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Desire helper: set lane change direction on entering preLaneChange state (#36074)

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* set immediately to avoid flash on right lane changes

* one function

* name

* comment
This commit is contained in:
Shane Smiskol
2025-09-05 22:34:04 -07:00
committed by GitHub
parent 1f1efec4c9
commit 1033d3d80e
1 changed files with 8 additions and 3 deletions
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11
selfdrive/controls/lib/desire_helper.py
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@@ -40,6 +40,10 @@ class DesireHelper:
self.prev_one_blinker = False self.prev_one_blinker = False
self.desire = log.Desire.none self.desire = log.Desire.none
@staticmethod
def get_lane_change_direction(CS):
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
def update(self, carstate, lateral_active, lane_change_prob): def update(self, carstate, lateral_active, lane_change_prob):
v_ego = carstate.vEgo v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker one_blinker = carstate.leftBlinker != carstate.rightBlinker
@@ -53,12 +57,13 @@ class DesireHelper:
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed: if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
self.lane_change_state = LaneChangeState.preLaneChange self.lane_change_state = LaneChangeState.preLaneChange
self.lane_change_ll_prob = 1.0 self.lane_change_ll_prob = 1.0
# Initialize lane change direction to prevent UI alert flicker
self.lane_change_direction = self.get_lane_change_direction(carstate)
# LaneChangeState.preLaneChange # LaneChangeState.preLaneChange
elif self.lane_change_state == LaneChangeState.preLaneChange: elif self.lane_change_state == LaneChangeState.preLaneChange:
# Set lane change direction # Update lane change direction
self.lane_change_direction = LaneChangeDirection.left if \ self.lane_change_direction = self.get_lane_change_direction(carstate)
carstate.leftBlinker else LaneChangeDirection.right
torque_applied = carstate.steeringPressed and \ torque_applied = carstate.steeringPressed and \
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or