untouched, non-Rivian brands are a no-op. Validated on the sunnypilot corpus (tier-2 brake-jumps -4.7%, 0 gross-streak regressions).
Observability: new radarStateSP cereal message (leadOne/leadTwoCoasting) drives an opt-in per-chevron coast tint + dev-UI COAST element, gated by ShowVisionCoastOnChevron (default off).
Validated on macOS: 23 unit tests pass (test_radard_tiers.py), cereal and params_pyx rebuilt, radarStateSP round-trips, new param keys resolve.
(cherry picked from commit 9f0e77c)