From ce85e402f4a7141d8ee739006c20a5492c06a2ea Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 13 Oct 2020 17:42:29 +0200 Subject: [PATCH] Fix lane change when blinker is turned off early (#2324) --- selfdrive/controls/lib/pathplanner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 375dea473..594147e11 100644 --- 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: