From 8cd5abd0e11015d77ed8300ed82894ed1b7b8846 Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Thu, 27 Jun 2019 13:33:15 +1000 Subject: [PATCH] =?UTF-8?q?=E8=AA=BF=E9=99=8D=E6=A8=A1=E5=9E=8B=E8=B7=AF?= =?UTF-8?q?=E5=AF=AC=E8=87=B3=203.5m?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/controls/lib/model_parser.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py index 747e918f7..86856f7f3 100644 --- a/selfdrive/controls/lib/model_parser.py +++ b/selfdrive/controls/lib/model_parser.py @@ -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