New lane planner

netadvanced · Mar 26, 2020 · c888636 · c888636
1 parent a5a65c1
commit c888636
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py
@@ -25,7 +25,7 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
   p_p = poly_p.copy()
   p_p[3] += poly_shift
 
-  d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width)
+  d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width, v_ref)
 
   CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
   VM = VehicleModel(CP)