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Controls - Lane Change Customizations - Lane Change Timer

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Set a delay before executing a nudgeless lane change.
This commit is contained in:
FrogAi 2024-05-27 23:00:53 -07:00
parent c758d4ffe5
commit 96b56bbff6
1 changed files with 8 additions and 1 deletions
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9
selfdrive/controls/lib/desire_helper.py
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@ -39,6 +39,9 @@ class DesireHelper:
self.prev_one_blinker = False
self.desire = log.Desire.none
# FrogPilot variables
self.lane_change_wait_timer = 0
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker
@ -52,9 +55,12 @@ class DesireHelper:
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
self.lane_change_state = LaneChangeState.preLaneChange
self.lane_change_ll_prob = 1.0
self.lane_change_wait_timer = 0
# LaneChangeState.preLaneChange
elif self.lane_change_state == LaneChangeState.preLaneChange:
self.lane_change_wait_timer += DT_MDL
# Set lane change direction
self.lane_change_direction = LaneChangeDirection.left if \
carstate.leftBlinker else LaneChangeDirection.right
@ -72,8 +78,9 @@ class DesireHelper:
if not one_blinker or below_lane_change_speed:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
elif torque_applied and not blindspot_detected:
elif torque_applied and not blindspot_detected and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay:
self.lane_change_state = LaneChangeState.laneChangeStarting
self.lane_change_wait_timer = 0
# LaneChangeState.laneChangeStarting
elif self.lane_change_state == LaneChangeState.laneChangeStarting: