From 0736f325fcee68bcd8834fcfa4a374089e316b19 Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Thu, 9 Oct 2025 10:29:35 -0700
Subject: [PATCH] Latcontrol torque: cleaner low_speed_factor calculation
 (#36287)

---
 selfdrive/controls/lib/latcontrol_torque.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index e50d91351d..4878bde3af 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -67,7 +67,7 @@ class LatControlTorque(LatControl):
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 / (np.clip(CS.vEgo, MIN_SPEED, np.inf) ** 2)
+      low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
       setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       measurement = actual_lateral_accel
       error = setpoint - measurement