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cancel lane change

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This commit is contained in:
jakethesake420
2025-04-27 14:49:33 -05:00
committed by MoreTore
parent 7ca78b3069
commit 474d89943c
1 changed files with 23 additions and 22 deletions
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selfdrive/controls/lib/desire_helper.py
+23 -22
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@@ -57,30 +57,31 @@ class DesireHelper:
v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker
below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed
# Cancel nudgeless lane change in any state under these conditions:
# - Brake is pressed
# - Driver is applying opposing steering torque.
# Reset canceled flag when blinker is off or driver applies torque
if not one_blinker or carstate.steeringPressed:
self.lane_change_canceled = False
# Cancel logic
cancel_lane_change = (carstate.brakePressed and frogpilot_toggles.nudgeless)
if self.lane_change_direction == LaneChangeDirection.left and (carstate.steeringPressed and carstate.steeringTorque < 0):
cancel_lane_change = frogpilot_toggles.nudgeless
elif self.lane_change_direction == LaneChangeDirection.right and (carstate.steeringPressed and carstate.steeringTorque > 0):
cancel_lane_change = frogpilot_toggles.nudgeless
if not below_lane_change_speed:
# Cancel nudgeless lane change in any state under these conditions:
# - Brake is pressed
# - Driver is applying opposing steering torque.
# Reset canceled flag when blinker is off or driver applies torque
if not one_blinker or carstate.steeringPressed:
self.lane_change_canceled = False
# Cancel logic
cancel_lane_change = (carstate.brakePressed and frogpilot_toggles.nudgeless)
if self.lane_change_direction == LaneChangeDirection.left and (carstate.steeringPressed and carstate.steeringTorque < 0):
cancel_lane_change = frogpilot_toggles.nudgeless
elif self.lane_change_direction == LaneChangeDirection.right and (carstate.steeringPressed and carstate.steeringTorque > 0):
cancel_lane_change = frogpilot_toggles.nudgeless
if cancel_lane_change or self.lane_change_canceled:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_timer = 0.0
self.lane_change_ll_prob = 1.0
self.lane_change_completed = False
self.lane_change_canceled = True
self.desire = log.Desire.none
self.prev_one_blinker = one_blinker
return
if cancel_lane_change or self.lane_change_canceled:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_timer = 0.0
self.lane_change_ll_prob = 1.0
self.lane_change_completed = False
self.lane_change_canceled = True
self.desire = log.Desire.none
self.prev_one_blinker = one_blinker
return
if not (frogpilot_toggles.lane_detection and one_blinker) or below_lane_change_speed:
lane_available = True