fix blindspot detection

spood · Jun 30, 2020 · 64aeb80 · 64aeb80
1 parent 83af35b
commit 64aeb80
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
@@ -115,7 +115,7 @@ def update(self, sm, pm, CP, VM):
  (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