brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-05-10 04:14:00 -05:00
parent ad3a0476e9
commit bc2a4e2266
12 changed files with 136 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
selfdrive/controls/lib/desire_helper.py
View File

@@ -65,6 +65,11 @@ class DesireHelper:
# Clearpilot test lane change no lat
clearpilot_disable_lat_on_lane_change = True
# Todo, we want to count how many lanes we have moved during this process either left or right.
# Then, if blinker left, but we have traveled rightwards, reenable lateral and vice versa.
# Also, if we are less than 25% twoards our lane change and we get a blind spot, reenable lateral
# with influence back to our lane on wheel.
v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN