mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-24 06:33:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

V-TSC: Parse lane lines calculation fix (#326)

Browse Source
This commit is contained in:
Jason Wen
2023-10-02 22:54:01 -04:00
committed by GitHub
parent 5e0c958618
commit 62e6d6392d
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/lateral_planner.py
+2 -1
View File
@@ -111,11 +111,12 @@ class LateralPlanner:
if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:
self.LP.lll_prob *= self.DH.lane_change_ll_prob
self.LP.rll_prob *= self.DH.lane_change_ll_prob
self.d_path_w_lines_xyz = self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz)
low_speed = v_ego_car < 10 * CV.MPH_TO_MS
if not self.get_dynamic_lane_profile(sm['longitudinalPlanSP']) and not low_speed:
self.path_xyz = self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz)
self.path_xyz = self.d_path_w_lines_xyz
self.dynamic_lane_profile_status = False
else:
self.path_xyz[:, 1] += self.LP.path_offset