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Faster lane change (#1381) 

* final B2 for 0.75

* more aggression in lane changes
old-commit-hash: d39595cf10
This commit is contained in:
HaraldSchafer 2020-04-16 18:13:37 -07:00 committed by GitHub
parent f1a05ef594
commit 5d72509104
3 changed files with 5 additions and 5 deletions
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2
models/supercombo.dlc
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@ -1,3 +1,3 @@
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size 78605178

2
models/supercombo.keras
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
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size 79200720

6
selfdrive/controls/lib/pathplanner.py
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@ -126,8 +126,8 @@ class PathPlanner():
# starting
elif self.lane_change_state == LaneChangeState.laneChangeStarting:
# fade out lanelines over 1s
self.lane_change_ll_prob = max(self.lane_change_ll_prob - DT_MDL, 0.0)
# fade out lanelines over .5s
self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2*DT_MDL, 0.0)
# 98% certainty
if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
self.lane_change_state = LaneChangeState.laneChangeFinishing
@ -154,7 +154,7 @@ class PathPlanner():
if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
self.LP.l_prob *= self.lane_change_ll_prob
self.LP.r_prob *= self.lane_change_ll_prob
self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
self.libmpc.init_weights(MPC_COST_LAT.PATH / 3.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
else:
self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)