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Fix lane centering with single lane line (#737)

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old-commit-hash: 151a504507
commatwo_master
Gernby 6 years ago committed by rbiasini
parent 6fe71c41c1
commit 911ed812b3
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/controls/lib/model_parser.py

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selfdrive/controls/lib/model_parser.py
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@ -44,7 +44,7 @@ class ModelParser(object):
self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty) self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
current_lane_width = abs(l_poly[3] - r_poly[3]) current_lane_width = abs(l_poly[3] - r_poly[3])
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate) 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 + \ self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
(1 - self.lane_width_certainty) * speed_lane_width (1 - self.lane_width_certainty) * speed_lane_width

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