  # use a LOW_SPEED_FACTOR in the error. Additionally, there is
  # friction in the steering wheel that needs to be overcome to
  # move it at all, this is compensated for too.
  
  LOW_SPEED_FACTOR = 200
  
  
  class LatControlTorque(LatControl):
    def __init__(self, CP, CI):
      super().__init__(CP, CI)
 
</s> remove       setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
      measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature
 </s> add       low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature </s> remove FRICTION_THRESHOLD = 0.2
 </s> add FRICTION_THRESHOLD = 0.3
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [15, 13, 10, 5]
  # use a LOW_SPEED_FACTOR in the error. Additionally, there is
  # friction in the steering wheel that needs to be overcome to
  # move it at all, this is compensated for too.
  
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [15, 13, 10, 5]
  
  
  class LatControlTorque(LatControl):
    def __init__(self, CP, CI):
      super().__init__(CP, CI)
keep keep keep keep replace keep keep keep keep keep
 [torqued] Fix high speed oscillations (#26338)

* modify low speed factor during high speeds and rescale friction

* update refs 
selfdrive/controls/lib/latcontrol_torque.py