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Merge branch 'hkg-can-jerk' into master-dev-c3

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Jason Wen
2024-08-07 07:16:54 -04:00
parent ee3885428b b95ba34a9c
commit adb5c8ee26
1 changed files with 5 additions and 4 deletions
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selfdrive/controls/controlsd.py
+5 -4
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@@ -822,12 +822,13 @@ class Controls:
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
lc_svs = self.sm[dh]
lat_plan = self.sm['lateralPlanDEPRECATED']
long_plan = self.sm['longitudinalPlan'].hasLead
dm_state = self.sm['driverMonitoringState']
overtaking_accel_allowed = ((lc_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
(lc_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
(lc_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting))
blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta
overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
(blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
(blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting))
overtaking_accel_engaged = self.overtaking_accel and overtaking_accel_allowed and \
CS.vEgo > (60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS) and long_plan.hasLead and \
long_plan.aTarget > -0.2 and not (CS.leftBlinker and CS.rightBlinker)