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Update pathplanner.py #8

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Update pathplanner.py #8

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11 changes: 9 additions & 2 deletions selfdrive/controls/lib/pathplanner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@ class PathPlanner(object):
def __init__(self):
self.d_poly = [0., 0., 0., 0.]
self.c_poly = [0., 0., 0., 0.]
self.r_poly = [0., 0., 0., 0.]
self.l_poly = [0., 0., 0., 0.]
self.c_prob = 0.
self.last_model = 0.
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
Expand Down Expand Up @@ -40,9 +42,14 @@ def update(self, v_ego, md):
(1 - self.lane_width_certainty) * speed_lane_width

lane_width_diff = abs(self.lane_width - current_lane_width)
lane_r_prob = interp(lane_width_diff, [0.3, 1.0], [1.0, 0.0])
lane_prob = interp(lane_width_diff, [0.3, 1.0], [1.0, 0.0])

r_prob *= lane_r_prob
if abs(self.r_poly[3] - self.c_poly[3]) - abs(self.l_poly[3] - self.c_poly[3]) > 0.3 and \
abs(self.r_poly[3] - r_poly[3]) > abs(self.l_poly[3] - l_poly[3]):
r_prob *= lane_prob
elif abs(self.l_poly[3] - self.c_poly[3]) - abs(self.r_poly[3] - self.c_poly[3]) > 0.3 and \
abs(self.l_poly[3] - l_poly[3]) > abs(self.r_poly[3] - r_poly[3]):
l_prob *= lane_prob

self.lead_dist = md.model.lead.dist
self.lead_prob = md.model.lead.prob
Expand Down