avoid lane positioning at limits and takeover oscilations. - #194
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jchristman75 wants to merge 1 commit into
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avoid lane positioning at limits and takeover oscilations.#194jchristman75 wants to merge 1 commit into
jchristman75 wants to merge 1 commit into
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…llation Squashed from bp-jmc-lane: symmetric ALP budget, stall handling, and takeover-oscillation guard. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_019kZEZ2xqt5zGtCpthWhGDj
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What
Tweaks three Ford lateral-control conditions that all trace back to the same deviation clip (
kappa_cmdheld within±curvature_errorof measured curvature). Lane positioning could eat the planner's deviation budget in a curve, the post-takeover stall detector fired on ordinary curve entry, andsteeringPressedchatter triggered spurious hand-off pulses. Also makes both lateral strategies use the pinion-aware band (0.003) instead of the hardcodedCarControllerParams.CURVATURE_ERROR.