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LanePlanner: correct path offset for TICI #23329

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LanePlanner: correct path offset for TICI #23329

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da00b78
calculate correct path offset for TICI
sshane Dec 28, 2021
ada92a2
model's ll and path y signs were flipped so should camera offset
sshane Dec 28, 2021
92461ff
specify
sshane Dec 28, 2021
8b665ce
last reference of the flippening
sshane Dec 28, 2021
1d1b84c
leave the flippening to another PR
sshane Dec 28, 2021
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8 changes: 3 additions & 5 deletions selfdrive/controls/lib/lane_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,16 +8,14 @@


TRAJECTORY_SIZE = 33
# camera offset is meters from center car to camera
# model path is 0.06 m left of car center
MODEL_PATH_OFFSET = 0.06
if EON:
CAMERA_OFFSET = 0.06
PATH_OFFSET = 0.0
elif TICI:
CAMERA_OFFSET = -0.04
PATH_OFFSET = -0.04
else:
CAMERA_OFFSET = 0.0
PATH_OFFSET = 0.0


class LanePlanner:
Expand All @@ -41,7 +39,7 @@ def __init__(self, wide_camera=False):
self.r_lane_change_prob = 0.

self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
self.path_offset = self.camera_offset - MODEL_PATH_OFFSET

def parse_model(self, md):
if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE:
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