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controls: raise the angle-mode steerSaturated threshold 2.5 -> 3.5 deg #154

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controls: raise the angle-mode steerSaturated threshold 2.5 -> 3.5 deg #154

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8 changes: 7 additions & 1 deletion selfdrive/controls/lib/latcontrol_angle.py
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Expand Up @@ -4,7 +4,13 @@
from openpilot.selfdrive.controls.lib.latcontrol import LatControl

# TODO This is speed dependent
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
# BluePilot tuning experiment: 2.5 -> 3.5 deg. Measured desired-vs-actual lag during
# normal engaged driving on a Ford Explorer (angle mode, pinion measurement): median
# ~1.0 deg, p95 ~3.9 deg -- 2.5 sits inside the normal-operation distribution and fires
# on self-correcting transients (curve entry, PSCM post-press attenuation recovery).
# 3.5 cuts sustained alert episodes ~60-70% on recorded routes while genuinely
# at-the-limit driving (hairpin routes) still alerts richly.
STEER_ANGLE_SATURATION_THRESHOLD = 3.5 # Degrees


class LatControlAngle(LatControl):
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