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some laneplanner updates (#2505)

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pull/2507/head
Shane Smiskol 5 years ago committed by GitHub
parent e88775a224
commit dca6f61db9
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1 changed files with 3 additions and 7 deletions
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  1. 6
      selfdrive/controls/lib/lane_planner.py

6
selfdrive/controls/lib/lane_planner.py
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@ -52,7 +52,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std
return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
class LanePlanner(): class LanePlanner:
def __init__(self): def __init__(self):
self.l_poly = [0., 0., 0., 0.] self.l_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.] self.r_poly = [0., 0., 0., 0.]
@ -107,7 +107,3 @@ class LanePlanner():
(1 - self.lane_width_certainty) * speed_lane_width (1 - self.lane_width_certainty) * speed_lane_width
self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width, v_ego, self.l_std, self.r_std) self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width, v_ego, self.l_std, self.r_std)
def update(self, v_ego, md):
self.parse_model(md)
self.update_d_poly(v_ego)

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