Fix ability to change lane change direction while in progress (#20765)
parent
140e6248e2
commit
a57f10c202
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@ -101,11 +101,6 @@ class LateralPlanner():
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one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
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below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
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if sm['carState'].leftBlinker:
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self.lane_change_direction = LaneChangeDirection.left
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elif sm['carState'].rightBlinker:
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self.lane_change_direction = LaneChangeDirection.right
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if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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@ -122,6 +117,11 @@ class LateralPlanner():
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# State transitions
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# off
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if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
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if sm['carState'].leftBlinker:
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self.lane_change_direction = LaneChangeDirection.left
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elif sm['carState'].rightBlinker:
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self.lane_change_direction = LaneChangeDirection.right
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self.lane_change_state = LaneChangeState.preLaneChange
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self.lane_change_ll_prob = 1.0
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