Fix lane change when blinker is turned off early (#2324)

old-commit-hash: ce85e402f4
5 years ago · 94a947e59a
parent e45715342b
commit 94a947e59a
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@ -106,7 +106,7 @@ class PathPlanner():
    elif sm['carState'].rightBlinker:
      self.lane_change_direction = LaneChangeDirection.right

-    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker) or (not self.lane_change_enabled):
+    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not self.lane_change_enabled):
      self.lane_change_state = LaneChangeState.off
      self.lane_change_direction = LaneChangeDirection.none
    else: