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Latcontrol torque: cleaner low_speed_factor calculation (#36287)

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pull/36288/head
felsager 5 days ago committed by GitHub
parent dcc5afa8fa
commit 0736f325fc
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  1. 2
      selfdrive/controls/lib/latcontrol_torque.py

2
selfdrive/controls/lib/latcontrol_torque.py
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@ -67,7 +67,7 @@ class LatControlTorque(LatControl):
actual_lateral_accel = actual_curvature * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2
lateral_accel_deadzone = curvature_deadzone * 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 setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
measurement = actual_lateral_accel measurement = actual_lateral_accel
error = setpoint - measurement error = setpoint - measurement

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