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Adjust low-speed scaling for lateral control angle

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Refined the low-speed scaling parameters by modifying speed breakpoints and factors. This improves handling at lower speeds for smoother and more predictable behavior.
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DevTekVE
2025-03-09 18:48:00 +01:00
parent 7dfedb3137
commit 403eecac8f
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/latcontrol_angle.py
+2 -2
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@@ -7,8 +7,8 @@ from openpilot.selfdrive.controls.lib.latcontrol import LatControl
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
# Define a speed-based scaling factor similar to low_speed_factor
LOW_SPEED_X = [0, 3, 6, 10, 20, 30] # Speed breakpoints
LOW_SPEED_Y = [0, 0.33, 0.67, 0.77, 0.91, 1.0] # Factor reducing influence at low speeds
LOW_SPEED_X = [0, 3, 6, 10] # Speed breakpoints
LOW_SPEED_Y = [0, 0.2, 0.45, 1.0] # Factor reducing influence at low speeds
class LatControlAngle(LatControl):
def __init__(self, CP, CP_SP, CI):