ford ALP: cap the applied lane-centering correction at 0.0015 - #181
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ghbarker wants to merge 4 commits into
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ford ALP: cap the applied lane-centering correction at 0.0015#181ghbarker wants to merge 4 commits into
ghbarker wants to merge 4 commits into
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…rams) and cap applied correction at 0.0015
The three reference guards (narrow-lane floor, laneline std, NaN params) stay. The 0.0015 post-gain ceiling moves to a follow-up PR so the ceiling value can be chosen from on-road testing; tests revert to the uncapped 0.004 ceiling.
narrow-lane floor, laneline std, NaN params, and a pin on the fallback-bias semantics (constant push by design). All five fail without the guards.
Post-gain ceiling on the trim, strictly inside the deviation clip's budget (CURVATURE_ERROR = 0.002) and under _STALL_GAP_MIN (0.004): the trim alone can never continuously bind the deviation clip (which also discards autocal evidence frames) or feed the stall-blip detector a fake stall. Matters most in the model-position fallback, where the bias error never closes by construction, so a large offset at full gain would otherwise sit at the raw 0.004 ceiling permanently on center-stripe-only roads. Value rationale: above the reference implementation's effective ceiling (0.004 raw clip x 0.30 fixed gain = 0.0012), below the 0.002 clip budget. The specific constant is a proposal -- sized for safety margin, open to retuning from on-road testing.
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Description
Split out from #179 per review. Adds a post-gain ceiling of 0.0015 on the applied lane-centering correction, strictly inside the deviation clip's budget (CURVATURE_ERROR = 0.002) and under _STALL_GAP_MIN (0.004) — so the trim alone can never continuously bind the deviation clip (which also discards autocal evidence frames) or feed the stall-blip detector a fake stall. This matters most in the model-position fallback, where the bias error never closes by construction, so a large offset at full gain otherwise sits at the raw 0.004 ceiling permanently on center-stripe-only roads.
Value rationale: above StarPilot's effective ceiling (0.004 raw clip × 0.30 fixed gain = 0.0012), below the 0.002 clip budget. At the default strength of 0.3 this cap never engages (0.004 × 0.3 = 0.0012 < 0.0015) — it only bites at gain ≥ ~0.4, so it can't interfere with default-setting testing. The constant is a proposal: raise it freely while tuning (anything ≥ 0.004 makes it a no-op).
Stacked on #179 — merge that first and this diff shrinks to two module lines plus six test assertions.
Verification
Unit tests only — not road-tested (car is down). Existing suite updated for the capped ceiling; 25/25 pass.