From 24834a07abe6e83c18a593743b9864baa86ee045 Mon Sep 17 00:00:00 2001
From: openpilot <5604101+axi82@user.noreply.gitee.com>
Date: Sun, 17 May 2026 22:35:59 +0800
Subject: [PATCH] =?UTF-8?q?desire=5Fhelper.py:=E4=BF=AE=E6=94=B9=E9=80=9A?=
 =?UTF-8?q?=E8=BF=87=E5=91=BD=E4=BB=A4=E5=8F=98=E9=81=93=E7=9A=84=E7=BB=B4?=
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---
 selfdrive/controls/lib/desire_helper.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 2ce2ee0e..c6255715 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -497,7 +497,7 @@ class DesireHelper:
       #  self.carrot_cmd_index_last = carrotMan.carrotCmdIndex
     elif carrotMan.carrotCmdIndex != self.carrot_cmd_index_last and (carrotMan.carrotCmd == "LANECHANGE" or carrotMan.carrotCmd == "OVERTAKE"): #来自app的变道命令
       self.carrot_cmd_index_last = carrotMan.carrotCmdIndex
-      self.carrot_lane_change_count = int(0.2 / DT_MDL)
+      self.carrot_lane_change_count = int(2.0 / DT_MDL)
       self.carrot_blinker_state = BLINKER_LEFT if carrotMan.carrotArg == "LEFT" else BLINKER_RIGHT
       print(f"---[{time.strftime('%H:%M:%S')}]Desire lanechange: {carrotMan.carrotArg},counter={self.carrot_lane_change_count},blinker={self.carrot_blinker_state},"
             f"state={self.lane_change_state},prev_desire_enabled={self.prev_desire_enabled},"