차선 이탈 경고 (바퀴 두개 이탈) - TOR

[hanbro-inha]

VACS랑 OP코드를 추가적으로 올리는게 좋아보여어

[kka-na]

aeye/control/openpilot/lane_check.py

Lines 83 to 95 in 8e104a3

	# 3. Calculate Lane Departure
	if sm['carState'].leftBlinker or sm['carState'].rightBlinker:
	warnLane = 0
	else:
	if (-0.9<line1s[0]<-0.75 or 0.75<line2s[0]<0.9):
	warnLane = 1
	print("Lane Warning")
	elif (-0.75<line1s[0] or 0.75>line2s[0]):
	warnLane = 2
	print("Lane Out")
	else:
	warnLane = 0
	print("Lane Stable")