some laneplanner updates (#2505)
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@ -23,7 +23,7 @@ def eval_poly(poly, x):
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def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std=0.05, r_std=0.05):
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# This will improve behaviour when lanes suddenly widen
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# these numbers were tested on 2000segments and found to work well
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# these numbers were tested on 2000 segments and found to work well
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lane_width = min(4.0, lane_width)
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width_poly = l_poly - r_poly
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prob_mods = []
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@ -35,7 +35,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std
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r_prob = mod * r_prob
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# Remove reliance on uncertain lanelines
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# these numbers were tested on 2000segments and found to work well
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# these numbers were tested on 2000 segments and found to work well
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l_std_mod = interp(l_std, [.15, .3], [1.0, 0.0])
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l_prob = l_std_mod * l_prob
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r_std_mod = interp(r_std, [.15, .3], [1.0, 0.0])
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@ -52,7 +52,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width, v_ego, l_std
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return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
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class LanePlanner():
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class LanePlanner:
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def __init__(self):
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self.l_poly = [0., 0., 0., 0.]
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self.r_poly = [0., 0., 0., 0.]
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@ -107,7 +107,3 @@ class LanePlanner():
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(1 - self.lane_width_certainty) * speed_lane_width
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self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width, v_ego, self.l_std, self.r_std)
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def update(self, v_ego, md):
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self.parse_model(md)
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self.update_d_poly(v_ego)
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