Lane Departure Warning: fix desire index bug (#28119)

don't subtract 1 old-commit-hash: 4e951e4524
2 years ago · 6f0efe4ea0
parent 4f88c90d83
commit 6f0efe4ea0
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -707,8 +707,8 @@ class Controls:
    if len(desire_prediction) and ldw_allowed:
      right_lane_visible = model_v2.laneLineProbs[2] > 0.5
      left_lane_visible = model_v2.laneLineProbs[1] > 0.5
-      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
-      r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
+      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft]
+      r_lane_change_prob = desire_prediction[Desire.laneChangeRight]

      lane_lines = model_v2.laneLines
      l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))