Revert to using the sum of the lane line probabilities instead of the the product

6 years ago · 26dd7e27c8
parent 70d17cd69b
commit 26dd7e27c8
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
  path_from_right_lane = r_poly.copy()
  path_from_right_lane[3] += lane_width / 2.0

-  lr_prob = l_prob * r_prob
+  lr_prob = l_prob + r_prob - l_prob * r_prob

  d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
  return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly