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Merge branch 'hkg-can-jerk' into lt

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Jason Wen
2024-08-07 13:23:46 -04:00
parent c5ebb3a5a1 560b6e79bc
commit b8f63740bc
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
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@@ -834,8 +834,8 @@ class Controls:
self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged
ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255
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) and ttc > 0.75
(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) and (0.75 < ttc < 3.0)
if ttc <= 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
overtaking_accel_engaged = False
if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged: