From 5d8026f8c6ed394ee8d66ad271a7a994e9fbb885 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 24 Mar 2025 12:00:00 -0400 Subject: [PATCH] even more explicit --- sunnypilot/selfdrive/controls/lib/auto_lane_change.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py index d2279b270f..f1aced5b92 100644 --- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py +++ b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py @@ -82,13 +82,16 @@ class AutoLaneChangeController: 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 + # 2. Brake wasn't previously pressed + # 3. We've waited long enough 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 + if self.prev_brake_pressed: + return False + + return self.lane_change_wait_timer > self.lane_change_delay def update(self, blindspot_detected: bool, brake_pressed: bool) -> None: self._blindspot_detected = blindspot_detected