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調降模型路寬至 3.5m

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Rick Lan
2019-06-27 13:33:15 +10:00
parent 3580a36be3
commit 8cd5abd0e1
1 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/model_parser.py
+3 -3
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@@ -13,9 +13,9 @@ class ModelParser(object):
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
self._path_pinv = compute_path_pinv()
self.lane_width_estimate = 3.7
self.lane_width_estimate = 3.5
self.lane_width_certainty = 1.0
self.lane_width = 3.7
self.lane_width = 3.5
self.l_prob = 0.
self.r_prob = 0.
@@ -38,7 +38,7 @@ class ModelParser(object):
self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
current_lane_width = abs(l_poly[3] - r_poly[3])
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
speed_lane_width = interp(v_ego, [0., 31.], [3., 3.6])
self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
(1 - self.lane_width_certainty) * speed_lane_width