LaneLineCheck 옵션: 차선변경 판단 및 HUD 색상 연동#251
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ajouatom merged 4 commits intoajouatom:c3-v10-wipfrom Feb 26, 2026
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색상 오인식 문제 대응: 0=색상+타입(기존), 1=타입만(점선/실선) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
점선은 바로 차선변경, 실선은 토크 넣으면 override Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
solid_line_blocked일 때 토크+BSD 체크 후 바로 laneChangeStarting으로 전환하도록 수정. 기존에는 이후 분기의 lane_change_available 체크에 걸려서 실선 토크 override가 동작하지 않았음. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
LaneLineCheck>=1일 때 HUD 차선 색상을 색상 raw값 대신 타입(점선/실선) 기준으로 판단하도록 변경하여 차선변경 로직과 HUD 표시 간 불일치 해소 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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* 차선변경 차선판단 설정 추가 (LaneLineCheck) 색상 오인식 문제 대응: 0=색상+타입(기존), 1=타입만(점선/실선) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> * LaneLineCheck=2 옵션 추가: 실선에서 토크 override 허용 점선은 바로 차선변경, 실선은 토크 넣으면 override Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> * LaneLineCheck=2 실선 토크 override 버그 수정 solid_line_blocked일 때 토크+BSD 체크 후 바로 laneChangeStarting으로 전환하도록 수정. 기존에는 이후 분기의 lane_change_available 체크에 걸려서 실선 토크 override가 동작하지 않았음. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> * HUD 차선 색상 표시를 LaneLineCheck 옵션에 연동 LaneLineCheck>=1일 때 HUD 차선 색상을 색상 raw값 대신 타입(점선/실선) 기준으로 판단하도록 변경하여 차선변경 로직과 HUD 표시 간 불일치 해소 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
동작 정리
변경 파일
common/params_keys.h— LaneLineCheck 파라미터 키 등록selfdrive/carrot_settings.json— 설정 UI 항목 추가selfdrive/ui/qt/offroad/settings.cc— 설정 메뉴 등록selfdrive/controls/lib/desire_helper.py— 차선변경 판단 로직opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py— HUD 차선 색상 표시 로직Test plan
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