Cancel lane change on blinker off

5 years ago · 105b95ffd7
parent fdabd57e7e
commit 105b95ffd7
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@ -98,7 +98,7 @@ class PathPlanner():
    elif sm['carState'].rightBlinker:
      self.lane_change_direction = LaneChangeDirection.right

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