better crowned road centering: learn_angle +/-7

cfranyota · Dec 13, 2018 · 055e406 · 055e406
1 parent 1fd720a
commit 055e406
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
@@ -58,8 +58,8 @@ def rate_limit(new_value, last_value, dw_step, up_step):
 def learn_angle_offset(lateral_control, v_ego, angle_offset, c_poly, c_prob, angle_steers, steer_override):
   # simple integral controller that learns how much steering offset to put to have the car going straight
   # while being in the middle of the lane
-  min_offset = -5.  # deg
-  max_offset = 5.  # deg
+  min_offset = -7.  # deg
+  max_offset = 7.  # deg
   alpha = 1. / 36000.  # correct by 1 deg in 2 mins, at 30m/s, with 50cm of error, at 20Hz
   min_learn_speed = 1.