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Fix turn allowed conditions for lane changes in DesireHelper

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This commit is contained in:
Prabhaav Pillai
2026-08-21 01:00:55 -04:00
parent 73f64ac754
commit ab98ae54bb
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/desire_helper.py
+2 -2
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@@ -224,12 +224,12 @@ class DesireHelper:
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
turn_allowed = carstate.leftBlinker and not carstate.rightBlinker and not carstate.leftBlindspot
turn_allowed &= carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill
if turn_allowed and self._nav_turn_is_imminent(carstate, maneuver_distance):
return log.Desire.turnLeft
elif modifier in ("right", "sharpRight"):
turn_allowed = not carstate.leftBlinker and not carstate.rightBlindspot
turn_allowed = carstate.rightBlinker and not carstate.leftBlinker and not carstate.rightBlindspot
turn_allowed &= carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill
if turn_allowed and self._nav_turn_is_imminent(carstate, maneuver_distance):
return log.Desire.turnRight