From d222461a3e630690d05fbd07ed0d80feadfae944 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 6 Sep 2022 13:05:47 -0700 Subject: [PATCH] LDW: fix deprecated ll prob reference (#25681) * fix crash when ldw is turned on * in lane change * Revert "in lane change" This reverts commit 98e7224f81d2036689339779e582e2085c9c4d3e. --- selfdrive/controls/controlsd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f2b2ddc98e..3704389304 100755 --- 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]