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some laneplanner updates (#2505)

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This commit is contained in:
Shane Smiskol
2020-11-09 03:15:29 -06:00
committed by GitHub
parent e88775a224
commit dca6f61db9
1 changed files with 3 additions and 7 deletions
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selfdrive/controls/lib/lane_planner.py
+3 -7
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@@ -23,7 +23,7 @@ def eval_poly(poly, x):
def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std=0.05, r_std=0.05):
# This will improve behaviour when lanes suddenly widen
# these numbers were tested on 2000segments and found to work well
# these numbers were tested on 2000 segments and found to work well
lane_width = min(4.0, lane_width)
width_poly = l_poly - r_poly
prob_mods = []
@@ -35,7 +35,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std
r_prob = mod * r_prob
# Remove reliance on uncertain lanelines
# these numbers were tested on 2000segments and found to work well
# these numbers were tested on 2000 segments and found to work well
l_std_mod = interp(l_std, [.15, .3], [1.0, 0.0])
l_prob = l_std_mod * l_prob
r_std_mod = interp(r_std, [.15, .3], [1.0, 0.0])
@@ -52,7 +52,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std
return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
class LanePlanner():
class LanePlanner:
def __init__(self):
self.l_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.]
@@ -107,7 +107,3 @@ class LanePlanner():
(1 - self.lane_width_certainty) * speed_lane_width
self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width, v_ego, self.l_std, self.r_std)
def update(self, v_ego, md):
self.parse_model(md)
self.update_d_poly(v_ego)