diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 5eab619d85..459d233136 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -6,9 +6,11 @@ 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] # Speed breakpoints
-LOW_SPEED_Y = [0, 0.2, 0.45, 1.0]  # Factor reducing influence at low speeds
+# Speed-based scaling configuration for steering responsiveness
+#  As speed increases, we apply more of the desired steering angle change
+SPEED_BREAKPOINTS_MS = [0, 3, 6, 10]  # Speed breakpoints in m/s
+STEERING_FACTOR_AT_SPEED = [0, 0.2, 0.45, 1.0]  # Corresponding steering influence factors
+# 0 = ignore desired angle (keep current steering), 1.0 = fully apply desired angle change
 
 class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
@@ -24,17 +26,17 @@ class LatControlAngle(LatControl):
     else:
       angle_log.active = True
 
-      # Compute the base desired steering angle
-      base_angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
-      base_angle_steers_des += params.angleOffsetDeg
+      # Compute the fully desired steering angle based on curvature
+      raw_angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+      raw_angle_steers_des += params.angleOffsetDeg  # Apply calibration offset
 
-      # Apply a low-speed factor to reduce aggressive changes at low speeds
-      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)
-      angle_steers_des = CS.steeringAngleDeg + low_speed_factor * (base_angle_steers_des - CS.steeringAngleDeg)
+      # Calculate the scaling factor. At lower speeds, we apply less of the desired steering change to avoid jerky movements
+      speed_scaling_factor = np.interp(CS.vEgo, SPEED_BREAKPOINTS_MS, STEERING_FACTOR_AT_SPEED)
+      angle_steers_des = CS.steeringAngleDeg + speed_scaling_factor * (raw_angle_steers_des - CS.steeringAngleDeg)
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
     angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = float(angle_steers_des)
 
-    return 0, float(angle_steers_des), angle_log
+    return 0, float(angle_steers_des), angle_log
\ No newline at end of file