      lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
      lateralPlan.dPathPoints = self.y_pts.tolist()
      lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
  
      # clip speed for curv calculation at 1m/s, to prevent low speed extremes
      clipped_speed = max(1.0, sm['carState'].vEgo)
      lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/clipped_speed).tolist()
      lateralPlan.curvatureRates = [float(x/clipped_speed) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
  
      lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
      lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
  
      lateralPlan.desire = self.DH.desire
 
</s> remove     self.yref[:,1] = heading_pts * (v_ego+5.0)
    self.yref[:,2] = yaw_rate_pts * (v_ego+5.0)
 </s> add     self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
    self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET) </s> remove                                   ((v_ego + 5.0) * psi_ego),
                                  ((v_ego + 5.0) * psi_rate_ego))
 </s> add                                   ((v_ego + SPEED_OFFSET) * psi_ego),
                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego))
    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
      lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
      lateralPlan.dPathPoints = self.y_pts.tolist()
      lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
  
    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
  
      lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
      lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
  
      lateralPlan.desire = self.DH.desire
keep keep keep keep replace replace replace replace keep keep keep keep keep
 Increase low speed jerk cost (#26008)

* Increase low speed jerk cost

* Update planner weight

* Update ref_commit

* Update lateral_planner.py

* cleanup and refactor

* Update ref_commit 
selfdrive/controls/lib/lateral_planner.py