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fix blindspot detection

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old-commit-hash: 64aeb80dcc651de9836d46db08c2b4a17af364f0
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Adeeb Shihadeh
2020-06-30 13:44:56 -07:00
parent 3cadb46f31
commit 8b2ae9319a
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/pathplanner.py
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@@ -115,7 +115,7 @@ class PathPlanner():
(sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
(sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left))
(sm['carState'].rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob