Use same minimum speed for lateral planning and controls (#26177)

* Use same speed for lag adjustmenet

* One is a nicer number

* Update ref

selfdrive/controls/lib/drive_helpers.py

@@ -13,6 +13,7 @@ V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
 V_CRUISE_INITIAL = 255  # kph
 
+MIN_SPEED = 1.0
 LAT_MPC_N = 16
 LON_MPC_N = 32
 CONTROL_N = 17
@@ -102,7 +103,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
     psis = [0.0]*CONTROL_N
     curvatures = [0.0]*CONTROL_N
     curvature_rates = [0.0]*CONTROL_N
-  v_ego = max(v_ego, 0.1)
+  v_ego = max(MIN_SPEED, v_ego)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   delay = CP.steerActuatorDelay + .2

selfdrive/controls/lib/lateral_planner.py

@@ -4,7 +4,7 @@ from common.numpy_fast import interp
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
 from selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
 from cereal import log
@@ -22,7 +22,6 @@ LATERAL_JERK_COST = 0.05
 # TODO this cost should be lowered when low
 # speed lateral control is stable on all cars
 STEERING_RATE_COST = 800.0
-MIN_SPEED = 1.5
 
 
 class LateralPlanner:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-1f41cd8bbf2431ae89c489a81698120d14a44145
+f5a352666728344ca5065bb44c47c1f5650b4243