From 151a5045073843bee7c3a61ed4a3ee29ed19b1a9 Mon Sep 17 00:00:00 2001 From: Gernby Date: Fri, 12 Jul 2019 12:55:34 -0500 Subject: [PATCH] Fix lane centering with single lane line (#737) --- selfdrive/controls/lib/model_parser.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py index 0b4bb241dbf342..9b28c66bb9da48 100644 --- a/selfdrive/controls/lib/model_parser.py +++ b/selfdrive/controls/lib/model_parser.py @@ -44,7 +44,7 @@ def update(self, v_ego, md): self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty) current_lane_width = abs(l_poly[3] - r_poly[3]) self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate) - speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8]) + speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5]) self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \ (1 - self.lane_width_certainty) * speed_lane_width