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Controls - Lane Change Customizations - Minimum Lane Change Speed

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Customize the minimum driving speed to allow openpilot to change lanes.
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FrogAi
2024-05-27 03:02:18 -07:00
parent 4c46ab8ff4
commit 6e820db364
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/desire_helper.py
+1 -1
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@@ -46,7 +46,7 @@ class DesireHelper:
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed
if not (frogpilot_toggles.lane_detection and one_blinker) or below_lane_change_speed:
lane_available = True