maybe

selfdrive/car/toyota/carcontroller.py

@@ -79,14 +79,15 @@ class CarController:
         # EPS uses the torque sensor angle to control with, offset to compensate
         apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
 
-        # If the EPS output torque is above the limit, force the requested
-        # angle to lower at the max allowed rate
-        angle_down_limit = interp(CS.out.vEgo, self.params.ANGLE_RATE_LIMIT_DOWN.speed_bp,
-                                  self.params.ANGLE_RATE_LIMIT_DOWN.angle_v)
-        max_torque_angle_mod = interp(abs(CS.out.steeringTorqueEps),
-                                      [MAX_STEER_TORQUE, MAX_STEER_TORQUE + 100], [0, -angle_down_limit])
-        sign_of = 1 if apply_angle >= 0 else -1
-        apply_angle += max_torque_angle_mod * sign_of
+        # If the EPS output torque is above the limit, wind down the last
+        # requested angle until it's under the limit again
+        if abs(CS.out.steeringTorqueEps) > MAX_STEER_TORQUE:
+          angle_down_limit = interp(CS.out.vEgo, self.params.ANGLE_RATE_LIMIT_DOWN.speed_bp,
+                                    self.params.ANGLE_RATE_LIMIT_DOWN.angle_v)
+          max_torque_angle_mod = interp(abs(CS.out.steeringTorqueEps),
+                                        [MAX_STEER_TORQUE, MAX_STEER_TORQUE + 100], [0, -angle_down_limit])
+          sign_of = 1 if apply_angle >= 0 else -1
+          apply_angle += max_torque_angle_mod * sign_of
 
         # Angular rate limit based on speed
         apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)