From b95ba34a9c9a3b2da056153004c599d7dcf6fdb0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 7 Aug 2024 07:16:47 -0400 Subject: [PATCH] fix --- selfdrive/controls/controlsd.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 7b5d90cbbc..f7fab1cb84 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -817,12 +817,13 @@ 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)