mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-05 17:45:40 +08:00
Code Issues Packages Projects Releases Wiki Activity

more

Browse Source
This commit is contained in:
Jason Wen
2025-03-23 23:52:52 -04:00
parent a1dfa25127
commit 780224d9f9
1 changed files with 13 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+13 -9
View File
@@ -61,21 +61,25 @@ class AutoLaneChangeController:
self.read_params()
self.param_read_counter += 1
lane_change_auto_timer = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer,
AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.TWO_SECONDS])
lane_change_delay = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer,
AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.TWO_SECONDS])
self.lane_change_wait_timer += DT_MDL
if self.lane_change_bsm_delay and blindspot_detected and lane_change_auto_timer:
if lane_change_auto_timer == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGELESS]:
if self.lane_change_bsm_delay and blindspot_detected and lane_change_delay:
if lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGELESS]:
self.lane_change_wait_timer = TIMER_DISABLED
else:
self.lane_change_wait_timer = lane_change_auto_timer - 1
self.lane_change_wait_timer = lane_change_delay - 1
# Don't allow auto lane change if brake was previously pressed
auto_lane_change_allowed = (lane_change_auto_timer and
self.lane_change_wait_timer > lane_change_auto_timer and
not self.prev_brake_pressed)
# 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
auto_lane_change_allowed = lane_change_delay and \
self.lane_change_wait_timer > lane_change_delay and \
not self.prev_brake_pressed
# Update previous brake state
self.prev_brake_pressed = brake_pressed