yes

selfdrive/controls/lib/desire_helper.py

@@ -191,9 +191,12 @@ class DesireHelper:
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < starpilot_toggles.minimum_lane_change_speed
+    cruise_state = getattr(carstate, "cruiseState", None)
+    lane_changes_allowed = starpilot_toggles.lane_changes
+    lane_changes_allowed &= not getattr(starpilot_toggles, "lane_changes_require_cruise", False) or bool(getattr(cruise_state, "enabled", False))
 
     lane_change_time_max = getattr(starpilot_toggles, 'lane_change_time_max', LANE_CHANGE_TIME_MAX)
-    if not lateral_active or self.lane_change_timer > lane_change_time_max or not starpilot_toggles.lane_changes:
+    if not lateral_active or self.lane_change_timer > lane_change_time_max or not lane_changes_allowed:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:

selfdrive/controls/tests/test_navigation_desires.py

@@ -15,6 +15,7 @@ def make_car_state(**overrides):
     "steeringPressed": False,
     "steeringTorque": 0.0,
     "standstill": False,
+    "cruiseState": SimpleNamespace(enabled=True),
   }
   defaults.update(overrides)
   return SimpleNamespace(**defaults)
@@ -29,6 +30,7 @@ def make_toggles(**overrides):
     "nudgeless": True,
     "one_lane_change": False,
     "use_turn_desires": False,
+    "lane_changes_require_cruise": False,
   }
   defaults.update(overrides)
   return SimpleNamespace(**defaults)
@@ -229,6 +231,52 @@ def test_nav_desires_do_not_override_lane_change_state_machine():
   assert helper.desire == log.Desire.laneChangeLeft
 
 
+def test_lane_changes_require_cruise_blocks_blinker_lane_change_without_cruise():
+  helper = DesireHelper()
+
+  helper.update(
+    make_car_state(leftBlinker=True, cruiseState=SimpleNamespace(enabled=False)),
+    True,
+    0.0,
+    make_plan(),
+    make_toggles(lane_changes_require_cruise=True),
+  )
+
+  assert helper.lane_change_state == LaneChangeState.off
+  assert helper.lane_change_direction == LaneChangeDirection.none
+  assert helper.desire == log.Desire.none
+
+
+def test_lane_changes_require_cruise_allows_blinker_lane_change_with_cruise():
+  helper = DesireHelper()
+
+  helper.update(
+    make_car_state(leftBlinker=True, cruiseState=SimpleNamespace(enabled=True)),
+    True,
+    0.0,
+    make_plan(),
+    make_toggles(lane_changes_require_cruise=True),
+  )
+
+  assert helper.lane_change_state == LaneChangeState.preLaneChange
+  assert helper.lane_change_direction == LaneChangeDirection.left
+
+
+def test_lane_changes_without_cruise_requirement_keep_existing_behavior():
+  helper = DesireHelper()
+
+  helper.update(
+    make_car_state(leftBlinker=True, cruiseState=SimpleNamespace(enabled=False)),
+    True,
+    0.0,
+    make_plan(),
+    make_toggles(lane_changes_require_cruise=False),
+  )
+
+  assert helper.lane_change_state == LaneChangeState.preLaneChange
+  assert helper.lane_change_direction == LaneChangeDirection.left
+
+
 def test_nav_desires_disabled_leave_desire_unchanged():
   helper = DesireHelper()
   helper.nav_desires_allowed = False

starpilot/common/starpilot_variables.py

@@ -955,6 +955,7 @@ class StarPilotVariables:
       toggle.wheel_image = toggle.current_holiday_theme
 
     toggle.lane_changes = self.get_value("LaneChanges")
+    toggle.lane_changes_require_cruise = toggle.car_model == HYUNDAI_CAR.KIA_XCEED_PHEV
     toggle.lane_change_delay = self.get_value("LaneChangeTime", cast=float, condition=toggle.lane_changes)
     toggle.lane_detection_width = self.get_value("LaneDetectionWidth", cast=float, condition=toggle.lane_changes, conversion=distance_conversion)
     toggle.minimum_lane_change_speed = self.get_value("MinimumLaneChangeSpeed", cast=float, condition=toggle.lane_changes, conversion=speed_conversion)