More accurate jerk limits (#24755)

* More accurate jerk limits

* Min is not - max

For example max_curvature_rate can be negative.

* reduce diff

selfdrive/controls/lib/drive_helpers.py

@@ -122,7 +122,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
 
   # This is the "desired rate of the setpoint" not an actual desired rate
   desired_curvature_rate = curvature_rates[0]
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2)
+  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature_rate = clip(desired_curvature_rate,
                                           -max_curvature_rate,
                                           max_curvature_rate)