NavJuncture

common/params_keys.h

@@ -424,6 +424,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
     {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
     {"NavDesiresAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"NavLanePositioningAllowed", {PERSISTENT, BOOL, "0", "0", 2}},
     {"NavLongitudinalAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ClearNavOnOffroad", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
     {"ClearNavOnOffroadTimeoutMinutes", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},

selfdrive/controls/lib/desire_helper.py

@@ -66,6 +66,7 @@ class DesireHelper:
 
     self.lane_change_wait_timer = 0.0
     self.nav_desires_allowed = False
+    self.nav_lane_positioning_allowed = False
     self._nav_instruction_state_raw: object = None
     self._nav_instruction_state: dict[str, object] = {}
 
@@ -192,9 +193,12 @@ class DesireHelper:
 
     return modifier
 
-  def _navigation_desire(self, carstate, lateral_active, starpilotPlan, starpilot_toggles, nudgeless_enabled):
+  def _navigation_desire(self, carstate, lateral_active, starpilotPlan, starpilot_toggles):
     self._update_nav_params()
     self.nav_desires_allowed = bool(getattr(starpilot_toggles, "nav_desires_allowed", self.nav_desires_allowed))
+    self.nav_lane_positioning_allowed = bool(
+      getattr(starpilot_toggles, "nav_lane_positioning_allowed", self.nav_lane_positioning_allowed)
+    )
     if not self.nav_desires_allowed or not lateral_active or not bool(self._nav_instruction_state.get("valid", False)):
       return log.Desire.none
 
@@ -204,18 +208,20 @@ class DesireHelper:
       return log.Desire.none
 
     if modifier == "slightLeft":
+      if not self.nav_lane_positioning_allowed:
+        return log.Desire.none
       lane_change_direction = LaneChangeDirection.left
       desired_lane_width = starpilotPlan.laneWidthLeft
-      nudgeless_allowed = nudgeless_enabled and desired_lane_width >= starpilot_toggles.lane_detection_width
       if not carstate.rightBlinker and self._nav_keep_direction_is_clear(carstate, lane_change_direction):
-        if self._nav_torque_applied(carstate, lane_change_direction) or nudgeless_allowed:
+        if desired_lane_width >= starpilot_toggles.lane_detection_width and self._nav_torque_applied(carstate, lane_change_direction):
           return log.Desire.keepLeft
     elif modifier == "slightRight":
+      if not self.nav_lane_positioning_allowed:
+        return log.Desire.none
       lane_change_direction = LaneChangeDirection.right
       desired_lane_width = starpilotPlan.laneWidthRight
-      nudgeless_allowed = nudgeless_enabled and desired_lane_width >= starpilot_toggles.lane_detection_width
       if not carstate.leftBlinker and self._nav_keep_direction_is_clear(carstate, lane_change_direction):
-        if self._nav_torque_applied(carstate, lane_change_direction) or nudgeless_allowed:
+        if desired_lane_width >= starpilot_toggles.lane_detection_width and self._nav_torque_applied(carstate, lane_change_direction):
           return log.Desire.keepRight
     elif modifier in ("left", "sharpLeft"):
       turn_allowed = not carstate.rightBlinker and not carstate.leftBlindspot
@@ -349,6 +355,6 @@ class DesireHelper:
 
       self.lane_change_wait_timer = 0.0
 
-    nav_desire = self._navigation_desire(carstate, lateral_active, starpilotPlan, starpilot_toggles, nudgeless_enabled)
+    nav_desire = self._navigation_desire(carstate, lateral_active, starpilotPlan, starpilot_toggles)
     if nav_desire != log.Desire.none and self.lane_change_state == LaneChangeState.off:
       self.desire = nav_desire

selfdrive/controls/tests/test_navigation_desires.py

@@ -33,6 +33,7 @@ def make_toggles(**overrides):
     "use_turn_desires": False,
     "lane_changes_require_cruise": False,
     "nav_desires_allowed": True,
+    "nav_lane_positioning_allowed": True,
   }
   defaults.update(overrides)
   return SimpleNamespace(**defaults)
@@ -53,7 +54,7 @@ def test_nav_desires_keep_left_when_route_requests_it():
   helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightLeft"}
 
   helper.update(
-    make_car_state(vEgo=20.0),
+    make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=1.0),
     True,
     0.0,
     make_plan(laneWidthLeft=4.2),
@@ -74,7 +75,7 @@ def test_nav_desires_turn_right_below_lane_change_speed():
     True,
     0.0,
     make_plan(),
-    make_toggles(minimum_lane_change_speed=10.0),
+    make_toggles(minimum_lane_change_speed=10.0, nav_lane_positioning_allowed=False),
   )
 
   assert helper.desire == log.Desire.turnRight
@@ -110,7 +111,7 @@ def test_nav_desires_off_ramp_lane_guidance_becomes_keep_right():
   }
 
   helper.update(
-    make_car_state(vEgo=22.5),
+    make_car_state(vEgo=22.5, steeringPressed=True, steeringTorque=-1.0),
     True,
     0.0,
     make_plan(laneWidthRight=4.2),
@@ -211,7 +212,7 @@ def test_nav_desires_wide_highway_edge_exit_lane_keeps_right():
   }
 
   helper.update(
-    make_car_state(vEgo=19.0),
+    make_car_state(vEgo=19.0, steeringPressed=True, steeringTorque=-1.0),
     True,
     0.0,
     make_plan(laneWidthRight=4.2),
@@ -237,7 +238,7 @@ def test_nav_desires_shared_transition_lane_keeps_when_active_lane_is_not_outerm
   }
 
   helper.update(
-    make_car_state(vEgo=22.5),
+    make_car_state(vEgo=22.5, steeringPressed=True, steeringTorque=-1.0),
     True,
     0.0,
     make_plan(laneWidthRight=4.2),
@@ -261,7 +262,7 @@ def test_nav_desires_ambiguous_fork_slight_right_only_keeps_close_to_split():
   }
 
   helper.update(
-    make_car_state(vEgo=22.5),
+    make_car_state(vEgo=22.5, steeringPressed=True, steeringTorque=-1.0),
     True,
     0.0,
     make_plan(laneWidthRight=4.2),
@@ -448,6 +449,16 @@ def test_nav_desires_nudgeless_only_when_engaged_blocks_keep_when_aol_only():
 
   assert helper.desire == log.Desire.none
 
+  helper.update(
+    make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=-1.0),
+    True,
+    0.0,
+    make_plan(laneWidthRight=4.2),
+    make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=False, nudgeless=True),
+  )
+
+  assert helper.desire == log.Desire.none
+
 
 def test_turn_desire_fires_below_lane_change_speed_when_no_stop():
   helper = DesireHelper()
@@ -512,11 +523,37 @@ def test_disabling_nav_desires_clears_active_route_desire_immediately():
   helper = DesireHelper()
   helper._update_nav_params = lambda: None
   helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightRight"}
-  car_state = make_car_state(vEgo=20.0)
+  car_state = make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=-1.0)
   plan = make_plan(laneWidthRight=4.2)
 
-  helper.update(car_state, True, 0.0, plan, make_toggles(nav_desires_allowed=True))
+  helper.update(car_state, True, 0.0, plan, make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=True))
   assert helper.desire == log.Desire.keepRight
 
-  helper.update(car_state, True, 0.0, plan, make_toggles(nav_desires_allowed=False))
+  helper.update(car_state, True, 0.0, plan, make_toggles(nav_desires_allowed=False, nav_lane_positioning_allowed=True))
+  assert helper.desire == log.Desire.none
+
+
+def test_nav_lane_positioning_requires_driver_confirmation():
+  helper = DesireHelper()
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightRight"}
+
+  helper.update(
+    make_car_state(vEgo=20.0),
+    True,
+    0.0,
+    make_plan(laneWidthRight=4.2),
+    make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=True, nudgeless=True),
+  )
+
+  assert helper.desire == log.Desire.none
+
+  helper.update(
+    make_car_state(vEgo=20.0, steeringPressed=True, steeringTorque=-1.0),
+    True,
+    0.0,
+    make_plan(laneWidthRight=4.2),
+    make_toggles(nav_desires_allowed=True, nav_lane_positioning_allowed=False, nudgeless=True),
+  )
+
   assert helper.desire == log.Desire.none

starpilot/common/safe_mode.py

@@ -50,6 +50,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "NNFFLite",
   "TurnDesires",
   "NavDesiresAllowed",
+  "NavLanePositioningAllowed",
   "NavLongitudinalAllowed",
   "QOLLateral",
   "PauseLateralSpeed",

starpilot/common/starpilot_variables.py

@@ -1074,6 +1074,7 @@ class StarPilotVariables:
     toggle.nnff = self.get_value("NNFF", condition=lateral_tuning and has_nnff and not is_angle_car)
     toggle.nnff_lite = self.get_value("NNFFLite", condition=not toggle.nnff and lateral_tuning and not is_angle_car)
     toggle.nav_desires_allowed = self.get_value("NavDesiresAllowed")
+    toggle.nav_lane_positioning_allowed = self.get_value("NavLanePositioningAllowed")
     toggle.use_turn_desires = self.get_value("TurnDesires", condition=lateral_tuning)
 
     lkas_button_control = self.get_button_function("LKASButtonControl", condition=toggle.car_make != "subaru")

starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json

@@ -269,8 +269,17 @@
       },
       {
         "key": "NavDesiresAllowed",
-        "label": "Use Route Desires",
-        "description": "Allow an active navigation route to request keep-left, keep-right, and low-speed turn desires.",
+        "label": "Use Route Desires for Turns",
+        "description": "Allow an active navigation route to request low-speed turn desires.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "LateralTune",
+        "settings_tier": "advanced"
+      },
+      {
+        "key": "NavLanePositioningAllowed",
+        "label": "Use Route Desires for Lane Positioning",
+        "description": "Allow route lane bias only after steering torque confirms the requested direction. It never initiates a lane change by itself.",
         "data_type": "bool",
         "ui_type": "toggle",
         "parent_key": "LateralTune",

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -90,7 +90,7 @@ def test_requested_simple_and_advanced_settings_tiers():
 
   for key in ("AlwaysOnLateral", "LaneChanges", "QOLLateral"):
     assert lateral[key]["settings_tier"] == "simple"
-  for key in ("AdvancedLateralTune", "LateralTune", "NavDesiresAllowed"):
+  for key in ("AdvancedLateralTune", "LateralTune", "NavDesiresAllowed", "NavLanePositioningAllowed"):
     assert lateral[key]["settings_tier"] == "advanced"
 
   for key in (
@@ -122,6 +122,7 @@ def test_requested_simple_and_advanced_settings_tiers():
 def test_hidden_feature_defaults_remain_enabled():
   assert _declared_default("GalaxyDeveloperMode") == "0"
   assert _declared_default("NavDesiresAllowed") == "1"
+  assert _declared_default("NavLanePositioningAllowed") == "0"
   assert _declared_default("NavLongitudinalAllowed") == "1"
 
   for key in (