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lateral clip target to avoid jerk violation

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elkoled
2026-03-30 15:37:37 -07:00
parent 4d23db3673
commit ff32c3c4a7
1 changed files with 4 additions and 4 deletions
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8
opendbc/car/lateral.py
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@@ -109,6 +109,10 @@ def apply_steer_angle_limits_vm(apply_angle: float, apply_angle_last: float, v_e
"""Apply jerk, accel, and safety limit constraints to steering angle."""
v_ego_raw = max(v_ego_raw, 1)
# *** max lateral accel limit (clip target, not output, to avoid jerk violations) ***
max_angle = get_max_angle_vm(v_ego_raw, VM, limits)
apply_angle = float(np.clip(apply_angle, -max_angle, max_angle))
# *** max lateral jerk limit ***
max_angle_delta = get_max_angle_delta_vm(v_ego_raw, VM, limits)
@@ -116,10 +120,6 @@ def apply_steer_angle_limits_vm(apply_angle: float, apply_angle_last: float, v_e
max_angle_delta = min(max_angle_delta, limits.ANGLE_LIMITS.MAX_ANGLE_RATE)
new_apply_angle = rate_limit(apply_angle, apply_angle_last, -max_angle_delta, max_angle_delta)
# *** max lateral accel limit ***
max_angle = get_max_angle_vm(v_ego_raw, VM, limits)
new_apply_angle = np.clip(new_apply_angle, -max_angle, max_angle)
# angle is current angle when inactive
if not lat_active:
new_apply_angle = steering_angle