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Update latcontrol_curvature.py

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infiniteCable
2025-07-23 11:50:54 +02:00
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parent 627b86a36f
commit bf11e9bbe7
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
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@@ -32,7 +32,7 @@ class LatControlCurvature(LatControl):
actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
curvature_car_correction = CS.curvature - desired_curvature if self.useCarCurvature else 0.
curvature_car_correction = CS.curvature - actual_curvature if self.useCarCurvature else 0.
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
desired_curvature_corr = desired_curvature + curvature_car_correction - roll_compensation