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