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Use laneful policy to prevent planner aggression

joint_model
Harald Schafer 2022-03-24 13:29:15 -07:00
parent 6dcbdd18c9
commit 468bef41d2
1 changed files with 1 additions and 5 deletions
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6
selfdrive/controls/lib/lateral_planner.py
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@ -59,13 +59,9 @@ class LateralPlanner:
# Calculate final driving path and set MPC costs
if self.use_lanelines:
d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
else:
d_path_xyz = self.path_xyz
path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 1.5) * MPC_COST_LAT.PATH
# Heading cost is useful at low speed, otherwise end of plan can be off-heading
heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
self.lat_mpc.set_weights(path_cost, heading_cost, self.steer_rate_cost)
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)