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speed logic

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This commit is contained in:
Jason Wen
2024-08-07 13:15:00 -04:00
parent bd5228e394
commit c3eec36f4f
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/controlsd.py
+1 -1
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@@ -829,7 +829,7 @@ 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 \
(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
if ttc <= 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
overtaking_accel_engaged = False