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Fix ability to change lane change direction while in progress (#20765)

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old-commit-hash: a57f10c202fe7dc63023d45ef612c4ec849882ab
This commit is contained in:
Willem Melching
2021-04-29 22:03:16 +02:00
committed by GitHub
parent b263a8d934
commit 002057e1f1
1 changed files with 5 additions and 5 deletions
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selfdrive/controls/lib/lateral_planner.py
+5 -5
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@@ -101,11 +101,6 @@ class LateralPlanner():
one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
if sm['carState'].leftBlinker:
self.lane_change_direction = LaneChangeDirection.left
elif sm['carState'].rightBlinker:
self.lane_change_direction = LaneChangeDirection.right
if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
@@ -122,6 +117,11 @@ class LateralPlanner():
# State transitions
# off
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
if sm['carState'].leftBlinker:
self.lane_change_direction = LaneChangeDirection.left
elif sm['carState'].rightBlinker:
self.lane_change_direction = LaneChangeDirection.right
self.lane_change_state = LaneChangeState.preLaneChange
self.lane_change_ll_prob = 1.0