From 8b2ae9319a4e4fac3631f513e1df2bbdda40b661 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 30 Jun 2020 13:44:56 -0700 Subject: [PATCH] fix blindspot detection old-commit-hash: 64aeb80dcc651de9836d46db08c2b4a17af364f0 --- 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 bfe8597df6..375dea4735 100644 --- 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