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bugfix: Auto lane change - Add mode to disable lane changes (#826)

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* off is off

* sugg

* line

* Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
This commit is contained in:
Kumar
2025-04-19 12:15:28 -07:00
committed by GitHub
parent bcdb546638
commit 1bf752fc79
2 changed files with 17 additions and 2 deletions
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4
selfdrive/controls/lib/desire_helper.py
View File

@@ -1,7 +1,7 @@
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_MDL
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
@@ -48,7 +48,7 @@ class DesireHelper:
one_blinker = carstate.leftBlinker != carstate.rightBlinker
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
else:

15
sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
View File

@@ -51,6 +51,7 @@ class TestAutoLaneChangeController:
assert not self.alc.prev_brake_pressed
@parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )])
def test_off_and_nudge_mode(self, timer_state):
"""Test the default OFF and NUDGE mode behavior."""
self._reset_states()
@@ -196,3 +197,17 @@ class TestAutoLaneChangeController:
self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
assert not self.alc.auto_lane_change_allowed
def test_auto_lane_change_mode_off_disallows_lane_change(self):
"""Test that OFF mode never allows auto lane change."""
self._reset_states()
self.alc.lane_change_bsm_delay = False
self.alc.lane_change_set_timer = AutoLaneChangeMode.OFF
# Simulate updates for a long period of time (e.g., 10 seconds)
num_updates = int(10.0 / DT_MDL)
for _ in range(num_updates):
self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
# Lane change should never be allowed
assert not self.alc.auto_lane_change_allowed