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Update curvature_factor interpolation #192

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Update curvature_factor interpolation #192

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ed251bf
Update curvature_factor interpolation
Praeuner Aug 25, 2026
a15672f
Decrease high gain boundaries
Praeuner Sep 1, 2026
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11 changes: 8 additions & 3 deletions opendbc_repo/opendbc/sunnypilot/car/ford/lateral_angle_ext.py
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Original file line number Diff line number Diff line change
Expand Up @@ -508,12 +508,17 @@ def update_angle_strategy(self, CC, CS, actuators, CP):

# Speed-interpolated gain: at low speed both curves use 1.0; at high speed the params take effect.
self.low_gain_calc = interp(
v_ego, [13.5, 26.82], [1.0, (self.path_angle_gain_lowC_highV * self.user_dampening_factor)]
v_ego, [11.18, 31.29], [1.00, (self.path_angle_gain_lowC_highV * self.user_dampening_factor)]
)
self.high_gain_calc = interp(v_ego, [13.5, 26.82], [(1.30 * self.low_speed_curv_factor), (self.path_angle_gain_highC_highV * self.high_speed_curv_factor)])
self.high_gain_calc = interp(
v_ego, [11.18, 31.29], [(1.30 * self.low_speed_curv_factor), (self.path_angle_gain_highC_highV * self.high_speed_curv_factor)]
)

# Speed-interpolated curve-radius: at low speed, dont need full gain until a much tighter curve
high_gain_boundary = interp(v_ego, [11.18, 31.29], [0.015, 0.0035])

# As the curve gets bigger, we will need a little boost to the signal to to not understeer
self.curvature_factor = interp(abs(kappa_cmd), [0.0007, 0.001], [self.low_gain_calc, self.high_gain_calc])
self.curvature_factor = interp(abs(kappa_cmd), [0.0005, high_gain_boundary], [self.low_gain_calc, self.high_gain_calc])

path_angle_calc = kappa_cmd * v_ego * self.curvature_factor
path_angle = path_angle_calc
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