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Revert to using the sum of the lane line probabilities instead of the the product

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Riccardo
2019-10-17 13:31:28 -07:00
parent 70d17cd69b
commit 26dd7e27c8
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/lane_planner.py
+1 -1
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@@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
path_from_right_lane = r_poly.copy()
path_from_right_lane[3] += lane_width / 2.0
lr_prob = l_prob * r_prob
lr_prob = l_prob + r_prob - l_prob * r_prob
d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly