  from common.numpy_fast import interp
  import numpy as np
  from selfdrive.hardware import EON, TICI
  from selfdrive.swaglog import cloudlog
  from cereal import log
  
 
</s> remove from cereal import log
 </s> add  </s> remove     self.lane_width_certainty += 0.05 * (l_prob * r_prob - self.lane_width_certainty)
 </s> add     self.lane_width_certainty.update(l_prob * r_prob) </s> remove     self.lane_width_estimate = 3.7
    self.lane_width_certainty = 1.0
 </s> add     self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL)
    self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL) </s> remove     self.x = (1. - self.k) * self.x + self.k * x
 </s> add     self.x = (1. - self.alpha) * self.x + self.alpha * x

  import numpy as np
  from selfdrive.hardware import EON, TICI
  from selfdrive.swaglog import cloudlog
  from cereal import log
  
replace keep keep keep keep keep
 Use first order filter (#21411)

* Use first order filter in INDI

* use first order filter in LP as well

* Update selfdrive/controls/lib/lane_planner.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* RC->rc

* division safe

Co-authored-by: Willem Melching <willem.melching@gmail.com> 
selfdrive/controls/lib/lane_planner.py