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Alert for stock LKAS #36969

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Merged
sshane merged 3 commits into from
Dec 31, 2025
+12 −0
Merged

Alert for stock LKAS #36969

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d9b9209
alert stock lkas
sshane Dec 31, 2025
ef6928a
high
sshane Dec 31, 2025
2f78775
i didn't do this
sshane Dec 31, 2025
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1 change: 1 addition & 0 deletions cereal/log.capnp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
laneChange @50;
lowMemory @51;
stockAeb @52;
stockLkas @98;
ldw @53;
carUnrecognized @54;
invalidLkasSetting @55;
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2 changes: 2 additions & 0 deletions selfdrive/car/car_specific.py
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Expand Up @@ -119,6 +119,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
events.add(EventName.stockFcw)
if CS.stockAeb:
events.add(EventName.stockAeb)
if CS.stockLkas:
events.add(EventName.stockLkas)
if CS.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if CS.cruiseState.nonAdaptive:
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9 changes: 9 additions & 0 deletions selfdrive/selfdrived/events.py
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Expand Up @@ -477,6 +477,15 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
},

EventName.stockLkas: {
ET.PERMANENT: Alert(
"TAKE CONTROL",
"Stock LKAS: Lane Departure Detected",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
},

EventName.fcw: {
ET.PERMANENT: Alert(
"BRAKE!",
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