lateral_augmentations.py

 def augment_steering(self, camera_angle, steer, speed):
        """
            Apply the steering physical equation to augment for the lateral cameras.
        Args:
            camera_angle_batch:
            steer_batch:
            speed_batch:

        Returns:
            the augmented steering

        """

        time_use = 1.0
        car_length = 6.0
        old_steer = steer
        pos = camera_angle > 0.0
        neg = camera_angle <= 0.0
        # You should use the absolute value of speed
        speed = math.fabs(speed)
        rad_camera_angle = math.radians(math.fabs(camera_angle))
        val = g_conf.AUGMENT_LATERAL_STEERINGS * (
        math.atan((rad_camera_angle * car_length) / (time_use * speed + 0.05))) / 3.1415
        steer -= pos * min(val, 0.3)
        steer += neg * min(val, 0.3)

        steer = min(1.0, max(-1.0, steer))


        #print('Angle', camera_angle, ' Steer ', old_steer, ' speed ', speed, 'new steer', steer)
        return steer