mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-04 21:12:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Latcontrol torque: cleaner low_speed_factor calculation (#36287)

Browse Source
This commit is contained in:
felsager
2025-10-09 10:29:35 -07:00
committed by GitHub
parent dcc5afa8fa
commit 0736f325fc
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/latcontrol_torque.py
+1 -1
View File
@@ -67,7 +67,7 @@ class LatControlTorque(LatControl):
actual_lateral_accel = actual_curvature * 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
measurement = actual_lateral_accel
error = setpoint - measurement