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commaai · Oct 22, 2024 · b290bc8 · b290bc8
1 parent df229e9
commit b290bc8
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/opendbc/car/ford/values.py b/opendbc/car/ford/values.py
@@ -25,9 +25,10 @@ class CarControllerParams:
   STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm
 
   # Curvature rate limits
-  # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
-  # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
-  # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
+  # Max curvature is limited by the EPS to an equivalent of ~2.0 m/s^2 at all speeds,
+  #  however max curvature rate linearly decreases as speed increases:
+  #  ~0.009 m^-1/sec at 10 m/s, ~0.002 m^-1/sec at 35 m/s
+  # Limit to ~2.7 m/s^3 up, ~3.26 m/s^3 down at 75 mph
   ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000375, 0.000125])
   ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000375, 0.00015])
   CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s