Bronco special - #2430
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sshane
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Jul 7, 2025
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| def anti_overshoot(new_curvature, last_curvature, v_ego): | ||
| diff = 0.05 | ||
| tau = 5 # 5s smooths over the overshoot | ||
| dt = DT_CTRL * CarControllerParams.STEER_STEP | ||
| alpha = 1 - np.exp(-dt/tau) | ||
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| lataccel = new_curvature * (v_ego ** 2) | ||
| last_lataccel = last_curvature * (v_ego ** 2) | ||
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| if lataccel > last_lataccel + diff: | ||
| last_lataccel = lataccel - diff | ||
| elif lataccel < last_lataccel - diff: | ||
| last_lataccel = lataccel + diff | ||
| last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel | ||
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| output_curvature = last_lataccel / (v_ego ** 2 + 1e-6) | ||
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| return np.interp(v_ego, [5, 10], [new_curvature, output_curvature]) | ||
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Contributor
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incorrect indentation (2 spaces)
sshane
reviewed
Jul 8, 2025
| last_lataccel = lataccel + diff | ||
| last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel | ||
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| output_curvature = last_lataccel / (v_ego ** 2 + 1e-6) |
Contributor
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we use max below this in this file. better to keep things consistent:
MAX_LATERAL_ACCEL / (max(v_ego_raw, 1) ** 2)
ssysm
pushed a commit
to MOTIF-lab/opendbc
that referenced
this pull request
Jul 9, 2025
* Bronco special * ignore low speed * fixes * less smooth * typo * better names * typo
FeistyFinn
pushed a commit
to FeistyFinn/opendbc
that referenced
this pull request
Jun 25, 2026
* Bronco special * ignore low speed * fixes * less smooth * typo * better names * typo
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