From a283e88f3739ea167400c9295d064b5e94630218 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 10 Nov 2021 10:21:36 -0600 Subject: [PATCH] Fix momentary false blind spot alerts when changing lanes (#22819) * reset LaneChangeDirection after finishing * update ref Co-authored-by: Willem Melching old-commit-hash: 2006fff2b66329e2d11300691301bf7a4531b18a --- selfdrive/controls/lib/lateral_planner.py | 10 ++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 27041e1f06..f18c3370d6 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -135,10 +135,12 @@ class LateralPlanner(): elif self.lane_change_state == LaneChangeState.laneChangeFinishing: # fade in laneline over 1s self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0) - if one_blinker and self.lane_change_ll_prob > 0.99: - self.lane_change_state = LaneChangeState.preLaneChange - elif self.lane_change_ll_prob > 0.99: - self.lane_change_state = LaneChangeState.off + if self.lane_change_ll_prob > 0.99: + self.lane_change_direction = LaneChangeDirection.none + if one_blinker: + self.lane_change_state = LaneChangeState.preLaneChange + else: + self.lane_change_state = LaneChangeState.off if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]: self.lane_change_timer = 0.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 542a6656eb..fa079b323a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d81233677d9987d7645962ff4a076bafd94f83e3 \ No newline at end of file +2f47fc0d3bd112be26fee56c782d152d678c76d2 \ No newline at end of file