Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Joint Model #24213

Merged
merged 19 commits into from
May 13, 2022
Merged

Joint Model #24213

Changes from 1 commit
Commits
Show all changes
19 commits
Select commit Hold shift + click to select a range
f2fa4ed
update models
YassineYousfi Mar 18, 2022
dc6ed85
wip lanelines mhp parsing
YassineYousfi Mar 18, 2022
213382b
typos
YassineYousfi Mar 18, 2022
ec7f13a
newer models
YassineYousfi Mar 18, 2022
c9b8596
95995a49-db0c-4261-8776-b90780dc2a8c/600
haraschax Mar 23, 2022
59a1c0f
Use laneful policy to prevent planner aggression
haraschax Mar 24, 2022
6011603
c8c3ab69-bd2c-4d1c-a7f8-9e8457e4827b/950
haraschax Mar 26, 2022
e3bb26a
ede8f75a-df3e-41fb-bc56-63e2f33858e5/950
YassineYousfi Mar 30, 2022
b5c0e59
7205c5af-7532-4215-ad9b-678789054db7/995
haraschax Apr 4, 2022
1eb3961
bfb34fa3-1d72-4987-854f-43d42ee01015/950
haraschax Apr 12, 2022
f971fcd
change cost
haraschax Apr 13, 2022
7b9b283
8ae2477a-b452-4601-b04c-d3af66ea5e98/950
haraschax May 4, 2022
70ef1b7
Update heading cost
haraschax May 6, 2022
7e0b029
9b991314-94f5-4f0b-872e-58d95266e4d0/333
haraschax May 11, 2022
55ed876
9b991314-94f5-4f0b-872e-58d95266e4d0/950
haraschax May 11, 2022
89d5f17
ede8f75a-df3e-41fb-bc56-63e2f33858e5/950
haraschax May 12, 2022
2ecffe5
undo lateral planner changes
haraschax May 13, 2022
885bbd4
rm whitespace
haraschax May 13, 2022
52a2e58
update ref
haraschax May 13, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
Use laneful policy to prevent planner aggression
  • Loading branch information
@haraschax
haraschax committed May 11, 2022
commit 59a1c0fb6c86d547a228014aef412ffc26077b0d
6 changes: 1 addition & 5 deletions selfdrive/controls/lib/lateral_planner.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,13 +59,9 @@ def update(self, sm):
# 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)
Expand Down