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fix lanechange no.4

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This commit is contained in:
ajouatom 2025-05-12 07:23:34 +09:00
parent 432a1e5ec1
commit 65d902355a
1 changed files with 3 additions and 2 deletions
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5
selfdrive/controls/lib/desire_helper.py
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@ -313,8 +313,9 @@ class DesireHelper:
self.lane_change_state = LaneChangeState.off self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none self.lane_change_direction = LaneChangeDirection.none
else: else:
if self.blindspot_detected_counter > 0 and not self.torque_always: if self.blindspot_detected_counter > 0 or self.torque_always:
pass 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 elif self.laneChangeNeedTorque == 1: # 1: need torque, 2: no lanechange, 3: ignore bsd
if torque_applied and lane_available: if torque_applied and lane_available:
self.lane_change_state = LaneChangeState.laneChangeStarting self.lane_change_state = LaneChangeState.laneChangeStarting