[torqued] Fix high speed oscillations (#26338)

* modify low speed factor during high speeds and rescale friction

* update refs
old-commit-hash: e9eb5d99ff

selfdrive/car/interfaces.py

@@ -23,7 +23,7 @@ TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqu
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.2
+FRICTION_THRESHOLD = 0.3
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')

selfdrive/controls/lib/latcontrol_torque.py

@@ -17,7 +17,8 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # friction in the steering wheel that needs to be overcome to
 # move it at all, this is compensated for too.
 
-LOW_SPEED_FACTOR = 200
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [15, 13, 10, 5]
 
 
 class LatControlTorque(LatControl):
@@ -57,8 +58,9 @@ class LatControlTorque(LatControl):
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
+      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
-      measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature
+      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
+      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       error = setpoint - measurement
       gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-24a8d02b148b7f6d20f641d56a7bed71c244b6e3
+2991a54ea491633f93fae76da4f5f1d265ce311a