From 09be37c4575b34e67ef5cea0da6844ea2edf748b Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Tue, 17 Dec 2019 01:18:45 +1000 Subject: [PATCH] update apks, fix up ALC logic --- selfdrive/controls/lib/pathplanner.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 28324e166..68d1e6e2c 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -131,8 +131,8 @@ class PathPlanner(): if self.dragon_auto_lc_enabled and self.dragon_auto_lc_timer is not None and cur_time > self.dragon_auto_lc_timer: torque_applied = True - # allow auto LC when speed is above 50 mph / 80.46 kph - if self.dragon_auto_lc_enabled and v_ego >= 50 * CV.MPH_TO_MS: + # only allow auto lane change above 40 mph / 65kph + if self.dragon_auto_lc_enabled and v_ego >= 40 * CV.MPH_TO_MS: self.dragon_auto_lc_allowed = True else: self.dragon_auto_lc_allowed = False @@ -141,7 +141,7 @@ class PathPlanner(): # State transitions if self.dragon_assisted_lc_enabled and self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker: self.lane_change_state = LaneChangeState.preLaneChange - # only allow auto lane change above 50 mph / 80.46kph + # only allow auto lane change above 40 mph / 65kph if self.dragon_auto_lc_allowed: self.dragon_auto_lc_timer = cur_time + 3. @@ -158,9 +158,11 @@ class PathPlanner(): # finishing elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.2: self.lane_change_state = LaneChangeState.preLaneChange + self.dragon_auto_lc_allowed = False + self.dragon_auto_lc_timer = None - # Don't allow starting lane change below 37 mph / 59.54kph - if (v_ego < 37 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange): + # Don't allow starting lane change below 24 mph / 40kph + if (v_ego < 24 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange): self.lane_change_state = LaneChangeState.off # always reset timer if lane change state is off