      if CarController is not None:
        self.CC = CarController(self.cp.dbc_name, CP, self.VM)
  
    @staticmethod
    def get_pid_accel_limits(current_speed, cruise_speed):
      return ACCEL_MIN, ACCEL_MAX
  
    @staticmethod
    def calc_accel_override(a_ego, a_target, v_ego, v_target):
      return 1.
 
</s> remove ACCEL_MIN = -4.0
 </s> add ACCEL_MIN = -3.5
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
      if CarController is not None:
        self.CC = CarController(self.cp.dbc_name, CP, self.VM)
  
    @staticmethod
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
      return ACCEL_MIN, ACCEL_MAX
  
    @staticmethod
    def calc_accel_override(a_ego, a_target, v_ego, v_target):
      return 1.
keep keep keep keep replace keep keep keep keep keep
 Clean up PID controller ACCEL_MIN/ACCEL_MAX (#22148)

* use ISO 15622:2018 limits in PID controller

* allow more for nidec

* limit PID inputs

* CP is not needed

* add GM

* not used

* update ref

* fix honda bosch 
selfdrive/car/interfaces.py