Fix lane centering with single lane line (#737)

6 years ago · 151a504507
parent 03e764bcb3
commit 151a504507
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/model_parser.py
+++ b/selfdrive/controls/lib/model_parser.py
@ -44,7 +44,7 @@ class ModelParser(object):
    self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
    current_lane_width = abs(l_poly[3] - r_poly[3])
    self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
-    speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
+    speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
    self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
                      (1 - self.lane_width_certainty) * speed_lane_width