From d39595cf10a7813e55139320daa252278dd7567d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 16 Apr 2020 18:13:37 -0700 Subject: [PATCH] Faster lane change (#1381) * final B2 for 0.75 * more aggression in lane changes --- models/supercombo.dlc | 2 +- models/supercombo.keras | 2 +- selfdrive/controls/lib/pathplanner.py | 6 +++--- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/models/supercombo.dlc b/models/supercombo.dlc index e02d1ceb0..f70aedc0d 100644 --- a/models/supercombo.dlc +++ b/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:37868e7bf823cc22d18dc3277def1667337cb474b4a96f38ee425561ec17ca04 +oid sha256:8913f8a32680e87646780bace3d775687daa38d5cfee0f1ee747de7d394863be size 78605178 diff --git a/models/supercombo.keras b/models/supercombo.keras index 43140d71b..75c4c4ac0 100644 --- a/models/supercombo.keras +++ b/models/supercombo.keras @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b5b0da75fdba32db6da33651dd3eb572755ff5c7f77b7ff03a895334cfcec47c +oid sha256:9a2110c9c13aa1aead362bea78497a9c3fca255deab5a324ac4e9a8f39d0cd23 size 79200720 diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 0e8a4effe..193db8bc9 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -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)