modeld: clip vego (#33699)

commaai · Oct 2, 2024 · 48bd5b9 · 48bd5b9
1 parent 9cbd341
commit 48bd5b9
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
@@ -231,7 +231,8 @@ def main(demo=False):
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
+    v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]