From 6e820db364edcad52254f74b9268dec1b83b0b00 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 27 May 2024 03:02:18 -0700
Subject: [PATCH] Controls - Lane Change Customizations - Minimum Lane Change
 Speed

Customize the minimum driving speed to allow openpilot to change lanes.
---
 selfdrive/controls/lib/desire_helper.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index a5e91a7ae..77fe47107 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -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