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increase min speed to use assist lc / auto lc

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dragonpilot
2019-12-18 14:34:12 +10:00
parent 6447f53d58
commit 8317227583
1 changed files with 4 additions and 4 deletions
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selfdrive/controls/lib/pathplanner.py
+4 -4
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@@ -128,8 +128,8 @@ class PathPlanner():
# dragonpilot auto lc
if self.dragon_assisted_lc_enabled:
# we allow auto lc when speed is > 40mph / 65kph
if self.dragon_auto_lc_enabled and v_ego >= 40 * CV.MPH_TO_MS:
# we allow auto lc when speed is > 60mph / 96.5kph
if self.dragon_auto_lc_enabled and v_ego >= 60 * CV.MPH_TO_MS:
self.dragon_auto_lc_allowed = True
if self.dragon_auto_lc_timer is None:
@@ -169,8 +169,8 @@ class PathPlanner():
# when finishing, we reset timer to none.
self.dragon_auto_lc_timer = None
# Don't allow starting lane change below 24 mph / 40kph
if (v_ego < 24 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
# Don't allow starting lane change below 37 mph / 59.5kph
if (v_ego < 37 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
self.lane_change_state = LaneChangeState.off
if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]: