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fix error #236

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merged 1 commit into from
Apr 23, 2019
Merged

fix error #236

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10 changes: 6 additions & 4 deletions selfdrive/controls/lib/long_mpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -215,6 +215,12 @@ def generate_cost(self, TR, v_ego):

def update(self, CS, lead, v_cruise_setpoint):
v_ego = CS.carState.vEgo
try:
self.relative_velocity = lead.vRel
self.relative_distance = lead.dRel
except: # if no lead car
self.relative_velocity = None
self.relative_distance = None

# Setup current mpc state
self.cur_state[0].x_ego = 0.0
Expand All @@ -223,8 +229,6 @@ def update(self, CS, lead, v_cruise_setpoint):
x_lead = max(0, lead.dRel - 1)
v_lead = max(0.0, lead.vLead)
a_lead = lead.aLeadK
self.relative_velocity = lead.vRel
self.relative_distance = lead.dRel

if (v_lead < 0.1 or -a_lead / 2.0 > v_lead):
v_lead = 0.0
Expand All @@ -241,8 +245,6 @@ def update(self, CS, lead, v_cruise_setpoint):
self.cur_state[0].x_l = x_lead
self.cur_state[0].v_l = v_lead
else:
self.relative_velocity = None
self.relative_distance = None
self.prev_lead_status = False
# Fake a fast lead car, so mpc keeps running
self.cur_state[0].x_l = 50.0
Expand Down