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