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Custom minimum lane change speed

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James
2025-12-01 12:00:00 -07:00
parent 70a7318a3a
commit 3c77fb947b
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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@@ -51,7 +51,7 @@ 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 lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
self.lane_change_state = LaneChangeState.off