From 2e90b94ee6821950d9b393dbad79740cc9d12704 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 27 May 2024 03:02:18 -0700
Subject: [PATCH] Controls - Lane Change Customizations - Minimum Lane Change
 Speed

Customize the minimum driving speed to allow openpilot to change lanes.
---
 selfdrive/controls/lib/desire_helper.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index ae343a5..0a208be 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -5,7 +5,6 @@ from openpilot.common.realtime import DT_MDL
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
 
-LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
 
 DESIRES = {
@@ -43,7 +42,7 @@ class DesireHelper:
   def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
-    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
+    below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed
 
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
       self.lane_change_state = LaneChangeState.off