From 96be4599e75e2cf29146cc6b82166f5d3203cf56 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 7 Sep 2022 16:50:25 -0700 Subject: [PATCH] reduce min lane change speed to 15mph (#25689) old-commit-hash: 445492a6d8d9bceb78def0511552f154be0ffd4f --- selfdrive/controls/lib/desire_helper.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 19ab2da214..d41d6780e3 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -5,7 +5,7 @@ from common.realtime import DT_MDL LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection -LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS +LANE_CHANGE_SPEED_MIN = 15 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = {