Revert dPoly computation to 0.6.3 behavior (#809)

* Revert dPoly computation to 0.6.3 behavior * update test reference
commaai · Sep 14, 2019 · 58f3760 · 58f3760
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commit 58f3760
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diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
@@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
   path_from_right_lane = r_poly.copy()
   path_from_right_lane[3] += lane_width / 2.0
 
-  lr_prob = l_prob * r_prob
+  lr_prob = l_prob + r_prob - l_prob * r_prob
 
   d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
   return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly

diff --git a/selfdrive/test/tests/process_replay/ref_commit b/selfdrive/test/tests/process_replay/ref_commit
@@ -1 +1 @@
-8a11bcbc9833e154e10b59a8babb2b4545372f56
+9124fa5837ead9b74d97aef85897478a5e8b92d2