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fix torqued bug..

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ajouatom 2025-02-12 09:24:17 +09:00
parent 0c4319cfb3
commit 9f911725f2
1 changed files with 1 additions and 1 deletions
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2
selfdrive/controls/lib/latcontrol_torque.py
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@ -186,7 +186,7 @@ class LatControlTorque(LatControl):
actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
else: else:
actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
curvature_deadzone = 0.0 curvature_deadzone = 0.0
desired_lateral_accel = desired_curvature * CS.vEgo ** 2 desired_lateral_accel = desired_curvature * CS.vEgo ** 2