From 335dd7698a3eda81c298eb4c882cb4669bf97f18 Mon Sep 17 00:00:00 2001 From: openpilot <5604101+axi82@user.noreply.gitee.com> Date: Mon, 20 Apr 2026 07:16:41 +0800 Subject: [PATCH] =?UTF-8?q?desire=5Fhelper.py:=E4=BF=AE=E6=94=B9APP?= =?UTF-8?q?=E9=80=9A=E8=BF=87=E5=91=BD=E4=BB=A4=E6=8E=A7=E5=88=B6=E5=8F=98?= =?UTF-8?q?=E9=81=93=E7=9A=84=E9=80=BB=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- selfdrive/controls/lib/desire_helper.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 12475fc0..2ce2ee0e 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -493,11 +493,11 @@ class DesireHelper: if self.carrot_overtake_cmd: atc_left_right = True #在变道期间不再接受下一条变道命令，防止结束当前变道后再一次变道 - if carrotMan.carrotCmdIndex != self.carrot_cmd_index_last and (carrotMan.carrotCmd == "LANECHANGE" or carrotMan.carrotCmd == "OVERTAKE"): - self.carrot_cmd_index_last = carrotMan.carrotCmdIndex + #if carrotMan.carrotCmdIndex != self.carrot_cmd_index_last and (carrotMan.carrotCmd == "LANECHANGE" or carrotMan.carrotCmd == "OVERTAKE"): + # 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(LANE_CHANGE_TIME_MAX*2 / DT_MDL) + self.carrot_lane_change_count = int(0.2 / 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}," @@ -511,6 +511,7 @@ class DesireHelper: #self.lane_count_last = -1 if carrotMan.carrotCmd == "OVERTAKE": self.carrot_overtake_cmd = True + atc_left_right = True elif atc_type in ["turn left", "turn right"]: #来自carrot_man.py的update_auto_turn函数，转弯请求 if self.atc_active != 2: below_lane_change_speed = True