From 8fdfa3b97d99197adc0c2c3837713080b67dbce0 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 13 Jul 2021 23:36:25 -0700 Subject: [PATCH] fix low speed override bug and cut-in bug (#21593) * fix low speed bug and cutin bug * update ref old-commit-hash: 6a933467292f2364940b35cc87855d336d2275f7 --- selfdrive/controls/lib/lead_mpc.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/lead_mpc.py b/selfdrive/controls/lib/lead_mpc.py index 510b282b73..c7d1c37dc8 100644 --- a/selfdrive/controls/lib/lead_mpc.py +++ b/selfdrive/controls/lib/lead_mpc.py @@ -47,8 +47,8 @@ class LeadMpc(): if self.lead_id == 0: lead = radarstate.leadOne else: - lead = radarstate.leadOne - self.status = lead.status and lead.modelProb > .5 + lead = radarstate.leadTwo + self.status = lead.status # Setup current mpc state self.cur_state[0].x_ego = 0.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6d9d3104a9..92ac1a1523 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c615f63b3d38d9a15375890b64e0c45ae59bf7a1 \ No newline at end of file +5d8ade78ab7b2aa678a8025eba58477579db71ad \ No newline at end of file