From 65d902355af86dbf72958d63d724146b461e5b14 Mon Sep 17 00:00:00 2001 From: ajouatom Date: Mon, 12 May 2025 07:23:34 +0900 Subject: [PATCH] fix lanechange no.4 --- selfdrive/controls/lib/desire_helper.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 9043dda..1498bd7 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -313,8 +313,9 @@ class DesireHelper: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none else: - if self.blindspot_detected_counter > 0 and not self.torque_always: - pass + if self.blindspot_detected_counter > 0 or self.torque_always: + if torque_applied and lane_available or self.torque_always: + self.lane_change_state = LaneChangeState.laneChangeStarting elif self.laneChangeNeedTorque == 1: # 1: need torque, 2: no lanechange, 3: ignore bsd if torque_applied and lane_available: self.lane_change_state = LaneChangeState.laneChangeStarting