From 62e6d6392d578eb15366e847e54b67fe1a0234bf Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 2 Oct 2023 22:54:01 -0400 Subject: [PATCH] V-TSC: Parse lane lines calculation fix (#326) --- selfdrive/controls/lib/lateral_planner.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 00d528716a..1490931aa3 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -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