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fix.. lane change..

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This commit is contained in:
ajouatom 2025-02-18 19:33:49 +09:00
parent 28c0339c18
commit 4b162c1a39
1 changed files with 1 additions and 1 deletions
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2
selfdrive/controls/lib/desire_helper.py
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@ -261,7 +261,7 @@ class DesireHelper:
self.lane_change_direction = LaneChangeDirection.none
elif not blindspot_detected:
if self.laneChangeNeedTorque:
if torque_applied and auto_lane_change_available:
if torque_applied and lane_available:
self.lane_change_state = LaneChangeState.laneChangeStarting
# 운전자가 깜박이켠경우는 바로 차선변경 시작
elif driver_desire_enabled and lane_available: