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old-commit-hash: 69077145100242a72d9725e04b3d7808300f8abb
This commit is contained in:
Harald Schafer
2020-11-12 10:21:27 -08:00
parent 048a065508
commit a8f5a9834a
1 changed files with 4 additions and 5 deletions
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selfdrive/controls/lib/lane_planner.py
+4 -5
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@@ -67,9 +67,8 @@ class LanePlanner:
self.l_poly[3] += CAMERA_OFFSET
self.r_poly[3] += CAMERA_OFFSET
# Find current lanewidth
# This will improve behaviour when lanes suddenly widen
# these numbers were tested on 2000 segments and found to work well
# Reduce reliance on lanelines that are too far apart or
# will be in a few seconds
l_prob, r_prob = self.l_prob, self.r_prob
width_poly = self.l_poly - self.r_poly
prob_mods = []
@@ -80,13 +79,13 @@ class LanePlanner:
l_prob *= mod
r_prob *= mod
# Remove reliance on uncertain lanelines
# these numbers were tested on 2000 segments and found to work well
# Reduce reliance on uncertain lanelines
l_std_mod = interp(self.l_std, [.15, .3], [1.0, 0.0])
r_std_mod = interp(self.r_std, [.15, .3], [1.0, 0.0])
l_prob *= l_std_mod
r_prob *= r_std_mod
# Find current lanewidth
self.lane_width_certainty += 0.05 * (l_prob * r_prob - self.lane_width_certainty)
current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)