Check for excessive lateral actuation

[sshane]

Closes #35695

[sshane]

Suggested change

	EventName.lateralIsoViolation: {
	EventName.unreasonableLateralActuation: {

Suggested change

	EventName.lateralIsoViolation: {
	EventName.abnormalLateralActuation: {

?

[sshane]

@adeebshihadeh Here's 3 examples out of just 1000 random local segments where the user overrides above 2x ISO lateral accel limit while enabled. Do we want this to lock out for the rest of the drive?:

Peek.2025-07-18.21-26.mp4	Peek.2025-07-18.21-27.mp4
Peek.2025-07-18.21-27-2.mp4

[adeebshihadeh]

No I’d hope those look a lot different than the EV6 segment.

[sshane]

We don't have any standard way of measuring jerk of a signal I can use as a reference, so I checked a few approaches. I added a script to plot different simple methods on the route from #35683.

The low pass and the windowed methods can be noisy. Low pass is especially noisy if you update it at 100 Hz when livePose is 20 Hz, so you need to only update it when you get a livePose.

Windowed and kalman filter is the most accurate, kalman filter is the smoothest.

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Here's what 100 Hz low pass filter looks like:

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