Veering into turn lane and exit while car is turning

[alancyau]

Describe the bug

Car has the tendency to veer into the turn lane or exit while the car is the middle of a turn.

How to reproduce or log data

This behavior tends to happen during the middle of a turn. The car seems to want to hug the inside of the turn, causing it to veer into turn lanes or exits.

Expected behavior

Car should remain in the center of the lane and not veer off into the turn lane or exit.

Device/Version information (please complete the following information):

• Device: comma two

• Dongle ID: 5208d2146d7f0093

• Route: Veering into turn lane: 5208d2146d7f0093|2020-11-12--16-33-02--5 Veering into exit: 5208d2146d7f0093|2020-11-12--16-01-36--7

• Timestamp: Veering into turn lane: 16:38:38 Veering into exit: 16:09:23

• Version: master-ci 0.8

• Car make/model: Honda CRV 2017 with EPS mod

Additional context

N/A

[haraschax]

Thanks for the report. We are trying to move away from using lanelines for pathplanning. As we progress with this, behavior should improve.

[haraschax]

similar to https://github.com/commaai/openpilot/issues/2575

[alancyau]

I noticed this issue hasn't occurred again in the recent "gold" 0.8 release.