LDW: fix deprecated ll prob reference (#25681)

* fix crash when ldw is turned on * in lane change * Revert "in lane change" This reverts commit 98e7224f81. old-commit-hash: d222461a3e
3 years ago · 775d1beb66
parent 30326c5a39
commit 775d1beb66
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -709,8 +709,8 @@ class Controls:
    model_v2 = self.sm['modelV2']
    desire_prediction = model_v2.meta.desirePrediction
    if len(desire_prediction) and ldw_allowed:
-      right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
-      left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
+      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]