From c888636731c8273adc65631ab3dc068eb8c3b083 Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Thu, 26 Mar 2020 21:11:09 +0100 Subject: [PATCH] New lane planner --- selfdrive/controls/tests/test_lateral_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index 8dfff81ad40b59..cdfad05bc46b15 100644 --- 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)