Fix lane centering with single lane line (commaai#737)

dragonpilot-community · Jul 12, 2019 · 7ad0d8c · 7ad0d8c
1 parent 4db632d
commit 7ad0d8c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git 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