LKAS : Lane Keep Assist
There are several types of LKAS Solutions that openpilot can support, most is vision based:
Torque Command
openpilot will replace the message from the Camera on the CAN Bus and determine the lateral control.
The command provided is torque based, as each car is differs on how they determine the torque of the steering, fine-tuning of the steering may be required.
Steering Angle Command
openpilot will replace the message from the Camera on the CAN Bus and determine the lateral control.
The command provided is steering angle, this requires less tuning, as each car is similar on how they determine steering angle command. Need to keep note of the negative angle.
This is the approach for the current project as the car Alvez have steering angle based command.
Some cars that uses steering angle command like tesla, nissan.