From a57f10c202fe7dc63023d45ef612c4ec849882ab Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 29 Apr 2021 22:03:16 +0200 Subject: [PATCH] Fix ability to change lane change direction while in progress (#20765) --- selfdrive/controls/lib/lateral_planner.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 8e8b74d265..71913636e9 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -101,11 +101,6 @@ class LateralPlanner(): one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN - if sm['carState'].leftBlinker: - self.lane_change_direction = LaneChangeDirection.left - elif sm['carState'].rightBlinker: - self.lane_change_direction = LaneChangeDirection.right - if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX): self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none @@ -122,6 +117,11 @@ class LateralPlanner(): # State transitions # off if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed: + if sm['carState'].leftBlinker: + self.lane_change_direction = LaneChangeDirection.left + elif sm['carState'].rightBlinker: + self.lane_change_direction = LaneChangeDirection.right + self.lane_change_state = LaneChangeState.preLaneChange self.lane_change_ll_prob = 1.0