filter lead prob by sshane · Pull Request #37879 · commaai/openpilot

sshane · 2026-04-22T11:58:24Z

would have kept tracking this lead the entire time instead of losing it

https://connect.comma.ai/dffcf1de8723a20f/000000be--f00fb3e5b5/258/294

github-actions · 2026-04-22T12:00:30Z

Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 2 changed, 64 passed, 0 errors

Show changes


HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [radard]

  radarState.leadOne.aLeadK (8 diffs)
    frame 183: 0.010834038257598877 -> 0.0
    frame 184: 0.0007272772490978241 -> 0.0
    frame 188: 0.0067845843732357025 -> 0.0
    frame 193: 0.0 -> -0.200591042637825
    frame 196: 0.0 -> -0.05845114588737488
    frame 197: 0.0 -> -0.11235257983207703
    frame 204: 0.0 -> 0.0355154350399971
    frame 206: 0.0 -> 0.027567356824874878

  radarState.leadOne.aLeadTau (8 diffs)
    frame 183: 0.30000001192092896 -> 0.0
    frame 184: 0.30000001192092896 -> 0.0
    frame 188: 0.30000001192092896 -> 0.0
    frame 193: 0.0 -> 0.30000001192092896
    frame 196: 0.0 -> 0.30000001192092896
    frame 197: 0.0 -> 0.30000001192092896
    frame 204: 0.0 -> 0.30000001192092896
    frame 206: 0.0 -> 0.30000001192092896

  radarState.leadOne.dRel (8 diffs)
    frame 183: 91.34487915039062 -> 0.0
    frame 184: 87.54788208007812 -> 0.0
    frame 188: 89.82550048828125 -> 0.0
    frame 193: 0.0 -> 118.92870330810547
    frame 196: 0.0 -> 91.97815704345703
    frame 197: 0.0 -> 93.22193908691406
    frame 204: 0.0 -> 93.4867172241211
    frame 206: 0.0 -> 97.78157043457031

  radarState.leadOne.modelProb (8 diffs)
    frame 183: 0.5149099826812744 -> 0.0
    frame 184: 0.6122123003005981 -> 0.0
    frame 188: 0.6612004637718201 -> 0.0
    frame 193: 0.0 -> 0.4030017554759979
    frame 196: 0.0 -> 0.4712119400501251
    frame 197: 0.0 -> 0.45688581466674805
    frame 204: 0.0 -> 0.38626736402511597
    frame 206: 0.0 -> 0.3136127293109894

  radarState.leadOne.status (8 diffs)

  frames 178-211
  master:   _____/‾\__/‾‾‾‾\/‾\_/‾‾‾‾‾\/\_____
  PR:       ___________/‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\____
            rise: PR lags by 6 frames (299ms)
            fall: PR lags by 22 frames (1096ms)

  radarState.leadOne.vLead (16 diffs)
    frame 183: 10.028637886047363 -> 0.0
    frame 184: 9.764328002929688 -> 0.0
    frame 188: 10.323113441467285 -> 0.0
    frame 189: 10.732457160949707 -> 0.0
    frame 190: 10.697102546691895 -> 0.0
    frame 191: 10.977615356445312 -> 0.0
    frame 192: 10.830960273742676 -> 0.0
    frame 194: 10.201193809509277 -> 0.0
    frame 195: 10.362221717834473 -> 0.0
    frame 198: 10.172025680541992 -> 0.0
    (... 6 more)

  radarState.leadOne.vLeadK (16 diffs)
    frame 183: 10.028637886047363 -> 0.0
    frame 184: 9.764328002929688 -> 0.0
    frame 188: 10.323113441467285 -> 0.0
    frame 189: 10.732457160949707 -> 0.0
    frame 190: 10.697102546691895 -> 0.0
    frame 191: 10.977615356445312 -> 0.0
    frame 192: 10.830960273742676 -> 0.0
    frame 194: 10.201193809509277 -> 0.0
    frame 195: 10.362221717834473 -> 0.0
    frame 198: 10.172025680541992 -> 0.0
    (... 6 more)

  radarState.leadOne.vRel (21 diffs)
    frame 183: 0.2724800109863281 -> 0.0
    frame 184: -6.866455078125e-05 -> 0.0
    frame 188: 0.5329809188842773 -> 0.0
    frame 189: 0.9440536499023438 -> -9.788403511047363
    frame 190: 0.9311933517456055 -> -9.765909194946289
    frame 191: 1.209010124206543 -> -9.76860523223877
    frame 192: 1.0321617126464844 -> -9.798798561096191
    frame 193: 0.0 -> -9.794742584228516
    frame 194: 0.3961811065673828 -> -9.805012702941895
    frame 195: 0.5455856323242188 -> -9.816636085510254
    (... 11 more)

  radarState.leadOne.yRel (8 diffs)
    frame 183: 0.37350183725357056 -> 0.0
    frame 184: 0.0050574541091918945 -> 0.0
    frame 188: -0.26340070366859436 -> 0.0
    frame 193: 0.0 -> 1.251697063446045
    frame 196: 0.0 -> 0.9181668758392334
    frame 197: 0.0 -> 0.9886747598648071
    frame 204: 0.0 -> 1.8935002088546753
    frame 206: 0.0 -> 1.2496110200881958

  radarState.leadTwo.aLeadK (5 diffs)
    frame 189: 0.04900775104761124 -> 0.0
    frame 190: 0.07637371122837067 -> 0.0
    frame 191: 0.06658965349197388 -> 0.0
    frame 194: -0.04821157455444336 -> 0.0
    frame 200: 0.01809534803032875 -> 0.0

  radarState.leadTwo.aLeadTau (5 diffs)
    frame 189: 0.30000001192092896 -> 0.0
    frame 190: 0.30000001192092896 -> 0.0
    frame 191: 0.30000001192092896 -> 0.0
    frame 194: 0.30000001192092896 -> 0.0
    frame 200: 0.30000001192092896 -> 0.0

  radarState.leadTwo.dRel (5 diffs)
    frame 189: 86.2563705444336 -> 0.0
    frame 190: 87.29710388183594 -> 0.0
    frame 191: 84.9342269897461 -> 0.0
    frame 194: 86.11001586914062 -> 0.0
    frame 200: 86.26490783691406 -> 0.0

  radarState.leadTwo.modelProb (5 diffs)
    frame 189: 0.7346254587173462 -> 0.0
    frame 190: 0.6284154057502747 -> 0.0
    frame 191: 0.7141978740692139 -> 0.0
    frame 194: 0.5279006361961365 -> 0.0
    frame 200: 0.538194477558136 -> 0.0

  radarState.leadTwo.status (5 diffs)

  frames 184-205
  master:   _____/‾‾\_/\____/\____
  PR:       ______________________

  radarState.leadTwo.vLead (5 diffs)
    frame 189: 10.732457160949707 -> 0.0
    frame 190: 10.697102546691895 -> 0.0
    frame 191: 10.977615356445312 -> 0.0
    frame 194: 10.201193809509277 -> 0.0
    frame 200: 10.857430458068848 -> 0.0

  radarState.leadTwo.vLeadK (5 diffs)
    frame 189: 10.732457160949707 -> 0.0
    frame 190: 10.697102546691895 -> 0.0
    frame 191: 10.977615356445312 -> 0.0
    frame 194: 10.201193809509277 -> 0.0
    frame 200: 10.857430458068848 -> 0.0

  radarState.leadTwo.vRel (5 diffs)
    frame 189: 0.9440536499023438 -> 0.0
    frame 190: 0.9311933517456055 -> 0.0
    frame 191: 1.209010124206543 -> 0.0
    frame 194: 0.3961811065673828 -> 0.0
    frame 200: 1.0241260528564453 -> 0.0

  radarState.leadTwo.yRel (5 diffs)
    frame 189: -0.15337315201759338 -> 0.0
    frame 190: -0.13767942786216736 -> 0.0
    frame 191: -0.0860038697719574 -> 0.0
    frame 194: 0.5878195762634277 -> 0.0
    frame 200: -0.09739333391189575 -> 0.0

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [radard]

  radarState.leadOne.aLeadK (57 diffs)
    frame 17: 0.03307333588600159 -> 0.0
    frame 19: 0.04532938078045845 -> 0.0
    frame 21: 0.044773854315280914 -> 0.0
    frame 22: 0.04618648812174797 -> 0.0
    frame 27: 0.1007797122001648 -> 0.0
    frame 30: 0.0 -> 0.13478049635887146
    frame 32: 0.14437665045261383 -> 0.0
    frame 42: 0.0 -> 0.17258331179618835
    frame 44: 0.0 -> 0.16091826558113098
    frame 45: 0.0 -> 0.15921981632709503
    (... 47 more)

  radarState.leadOne.aLeadTau (57 diffs)
    frame 17: 1.5 -> 0.0
    frame 19: 1.5 -> 0.0
    frame 21: 1.5 -> 0.0
    frame 22: 1.5 -> 0.0
    frame 27: 1.5 -> 0.0
    frame 30: 0.0 -> 1.5
    frame 32: 1.5 -> 0.0
    frame 42: 0.0 -> 1.5
    frame 44: 0.0 -> 1.5
    frame 45: 0.0 -> 1.5
    (... 47 more)

  radarState.leadOne.dRel (57 diffs)
    frame 17: 119.55999755859375 -> 0.0
    frame 19: 119.5999984741211 -> 0.0
    frame 21: 119.55999755859375 -> 0.0
    frame 22: 119.5999984741211 -> 0.0
    frame 27: 119.44000244140625 -> 0.0
    frame 30: 0.0 -> 119.55999755859375
    frame 32: 119.5999984741211 -> 0.0
    frame 42: 0.0 -> 119.83999633789062
    frame 44: 0.0 -> 119.95999908447266
    frame 45: 0.0 -> 119.68000030517578
    (... 47 more)

  radarState.leadOne.modelProb (57 diffs)
    frame 17: 0.5377455949783325 -> 0.0
    frame 19: 0.6902967095375061 -> 0.0
    frame 21: 0.7221370339393616 -> 0.0
    frame 22: 0.6026567220687866 -> 0.0
    frame 27: 0.5079010725021362 -> 0.0
    frame 30: 0.0 -> 0.48772770166397095
    frame 32: 0.5158952474594116 -> 0.0
    frame 42: 0.0 -> 0.44629546999931335
    frame 44: 0.0 -> 0.4530564248561859
    frame 45: 0.0 -> 0.36921221017837524
    (... 47 more)

  radarState.leadOne.radar (54 diffs)

  frames 12-80
  master:   _____/\/\/‾‾‾‾\/\/\_/‾‾‾‾\/‾‾‾\/\_____/‾\/\__________/‾‾‾‾‾‾‾\__/‾‾‾...
  PR:       ___________/‾‾\__/‾\_/‾‾‾\/‾‾‾‾‾‾‾‾\___/‾‾‾\__________/‾‾‾‾‾‾‾‾‾‾‾‾‾...
            rise: PR lags by 6 frames (300ms)
            fall: PR lags by 8 frames (400ms)

  frames 89-187
  master:   ‾‾‾‾‾\/‾‾\_/\/\/‾‾‾‾‾‾\____/‾\____/\____/\_______/\_/\_/‾\______/\/\...
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\____________________________________...
            rise: PR lags by 83 frames (4150ms)
            fall: PR lags by 26 frames (1300ms)

  frames 252-262
  master:   ‾‾‾‾‾\/‾‾‾‾
  PR:       ‾‾‾‾‾‾‾‾‾‾‾

  frames 735-763
  master:   ‾‾‾‾‾\_____/‾‾\______/\/\____
  PR:       ‾‾‾‾‾‾‾‾‾‾\/‾‾‾‾\____________
            fall: PR lags by 5 frames (250ms)

  frames 881-891
  master:   _____/\_/‾‾
  PR:       ________/‾‾
            rise: PR lags by 3 frames (150ms)

  radarState.leadOne.radarTrackId (54 diffs)
    frame 17: 5 -> -1
    frame 19: 5 -> -1
    frame 21: 5 -> -1
    frame 22: 5 -> -1
    frame 27: 5 -> -1
    frame 30: -1 -> 5
    frame 32: 5 -> -1
    frame 42: -1 -> 5
    frame 44: -1 -> 5
    frame 45: -1 -> 5
    (... 44 more)

  radarState.leadOne.status (57 diffs)

  frames 12-80
  master:   _____/\/\/‾‾‾‾\/\/\_/‾‾‾‾‾‾‾‾‾\/\_____/‾\/\__________/‾‾‾‾‾‾‾\__/‾‾‾...
  PR:       ___________/‾‾\__/‾\_/‾‾‾‾‾‾‾‾‾‾‾‾‾\___/‾‾‾\__________/‾‾‾‾‾‾‾‾‾‾‾‾‾...
            rise: PR lags by 6 frames (299ms)
            fall: PR lags by 8 frames (399ms)

  frames 89-187
  master:   ‾‾‾‾‾\/‾‾\_/\/\/‾‾‾‾‾‾\____/‾\____/\____/\_______/\_/\_/‾\______/\/\...
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\____________________________________...
            rise: PR lags by 83 frames (4149ms)
            fall: PR lags by 26 frames (1299ms)

  frames 252-262
  master:   ‾‾‾‾‾\/‾‾‾‾
  PR:       ‾‾‾‾‾‾‾‾‾‾‾

  frames 735-763
  master:   ‾‾‾‾‾\_____/‾‾\______/\/\____
  PR:       ‾‾‾‾‾‾‾‾‾‾\/‾‾‾‾\____________
            fall: PR lags by 5 frames (249ms)

  frames 879-892
  master:   _____/‾‾‾‾‾‾‾‾
  PR:       _________/‾‾‾‾
            rise: PR lags by 4 frames (199ms)

  radarState.leadOne.vLead (103 diffs)
    frame 17: 30.507858276367188 -> 0.0
    frame 19: 30.504358291625977 -> 0.0
    frame 21: 30.49256706237793 -> 0.0
    frame 22: 30.507753372192383 -> 0.0
    frame 27: 30.58988380432129 -> 0.0
    frame 30: 0.0 -> 30.620615005493164
    frame 32: 30.629274368286133 -> 0.0
    frame 42: 0.0 -> 30.713451385498047
    frame 44: 0.0 -> 30.688617706298828
    frame 45: 0.0 -> 30.723846435546875
    (... 93 more)

  radarState.leadOne.vLeadK (103 diffs)
    frame 17: 30.48623275756836 -> 0.0
    frame 19: 30.498546600341797 -> 0.0
    frame 21: 30.502805709838867 -> 0.0
    frame 22: 30.506027221679688 -> 0.0
    frame 27: 30.560150146484375 -> 0.0
    frame 30: 0.0 -> 30.600780487060547
    frame 32: 30.621150970458984 -> 0.0
    frame 42: 0.0 -> 30.72066307067871
    frame 44: 0.0 -> 30.729793548583984
    frame 45: 0.0 -> 30.736658096313477
    (... 93 more)

  radarState.leadOne.vRel (102 diffs)
    frame 17: 0.07500000298023224 -> 0.0
    frame 19: 0.07500000298023224 -> 0.0
    frame 21: 0.05000000074505806 -> 0.0
    frame 22: 0.07500000298023224 -> 0.0
    frame 27: 0.17499999701976776 -> 0.0
    frame 30: 0.0 -> 0.20000000298023224
    frame 32: 0.22499999403953552 -> 0.0
    frame 42: 0.0 -> 0.25
    frame 44: 0.0 -> 0.22499999403953552
    frame 45: 0.0 -> 0.25
    (... 92 more)

  radarState.leadOne.yRel (53 diffs)
    frame 17: 0.03999999910593033 -> 0.0
    frame 22: 0.1599999964237213 -> 0.0
    frame 27: 0.03999999910593033 -> 0.0
    frame 30: 0.0 -> 0.07999999821186066
    frame 32: 0.23999999463558197 -> 0.0
    frame 42: 0.0 -> 0.9200000166893005
    frame 44: 0.0 -> 1.159999966621399
    frame 45: 0.0 -> 1.0
    frame 46: 0.0 -> 0.8399999737739563
    frame 50: 0.8399999737739563 -> 0.0
    (... 43 more)

  radarState.leadTwo.aLeadK (65 diffs)
    frame 17: 0.03307333588600159 -> 0.0
    frame 18: 0.04250093176960945 -> 0.0
    frame 19: 0.04532938078045845 -> 0.0
    frame 21: 0.044773854315280914 -> 0.0
    frame 26: 0.0 -> 0.08860228210687637
    frame 28: 0.0 -> 0.1127430871129036
    frame 31: 0.0 -> 0.13900430500507355
    frame 42: 0.0 -> 0.17258331179618835
    frame 44: 0.0 -> 0.16091826558113098
    frame 45: 0.0 -> 0.15921981632709503
    (... 55 more)

  radarState.leadTwo.aLeadTau (65 diffs)
    frame 17: 1.5 -> 0.0
    frame 18: 1.5 -> 0.0
    frame 19: 1.5 -> 0.0
    frame 21: 1.5 -> 0.0
    frame 26: 0.0 -> 1.5
    frame 28: 0.0 -> 1.5
    frame 31: 0.0 -> 1.5
    frame 42: 0.0 -> 1.5
    frame 44: 0.0 -> 1.5
    frame 45: 0.0 -> 1.5
    (... 55 more)

  radarState.leadTwo.dRel (65 diffs)
    frame 17: 119.55999755859375 -> 0.0
    frame 18: 119.55999755859375 -> 0.0
    frame 19: 119.5999984741211 -> 0.0
    frame 21: 119.55999755859375 -> 0.0
    frame 26: 0.0 -> 119.4800033569336
    frame 28: 0.0 -> 119.44000244140625
    frame 31: 0.0 -> 119.55999755859375
    frame 42: 0.0 -> 119.83999633789062
    frame 44: 0.0 -> 119.95999908447266
    frame 45: 0.0 -> 119.68000030517578
    (... 55 more)

  radarState.leadTwo.modelProb (65 diffs)
    frame 17: 0.6123729348182678 -> 0.0
    frame 18: 0.5196341872215271 -> 0.0
    frame 19: 0.739717960357666 -> 0.0
    frame 21: 0.7623041272163391 -> 0.0
    frame 26: 0.0 -> 0.2739642858505249
    frame 28: 0.0 -> 0.41282618045806885
    frame 31: 0.0 -> 0.4319218397140503
    frame 42: 0.0 -> 0.482898086309433
    frame 44: 0.0 -> 0.4955981969833374
    frame 45: 0.0 -> 0.40783634781837463
    (... 55 more)

  radarState.leadTwo.radar (64 diffs)

  frames 12-80
  master:   _____/‾‾\/‾‾‾‾\/\/‾\/‾‾‾‾\/‾‾‾\/\____/‾‾‾‾\_________/‾‾‾‾‾‾‾‾\/\/‾‾‾...
  PR:       __________/‾‾‾‾‾‾‾‾‾‾‾‾‾‾\/‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\_______/‾‾‾‾‾‾‾‾‾‾‾‾‾‾...
            rise: PR lags by 5 frames (250ms)
            fall: PR lags by 17 frames (850ms)

  frames 89-181
  master:   ‾‾‾‾‾\/‾‾‾\/\/\/‾‾‾‾‾‾\__/‾‾‾\/‾\_/\___/‾\/\_____/\_/\_/‾‾‾\/\__/\/\...
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\/‾\___/\__________________________...
            rise: PR lags by 28 frames (1400ms)
            fall: PR lags by 28 frames (1400ms)

  frames 252-262
  master:   ‾‾‾‾‾\/‾‾‾‾
  PR:       ‾‾‾‾‾‾‾‾‾‾‾

  frames 299-331
  master:   ‾‾‾‾‾\/‾‾‾‾‾‾‾‾‾‾‾\__/‾‾\_/\/‾\/\
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\/\
            rise: PR lags by 25 frames (1250ms)
            fall: PR lags by 25 frames (1250ms)

  frames 736-761
  master:   ‾‾‾‾‾\____/‾‾\______/\____
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\__________
            fall: PR lags by 10 frames (500ms)

  frames 864-879
  master:   _____/\__/‾\_/‾‾
  PR:       _____________/‾‾
            rise: PR lags by 8 frames (400ms)

  radarState.leadTwo.radarTrackId (64 diffs)
    frame 17: 5 -> -1
    frame 18: 5 -> -1
    frame 19: 5 -> -1
    frame 21: 5 -> -1
    frame 26: -1 -> 5
    frame 28: -1 -> 5
    frame 31: -1 -> 5
    frame 42: -1 -> 5
    frame 44: -1 -> 5
    frame 45: -1 -> 5
    (... 54 more)

  radarState.leadTwo.status (65 diffs)

  frames 12-80
  master:   _____/‾‾\/‾‾‾‾\/\/‾\/‾‾‾‾‾‾‾‾‾\/\____/‾‾‾‾\_________/‾‾‾‾‾‾‾‾\/\/‾‾‾...
  PR:       __________/‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\_______/‾‾‾‾‾‾‾‾‾‾‾‾‾‾...
            rise: PR lags by 5 frames (250ms)
            fall: PR lags by 37 frames (1850ms)

  frames 89-181
  master:   ‾‾‾‾‾\/‾‾‾\/\/\/‾‾‾‾‾‾\__/‾‾‾\/‾\_/\___/‾\/\_____/\_/\_/‾‾‾\/\__/\/\...
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\/‾\___/\__________________________...
            rise: PR lags by 28 frames (1400ms)
            fall: PR lags by 28 frames (1400ms)

  frames 252-262
  master:   ‾‾‾‾‾\/‾‾‾‾
  PR:       ‾‾‾‾‾‾‾‾‾‾‾

  frames 299-331
  master:   ‾‾‾‾‾\/‾‾‾‾‾‾‾‾‾‾‾\__/‾‾\_/\/‾‾‾‾
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾

  frames 736-761
  master:   ‾‾‾‾‾\____/‾‾\______/\____
  PR:       ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾\__________
            fall: PR lags by 10 frames (500ms)

  frames 864-879
  master:   _____/‾‾\/‾\_/‾‾
  PR:       _______/\____/‾‾
            rise: PR lags by 2 frames (100ms)

  radarState.leadTwo.vLead (117 diffs)
    frame 17: 30.507858276367188 -> 0.0
    frame 18: 30.519248962402344 -> 0.0
    frame 19: 30.504358291625977 -> 0.0
    frame 21: 30.49256706237793 -> 0.0
    frame 26: 0.0 -> 30.574729919433594
    frame 28: 0.0 -> 30.6020450592041
    frame 31: 0.0 -> 30.615571975708008
    frame 42: 0.0 -> 30.713451385498047
    frame 44: 0.0 -> 30.688617706298828
    frame 45: 0.0 -> 30.723846435546875
    (... 107 more)

  radarState.leadTwo.vLeadK (117 diffs)
    frame 17: 30.48623275756836 -> 0.0
    frame 18: 30.49445152282715 -> 0.0
    frame 19: 30.498546600341797 -> 0.0
    frame 21: 30.502805709838867 -> 0.0
    frame 26: 0.0 -> 30.547239303588867
    frame 28: 0.0 -> 30.57352066040039
    frame 31: 0.0 -> 30.61046028137207
    frame 42: 0.0 -> 30.72066307067871
    frame 44: 0.0 -> 30.729793548583984
    frame 45: 0.0 -> 30.736658096313477
    (... 107 more)

  radarState.leadTwo.vRel (117 diffs)
    frame 17: 0.07500000298023224 -> 0.0
    frame 18: 0.07500000298023224 -> 0.0
    frame 19: 0.07500000298023224 -> 0.0
    frame 21: 0.05000000074505806 -> 0.0
    frame 26: 0.0 -> 0.15000000596046448
    frame 28: 0.0 -> 0.17499999701976776
    frame 31: 0.0 -> 0.20000000298023224
    frame 42: 0.0 -> 0.25
    frame 44: 0.0 -> 0.22499999403953552
    frame 45: 0.0 -> 0.25
    (... 107 more)

  radarState.leadTwo.yRel (60 diffs)
    frame 17: 0.03999999910593033 -> 0.0
    frame 18: -0.03999999910593033 -> 0.0
    frame 26: 0.0 -> 0.1599999964237213
    frame 31: 0.0 -> 0.20000000298023224
    frame 42: 0.0 -> 0.9200000166893005
    frame 44: 0.0 -> 1.159999966621399
    frame 45: 0.0 -> 1.0
    frame 46: 0.0 -> 0.8399999737739563
    frame 47: 0.0 -> 0.8399999737739563
    frame 48: 0.0 -> 0.800000011920929
    (... 50 more)

sshane · 2026-04-23T17:05:20Z

Normally gaining lead going same speed:

https://connect.comma.ai/7bc0de9da607c543/0000002c--9127e8d4fc/1965/1977

left: master, right: filtering lead prob

It does track it 0.25s later, but doesn't lose it either. Master starts reliably tracking 0.4s after this branch

sshane · 2026-04-23T17:10:59Z

Bad Tesla case where model doesn't predict low speed car:

New plan looks a little slow slower, but it now tracks lead the entire time!

filter lead prob

8e890fa

sshane added 2 commits April 22, 2026 05:01

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try correcting model bias

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filter lead prob#37879

filter lead prob#37879
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