Revert dPoly computation to 0.6.3 behavior (#809)

* Revert dPoly computation to 0.6.3 behavior * update test reference
2019-09-13 17:01:54 -07:00 · 2019-09-13 17:01:54 -07:00 · 58f376002e
parent b0563a5968
commit 58f376002e
2 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
  path_from_right_lane = r_poly.copy()
  path_from_right_lane[3] += lane_width / 2.0

-  lr_prob = l_prob * r_prob
+  lr_prob = l_prob + r_prob - l_prob * r_prob

  d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
  return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
--- a/selfdrive/test/tests/process_replay/ref_commit
+++ b/selfdrive/test/tests/process_replay/ref_commit
@ -1 +1 @@
-8a11bcbc9833e154e10b59a8babb2b4545372f56
+9124fa5837ead9b74d97aef85897478a5e8b92d2