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Fix division by zero in lateral_planner.py (#20071)

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* Fix division by zero

* Change fix logic
old-commit-hash: 8f9ee10b8a1aeeac26c5b269c1137984b172b378
This commit is contained in:
Igor
2021-02-16 05:43:11 -05:00
committed by GitHub
parent a1d6e4f9f0
commit bebc21ca09
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/lateral_planner.py
+1 -1
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@@ -188,7 +188,7 @@ class LateralPlanner():
next_curvature = interp(delay, self.t_idxs[:MPC_N+1], self.mpc_solution.curvature)
psi = interp(delay, self.t_idxs[:MPC_N+1], self.mpc_solution.psi)
next_curvature_rate = self.mpc_solution.curvature_rate[0]
next_curvature_from_psi = psi/(v_ego*delay)
next_curvature_from_psi = psi/(max(v_ego, 1e-1) * delay)
if psi > self.mpc_solution.curvature[0] * delay * v_ego:
next_curvature = max(next_curvature_from_psi, next_curvature)
else: