added allow nudgeless bypass

pull/19855/head
newstackdevelopment 5 years ago
parent e13c74f9f8
commit f1a3ede920
  1. 5
      selfdrive/controls/lib/pathplanner.py

@ -17,8 +17,9 @@ LaneChangeDirection = log.PathPlan.LaneChangeDirection
LOG_MPC = os.environ.get('LOG_MPC', False)
LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS
LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS #change minimum
LANE_CHANGE_TIME_MAX = 10.
LANE_CHANGE_NUDGE_LESS = False
DESIRES = {
LaneChangeDirection.none: {
@ -131,7 +132,7 @@ class PathPlanner():
elif self.lane_change_state == LaneChangeState.preLaneChange:
if not one_blinker or below_lane_change_speed:
self.lane_change_state = LaneChangeState.off
elif torque_applied and not blindspot_detected:
elif (torque_applied or LANE_CHANGE_NUDGE_LESS) and not blindspot_detected:
self.lane_change_state = LaneChangeState.laneChangeStarting
# starting

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