fix low speed override bug and cut-in bug (#21593)

* fix low speed bug and cutin bug

* update ref
old-commit-hash: 6a933467292f2364940b35cc87855d336d2275f7

selfdrive/controls/lib/lead_mpc.py

@@ -47,8 +47,8 @@ class LeadMpc():
     if self.lead_id == 0:
       lead = radarstate.leadOne
     else:
-      lead = radarstate.leadOne
-    self.status = lead.status and lead.modelProb > .5
+      lead = radarstate.leadTwo
+    self.status = lead.status
 
     # Setup current mpc state
     self.cur_state[0].x_ego = 0.0

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-c615f63b3d38d9a15375890b64e0c45ae59bf7a1
+5d8ade78ab7b2aa678a8025eba58477579db71ad