Lateral planner: lower max cost (#22960)

* prevent ping pong when tuning is not so great

* update refs
old-commit-hash: 24aadaf1f3

selfdrive/controls/lib/lateral_planner.py

@@ -170,7 +170,7 @@ class LateralPlanner():
       self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
     else:
       d_path_xyz = self.path_xyz
-      path_cost = np.clip(abs(self.path_xyz[0,1]/self.path_xyz_stds[0,1]), 0.5, 5.0) * MPC_COST_LAT.PATH
+      path_cost = np.clip(abs(self.path_xyz[0,1]/self.path_xyz_stds[0,1]), 0.5, 1.5) * MPC_COST_LAT.PATH
       # Heading cost is useful at low speed, otherwise end of plan can be off-heading
       heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
       self.lat_mpc.set_weights(path_cost, heading_cost, CP.steerRateCost)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-6540e8c5a765975fd292b1efdef97b2d6391fa9c
+848bc88a069b182d6f50698dd785ba360915e8dc