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Fix lane centering with single lane line #737

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rbiasini merged 1 commit into from
Jul 12, 2019
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Fix lane centering with single lane line #737

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2 changes: 1 addition & 1 deletion selfdrive/controls/lib/model_parser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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])

@rbiasini rbiasini Jul 12, 2019 •
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The Interstate Highway standards for the U.S. Interstate Highway System use a 12-foot (3.7 m) standard lane width, while narrower lanes are used on lower classification roads. In Europe, laws and road widths vary by country; the minimum widths of lanes are generally between 2.5 to 3.25 meters (8.2 to 10.7 ft).

So yeah, I think assuming slightly smaller lane lines by default will help for the average case and also for the case you described.

self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
(1 - self.lane_width_certainty) * speed_lane_width

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