kalman VOACC

[sshane]

WIP. dumb kf on x is not good, because we don't use xStd? or use ego at all?

(only dRel is relevant)

Using xStd works pretty well!

(only dRel is relevant)

• doesn't handle lead changes since model's output always smoothly moves around

[sshane]

Here the model predicted the lead to be going above 25 m/s when it first detected it, which was way off, causing no braking whatsoever: https://connect.comma.ai/0f79c454f812791a/000000a3--e1e54de187/1037/1067

Using a kf to predict lead velocity from distance + compensating with aEgo, it instantly snaps to ~15 m/s which is what I roughly calculated with derivative on the model lead distance. Plus my speed at the lowest point was 17 m/s and I was still faster than the lead, so the kf's prediction of 15 m/s instantly upon detecting the lead looks much better!

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Left is simple derivative of distance over time, right is kf with xStd and aEgo compensation (so kf doesn't have to deal with dRel changes from ego)