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New lane planner (#1276)

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* better lane planner

* works well on test

* needs speed now

* update ref
old-commit-hash: 5f8e3b4d93
This commit is contained in:
HaraldSchafer
2020-03-25 16:57:58 -07:00
committed by GitHub
parent 07001f29a0
commit ec2b82f11c
3 changed files with 18 additions and 6 deletions
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selfdrive/controls/tests/test_lateral_mpc.py
+1 -1
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@@ -25,7 +25,7 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
p_p = poly_p.copy()
p_p[3] += poly_shift
d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width)
d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width, v_ref)
CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
VM = VehicleModel(CP)