  
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
  ACCEL_MAX = 2.0
  ACCEL_MIN = -3.5
  FRICTION_THRESHOLD = 0.2
  
  TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
  TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
  TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
  
 
</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 LOW_SPEED_FACTOR = 200
 </s> add LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [15, 13, 10, 5]
FRICTION_THRESHOLD = 0.3
  
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
  ACCEL_MAX = 2.0
  ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.3
  
  TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
  TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
  TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
  
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/car/interfaces.py