Less extreme low speed boost

commaai · Jun 15, 2022 · c2ae1b8 · c2ae1b8
1 parent 9f5f1a2
commit c2ae1b8
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
@@ -19,7 +19,6 @@
 # move it at all, this is compensated for too.
 
 
-LOW_SPEED_FACTOR = 200
 FRICTION_THRESHOLD = 0.2
 
 
@@ -67,7 +66,7 @@ def update(self, active, CS, VM, params, last_actuators, desired_curvature, desi
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
 
-      low_speed_factor = interp(CS.vEgo, [0, 20], [1000, 0])
+      low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)