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latcontrol_torque: change in kp should not affect effective low speed factor gain (#36335)

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felsager
2025-10-14 13:22:17 -07:00
committed by GitHub
parent 87443cd34d
commit 3546b625e7
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+1 -1
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@@ -77,7 +77,7 @@ class LatControlTorque(LatControl):
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
error = setpoint - measurement
error_lsf = error + low_speed_factor * error
error_lsf = error + low_speed_factor / self.torque_params.kp * error
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error_lsf)