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Plannerd: higher upper bound cost for lateral planner (#28352)

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20k not good upper bound for 10s
old-commit-hash: cbd3e5b94685220f78297786e6a121e1165946b1
This commit is contained in:
Harald Schäfer
2023-05-31 16:33:07 -07:00
committed by GitHub
parent 8bb530cec5
commit ef130058c6
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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@@ -112,7 +112,7 @@ class LateralPlanner:
self.last_cloudlog_t = t
cloudlog.warning("Lateral mpc - nan: True")
if self.lat_mpc.cost > 20000. or mpc_nans:
if self.lat_mpc.cost > 1e6 or mpc_nans:
self.solution_invalid_cnt += 1
else:
self.solution_invalid_cnt = 0