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firestar5683
2026-06-08 20:10:33 -05:00
parent c3ff2e86db
commit ac8511b211
2 changed files with 22 additions and 6 deletions
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selfdrive/selfdrived/selfdrived.py
+9 -3
View File
@@ -57,15 +57,21 @@ def should_loud_blindspot_alert_without_lateral(CS, sm, starpilot_toggles) -> bo
getattr(starpilot_toggles, "loud_blindspot_alert_when_disengaged", False)):
return False
if sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
return False
left_signal_blocked = bool(CS.leftBlinker and CS.leftBlindspot)
right_signal_blocked = bool(CS.rightBlinker and CS.rightBlindspot)
one_blinker = bool(CS.leftBlinker) != bool(CS.rightBlinker)
if not (one_blinker and (left_signal_blocked or right_signal_blocked)):
return False
if sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
direction = sm['modelV2'].meta.laneChangeDirection
normal_lane_change_alert = (
(left_signal_blocked and direction == LaneChangeDirection.left) or
(right_signal_blocked and direction == LaneChangeDirection.right)
)
if normal_lane_change_alert:
return False
return (
not sm['carControl'].latActive or
not sm['starpilotPlan'].lateralCheck or
selfdrive/selfdrived/tests/test_blindspot_alerts.py
+13 -3
View File
@@ -5,6 +5,7 @@ from openpilot.selfdrive.selfdrived.selfdrived import should_loud_blindspot_aler
LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
def _car_state(left_blinker=False, right_blinker=False, left_blindspot=False, right_blindspot=False):
@@ -16,9 +17,10 @@ def _car_state(left_blinker=False, right_blinker=False, left_blindspot=False, ri
)
def _sm(lane_change_state=LaneChangeState.off, lat_active=False, lateral_check=False, pause_lateral=False):
def _sm(lane_change_state=LaneChangeState.off, lane_change_direction=LaneChangeDirection.none,
lat_active=False, lateral_check=False, pause_lateral=False):
return {
"modelV2": SimpleNamespace(meta=SimpleNamespace(laneChangeState=lane_change_state)),
"modelV2": SimpleNamespace(meta=SimpleNamespace(laneChangeState=lane_change_state, laneChangeDirection=lane_change_direction)),
"carControl": SimpleNamespace(latActive=lat_active),
"starpilotPlan": SimpleNamespace(lateralCheck=lateral_check),
"starpilotCarState": SimpleNamespace(pauseLateral=pause_lateral),
@@ -55,4 +57,12 @@ def test_loud_blindspot_alert_without_lateral_requires_matching_side_and_toggle(
def test_loud_blindspot_alert_without_lateral_skips_normal_lane_change_alert_path():
CS = _car_state(left_blinker=True, left_blindspot=True)
assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lane_change_state=LaneChangeState.preLaneChange), _toggles())
assert not should_loud_blindspot_alert_without_lateral(CS, _sm(lane_change_state=LaneChangeState.preLaneChange,
lane_change_direction=LaneChangeDirection.left), _toggles())
def test_loud_blindspot_alert_without_lateral_handles_paused_pre_lane_change_without_direction():
CS = _car_state(left_blinker=True, left_blindspot=True)
sm = _sm(lane_change_state=LaneChangeState.preLaneChange, lat_active=True, lateral_check=True, pause_lateral=True)
assert should_loud_blindspot_alert_without_lateral(CS, sm, _toggles())