Merge branch 'devel-en' into devel-zhs

cereal/car.capnp

@@ -96,6 +96,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     leadCarDetected @69;
     preAutoLaneChangeLeft @70;
     preAutoLaneChangeRight @71;
+    autoLaneChange @72;
   }
 }
 

selfdrive/controls/controlsd.py

@@ -51,7 +51,10 @@ def add_lane_change_event(events, path_plan):
         event_name = 'preAutoLaneChangeRight'
       events.append(create_event(event_name, [ET.WARNING]))
   elif path_plan.laneChangeState in [LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing]:
-      events.append(create_event('laneChange', [ET.WARNING]))
+      event_name = 'laneChange'
+      if path_plan.autoLCAllowed:
+          event_name = 'autoLaneChange'
+      events.append(create_event(event_name, [ET.WARNING]))
 
 
 def isActive(state):

selfdrive/controls/lib/alerts.py

@@ -792,4 +792,12 @@ ALERTS = [
     "请注意其他车辆",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
+
+  Alert(
+    "autoLaneChange",
+    "Changing Lane",
+    "Monitor Other Vehicles",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .0, .1, .1),
+
 ]