openpilot v0.4.3.2 release

old-commit-hash: 78df63a6af

selfdrive/controls/controlsd.py

@@ -224,10 +224,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
   for b in CS.buttonEvents:
     # button presses for rear view
     if b.type == "leftBlinker" or b.type == "rightBlinker":
-      if b.pressed and rear_view_allowed:
-        rear_view_toggle = True
-      else:
-        rear_view_toggle = False
+      rear_view_toggle = b.pressed and rear_view_allowed
 
     if (b.type == "altButton1" and b.pressed) and not passive:
       rear_view_toggle = not rear_view_toggle

selfdrive/controls/lib/lateral_mpc/generator.cpp

@@ -45,25 +45,29 @@ int main( )
   auto angle_r = atan(3*r_poly_r0*xx*xx + 2*r_poly_r1*xx + r_poly_r2);
   auto angle_p = atan(3*p_poly_r0*xx*xx + 2*p_poly_r1*xx + p_poly_r2);
 
-  auto c_left_lane = exp(-(poly_l - yy));
-  auto c_right_lane = exp(poly_r - yy);
+  // given the lane width estimate, this is where we estimate the path given lane lines
+  auto l_phantom = poly_l - lane_width/2.0;
+  auto r_phantom = poly_r + lane_width/2.0;
 
-  auto r_phantom = poly_l - lane_width/2.0;
-  auto l_phantom = poly_r + lane_width/2.0;
-
-  auto path = lr_prob       * (l_prob * r_phantom + r_prob * l_phantom) / (l_prob + r_prob + 0.0001)
+  // best path estimate path is a linear combination of poly_p and the path estimate
+  // given the lane lines
+  auto path = lr_prob       * (l_prob * l_phantom + r_prob * r_phantom) / (l_prob + r_prob + 0.0001)
               + (1-lr_prob) * poly_p;
 
   auto angle = lr_prob      * (l_prob * angle_l + r_prob * angle_r) / (l_prob + r_prob + 0.0001)
                + (1-lr_prob) * angle_p;
 
+  // instead of using actual lane lines, use their estimated distance from path given lane_width
+  auto c_left_lane = exp(-(path + lane_width/2.0 - yy));
+  auto c_right_lane = exp(path - lane_width/2.0 - yy);
+
   // Running cost
   Function h;
 
   // Distance errors
   h << path - yy;
-  h << l_prob * c_left_lane;
-  h << r_prob * c_right_lane;
+  h << lr_prob * c_left_lane;
+  h << lr_prob * c_right_lane;
 
   // Heading error
   h << (v_ref + 1.0 ) * (angle - psi);

selfdrive/controls/lib/lateral_mpc/mpc_export/acado_common.h

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6f0966261166f2380ad7e37389060bd4011428e8f0ef0edaa6f2d439dc1de1e6
+oid sha256:f1d93e7b412f1573e2b6b22b11587bbed076d59a1c1c6d8f6d69eddc3998518c
 size 8823

selfdrive/controls/lib/lateral_mpc/mpc_export/acado_solver.c

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b5b42642b33d01c204d8093bee36923e59f284fae90629c584e1fb6e4369cc2c
-size 393169
+oid sha256:31bac678a145034c0f43020059ef4e77c128a4fbe734cfbf1fe65325dbec77cd
+size 398689

selfdrive/controls/lib/radar_helpers.py

@@ -41,6 +41,7 @@ class Track(object):
 
   def update(self, d_rel, y_rel, v_rel, d_path, v_ego_t_aligned, measured, steer_override):
     if self.initted:
+      # pylint: disable=access-member-before-definition
       self.dPathPrev = self.dPath
       self.vLeadPrev = self.vLead
       self.vRelPrev = self.vRel
@@ -117,7 +118,7 @@ if platform.machine() == 'aarch64':
     if os.path.isfile(os.path.join(pp, "_hierarchy.so")):
       sys.path.append(pp)
       break
-  import _hierarchy
+  import _hierarchy  #pylint: disable=import-error
 else:
   from scipy.cluster import _hierarchy