Fix momentary false blind spot alerts when changing lanes (#22819)

* reset LaneChangeDirection after finishing

* update ref

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

selfdrive/controls/lib/lateral_planner.py

@@ -135,10 +135,12 @@ class LateralPlanner():
       elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
         # fade in laneline over 1s
         self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
-        if one_blinker and self.lane_change_ll_prob > 0.99:
-          self.lane_change_state = LaneChangeState.preLaneChange
-        elif self.lane_change_ll_prob > 0.99:
-          self.lane_change_state = LaneChangeState.off
+        if self.lane_change_ll_prob > 0.99:
+          self.lane_change_direction = LaneChangeDirection.none
+          if one_blinker:
+            self.lane_change_state = LaneChangeState.preLaneChange
+          else:
+            self.lane_change_state = LaneChangeState.off
 
     if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
       self.lane_change_timer = 0.0

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d81233677d9987d7645962ff4a076bafd94f83e3
+2f47fc0d3bd112be26fee56c782d152d678c76d2