fix blindspot detection

old-commit-hash: 64aeb80dcc
5 years ago · 8b2ae9319a
parent 3cadb46f31
commit 8b2ae9319a
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@ -115,7 +115,7 @@ class PathPlanner():
                        (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

      blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                            (sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left))
+                            (sm['carState'].rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))

      lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob