[controlsd] Refactor apply_deadzone in Lateral Torque Control (#26626)

rename apply_slack to apply_center_deadzone, remove unused prius offline values

selfdrive/car/interfaces.py

@@ -11,7 +11,7 @@ from common.kalman.simple_kalman import KF1D
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
@@ -127,7 +127,7 @@ class CarInterfaceBase(ABC):
   def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
     friction_interp = interp(
-      apply_slack(lateral_accel_error, lateral_accel_deadzone),
+      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
       [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
       [-torque_params.friction, torque_params.friction]
     )

selfdrive/car/torque_data/params.yaml

@@ -78,7 +78,6 @@ TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
 TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
 TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
-TOYOTA PRIUS 2017 x060: [1.746445, 1.5023147650693636, 0.17]
 TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
 TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
 TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]

selfdrive/controls/lib/drive_helpers.py

@@ -149,7 +149,7 @@ def apply_deadzone(error, deadzone):
   return error
 
 
-def apply_slack(error, deadzone):
+def apply_center_deadzone(error, deadzone):
   if (error > - deadzone) and (error < deadzone):
     error = 0.
   return error