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This commit is contained in:
Jason Wen
2025-03-24 11:51:38 -04:00
parent f87f1782cb
commit 48533d90e5
1 changed files with 8 additions and 5 deletions
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sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+8 -5
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@@ -79,20 +79,23 @@ class AutoLaneChangeController:
else:
self.lane_change_wait_timer = self.lane_change_delay - 1
def update_allowed(self) -> None:
def update_allowed(self) -> bool:
# Auto lane change allowed if:
# 1. A valid delay is set (non-zero)
# 2. We've waited long enough
# 3. Brake wasn't previously pressed
self.auto_lane_change_allowed = self.lane_change_set_timer not in (AutoLaneChangeState.OFF, AutoLaneChangeState.NUDGE) and \
self.lane_change_wait_timer >= self.lane_change_delay and \
not self.prev_brake_pressed
if self.lane_change_set_timer in (AutoLaneChangeState.OFF, AutoLaneChangeState.NUDGE):
return False
return self.lane_change_wait_timer > self.lane_change_delay and not self.prev_brake_pressed
def update(self, blindspot_detected: bool, brake_pressed: bool) -> None:
self._blindspot_detected = blindspot_detected
self._brake_pressed = brake_pressed
self.update_lane_change_timers()
self.update_allowed()
alc_allowed = self.update_allowed()
self.auto_lane_change_allowed = alc_allowed
self.prev_brake_pressed = self._brake_pressed