Lane change tweak

selfdrive/controls/controlsd.py

@@ -216,15 +216,15 @@ class Controls:
       new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
 
     jerk_factor = 1.0
-    lat_accel_factor = 1.0
     if self.starpilot_toggles.lane_change_pace < 10:
       set_jerk = self.starpilot_toggles.lane_change_jerk_factor
-      set_accel = self.starpilot_toggles.lane_change_lat_accel_factor
       in_lane_change = model_v2.meta.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing) \
           and CS.vEgo >= self.starpilot_toggles.minimum_lane_change_speed
-      # Hold the tight limits for the whole maneuver (factors carry 1.3x headroom over the
-      # target-duration profile), then taper back to stock so the model's recenter step and
-      # mid-change corrections stay shaped instead of passing through a mostly-relaxed clamp.
+      # Hold the tight jerk limit for the whole maneuver, then taper back to stock so the
+      # model's recenter step and mid-change corrections stay shaped instead of passing
+      # through a mostly-relaxed clamp. Only the jerk (curvature rate) is tightened: capping
+      # lat accel strangles the end-of-maneuver arrest and lets the car glide past the new
+      # lane center before it can build enough counter-curvature.
       if in_lane_change:
         self.lc_smooth_release = LANE_CHANGE_SMOOTH_RELEASE_T
       else:
@@ -232,10 +232,9 @@ class Controls:
       if self.lc_smooth_release > 0.0:
         release = 1.0 - self.lc_smooth_release / LANE_CHANGE_SMOOTH_RELEASE_T  # 0 in maneuver → 1 after
         jerk_factor = set_jerk + (1.0 - set_jerk) * release
-        lat_accel_factor = set_accel + (1.0 - set_accel) * release
 
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll,
-                                                               jerk_factor, lat_accel_factor)
+                                                               jerk_factor)
     lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
     actuators.curvature = self.desired_curvature

starpilot/common/starpilot_variables.py

@@ -1000,16 +1000,15 @@ class StarPilotVariables:
     toggle.one_lane_change = self.get_value("OneLaneChange", condition=toggle.lane_changes)
 
     # Lane change pace: 1 = smoothest (~8 s target), 10 = stock (no clamp applied)
-    # Factors are derived from a sinusoidal lane-change profile: a = pi^2 * W / T^2, j = pi^3 * W / T^3.
-    # 1.3x headroom keeps the controller off the ceiling mid-maneuver.
+    # The jerk factor is derived from a sinusoidal lane-change profile: j = pi^3 * W / T^3,
+    # with 1.3x headroom. Only jerk (curvature rate) is shaped; lateral accel stays at the
+    # stock envelope so the end-of-maneuver arrest is never starved of authority.
     pace = self.get_value("LaneChangeSmoothing", cast=int, condition=toggle.lane_changes) or 10
     pace = max(1, min(10, pace))
     lane_w = 3.5
     t_target = 3.0 + (10 - pace) * 5.0 / 9.0
-    a_req = (math.pi ** 2) * lane_w / (t_target ** 2)
     j_req = (math.pi ** 3) * lane_w / (t_target ** 3)
     toggle.lane_change_pace = pace
-    toggle.lane_change_lat_accel_factor = min(1.0, a_req * 1.3 / 3.0)
     toggle.lane_change_jerk_factor = min(1.0, j_req * 1.3 / 5.0)
     toggle.lane_change_time_max = 10.0 + (10 - pace) * 2.0 / 9.0