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alert trafficSignChange when softhold.

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This commit is contained in:
ajouatom 2025-02-09 19:25:18 +09:00
parent ec11cf85cb
commit 6f91fb8a83
1 changed files with 3 additions and 0 deletions
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selfdrive/carrot/carrot_functions.py
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@ -360,6 +360,7 @@ class CarrotPlanner:
self.xStop = self.update_stop_dist(x[31]) self.xStop = self.update_stop_dist(x[31])
stop_model_x = self.xStop stop_model_x = self.xStop
trafficState_last = self.trafficState
#self.check_model_stopping(v, v_ego, self.xStop, y) #self.check_model_stopping(v, v_ego, self.xStop, y)
self.check_model_stopping(v, v_ego, a_ego, x[-1], y, radarstate.leadOne.dRel if lead_detected else 1000) self.check_model_stopping(v, v_ego, a_ego, x[-1], y, radarstate.leadOne.dRel if lead_detected else 1000)
@ -377,6 +378,8 @@ class CarrotPlanner:
if self.soft_hold_active > 0: if self.soft_hold_active > 0:
self.xState = XState.e2eStopped self.xState = XState.e2eStopped
if trafficState_last in [TrafficState.off, TrafficState.red] and self.trafficState == TrafficState.green:
self.events.add(EventName.trafficSignChanged)
elif self.xState == XState.e2eStopped: elif self.xState == XState.e2eStopped:
if carstate.gasPressed: if carstate.gasPressed:
self.xState = XState.e2ePrepare self.xState = XState.e2ePrepare