Faster lane change (#1381)

* final B2 for 0.75

* more aggression in lane changes

models/supercombo.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:37868e7bf823cc22d18dc3277def1667337cb474b4a96f38ee425561ec17ca04
+oid sha256:8913f8a32680e87646780bace3d775687daa38d5cfee0f1ee747de7d394863be
 size 78605178

models/supercombo.keras

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b5b0da75fdba32db6da33651dd3eb572755ff5c7f77b7ff03a895334cfcec47c
+oid sha256:9a2110c9c13aa1aead362bea78497a9c3fca255deab5a324ac4e9a8f39d0cd23
 size 79200720

selfdrive/controls/lib/pathplanner.py

@@ -126,8 +126,8 @@ class PathPlanner():
 
       # starting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting:
-        # fade out lanelines over 1s
+        # fade out lanelines over .5s
-        self.lane_change_ll_prob = max(self.lane_change_ll_prob - DT_MDL, 0.0)
+        self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2*DT_MDL, 0.0)
         # 98% certainty
         if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
           self.lane_change_state = LaneChangeState.laneChangeFinishing
@@ -154,7 +154,7 @@ class PathPlanner():
     if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
       self.LP.l_prob *= self.lane_change_ll_prob
       self.LP.r_prob *= self.lane_change_ll_prob
-      self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
+      self.libmpc.init_weights(MPC_COST_LAT.PATH / 3.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
     else:
       self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)