Update

common/params.cc

@@ -224,6 +224,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AdvancedLateralTune", PERSISTENT},
     {"AdvancedLongitudinalTune", PERSISTENT},
     {"AggressiveFollow", PERSISTENT},
+    {"AggressiveFollowHigh", PERSISTENT},
     {"AggressiveJerkAcceleration", PERSISTENT},
     {"AggressiveJerkDanger", PERSISTENT},
     {"AggressiveJerkDeceleration", PERSISTENT},
@@ -456,6 +457,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RandomThemes", PERSISTENT},
     {"RefuseVolume", PERSISTENT},
     {"RelaxedFollow", PERSISTENT},
+    {"RelaxedFollowHigh", PERSISTENT},
     {"RelaxedJerkAcceleration", PERSISTENT},
     {"RelaxedJerkDanger", PERSISTENT},
     {"RelaxedJerkDeceleration", PERSISTENT},
@@ -515,6 +517,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SpeedLimitsFiltered", PERSISTENT | DONT_LOG},
     {"SpeedLimitSources", PERSISTENT},
     {"StandardFollow", PERSISTENT},
+    {"StandardFollowHigh", PERSISTENT},
     {"StandardJerkAcceleration", PERSISTENT},
     {"StandardJerkDanger", PERSISTENT},
     {"StandardJerkDeceleration", PERSISTENT},

frogpilot/common/frogpilot_variables.py

@@ -129,6 +129,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AdvancedLateralTune", "0", 2, "0"),
   ("AdvancedLongitudinalTune", "0", 3, "0"),
   ("AggressiveFollow", "1.25", 2, "1.25"),
+  ("AggressiveFollowHigh", "1.25", 2, "1.25"),
   ("AggressiveJerkAcceleration", "50", 3, "50"),
   ("AggressiveJerkDanger", "100", 3, "100"),
   ("AggressiveJerkDeceleration", "50", 3, "50"),
@@ -329,6 +330,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("RecordFront", "0", 0, "0"),
   ("RefuseVolume", "101", 2, "101"),
   ("RelaxedFollow", "1.75", 2, "1.75"),
+  ("RelaxedFollowHigh", "1.75", 2, "1.75"),
   ("RelaxedJerkAcceleration", "50", 3, "50"),
   ("RelaxedJerkDanger", "100", 3, "100"),
   ("RelaxedJerkDeceleration", "50", 3, "50"),
@@ -386,6 +388,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0, "Always keep hands on wheel and eyes on road"),
   ("StartupMessageTop", "Hop in and buckle up!", 0, "Be ready to take over at any time"),
   ("StandardFollow", "1.45", 2, "1.45"),
+  ("StandardFollowHigh", "1.45", 2, "1.45"),
   ("StandardJerkAcceleration", "50", 3, "50"),
   ("StandardJerkDanger", "100", 3, "100"),
   ("StandardJerkDeceleration", "50", 3, "50"),
@@ -676,28 +679,31 @@ class FrogPilotVariables:
     toggle.aggressive_jerk_danger = np.clip(params.get_int("AggressiveJerkDanger") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else default.get_int("AggressiveJerkDanger") / 100
     toggle.aggressive_jerk_speed = np.clip(params.get_int("AggressiveJerkSpeed") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else default.get_int("AggressiveJerkSpeed") / 100
     toggle.aggressive_jerk_speed_decrease = np.clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.25, 2) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else default.get_int("AggressiveJerkSpeedDecrease") / 100
-    toggle.aggressive_follow = np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow")
+    toggle.aggressive_follow = [np.clip(params.get_float("AggressiveFollow"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else default.get_float("AggressiveFollow"),
+                                np.clip(params.get_float("AggressiveFollowHigh"), 1, MAX_T_FOLLOW) if aggressive_profile and tuning_level >= level["AggressiveFollowHigh"] else default.get_float("AggressiveFollowHigh")]
     standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile"))
     toggle.standard_jerk_acceleration = np.clip(params.get_int("StandardJerkAcceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else default.get_int("StandardJerkAcceleration") / 100
     toggle.standard_jerk_deceleration = np.clip(params.get_int("StandardJerkDeceleration") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else default.get_int("StandardJerkDeceleration") / 100
     toggle.standard_jerk_danger = np.clip(params.get_int("StandardJerkDanger") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkDanger"] else default.get_int("StandardJerkDanger") / 100
     toggle.standard_jerk_speed = np.clip(params.get_int("StandardJerkSpeed") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else default.get_int("StandardJerkSpeed") / 100
     toggle.standard_jerk_speed_decrease = np.clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.25, 2) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else default.get_int("StandardJerkSpeedDecrease") / 100
-    toggle.standard_follow = np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow")
+    toggle.standard_follow = [np.clip(params.get_float("StandardFollow"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollow"] else default.get_float("StandardFollow"),
+                              np.clip(params.get_float("StandardFollowHigh"), 1, MAX_T_FOLLOW) if standard_profile and tuning_level >= level["StandardFollowHigh"] else default.get_float("StandardFollowHigh")]
     relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile"))
     toggle.relaxed_jerk_acceleration = np.clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else default.get_int("RelaxedJerkAcceleration") / 100
     toggle.relaxed_jerk_deceleration = np.clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else default.get_int("RelaxedJerkDeceleration") / 100
     toggle.relaxed_jerk_danger = np.clip(params.get_int("RelaxedJerkDanger") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else default.get_int("RelaxedJerkDanger") / 100
     toggle.relaxed_jerk_speed = np.clip(params.get_int("RelaxedJerkSpeed") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else default.get_int("RelaxedJerkSpeed") / 100
     toggle.relaxed_jerk_speed_decrease = np.clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.25, 2) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else default.get_int("RelaxedJerkSpeedDecrease") / 100
-    toggle.relaxed_follow = np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow")
+    toggle.relaxed_follow = [np.clip(params.get_float("RelaxedFollow"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else default.get_float("RelaxedFollow"),
+                             np.clip(params.get_float("RelaxedFollowHigh"), 1, MAX_T_FOLLOW) if relaxed_profile and tuning_level >= level["RelaxedFollowHigh"] else default.get_float("RelaxedFollowHigh")]
     traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile"))
     toggle.traffic_mode_jerk_acceleration = [np.clip(params.get_int("TrafficJerkAcceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else default.get_int("TrafficJerkAcceleration") / 100, toggle.aggressive_jerk_acceleration]
     toggle.traffic_mode_jerk_deceleration = [np.clip(params.get_int("TrafficJerkDeceleration") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else default.get_int("TrafficJerkDeceleration") / 100, toggle.aggressive_jerk_deceleration]
     toggle.traffic_mode_jerk_danger = [np.clip(params.get_int("TrafficJerkDanger") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else default.get_int("TrafficJerkDanger") / 100, toggle.aggressive_jerk_danger]
     toggle.traffic_mode_jerk_speed = [np.clip(params.get_int("TrafficJerkSpeed") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else default.get_int("TrafficJerkSpeed") / 100, toggle.aggressive_jerk_speed]
     toggle.traffic_mode_jerk_speed_decrease = [np.clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.25, 2) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else default.get_int("TrafficJerkSpeedDecrease") / 100, toggle.aggressive_jerk_speed_decrease]
-    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow]
+    toggle.traffic_mode_follow = [np.clip(params.get_float("TrafficFollow"), 0.5, MAX_T_FOLLOW) if traffic_profile and tuning_level >= level["TrafficFollow"] else default.get_float("TrafficFollow"), toggle.aggressive_follow[0]]
 
     custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI")
     toggle.acceleration_path = toggle.openpilot_longitudinal and (custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath")) or toggle.debug_mode)

frogpilot/controls/lib/frogpilot_following.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
 import numpy as np
 
+from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
 
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
+PERSONALITY_BP = [20. * CV.KPH_TO_MS, 90. * CV.KPH_TO_MS]
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):
@@ -48,12 +50,16 @@ class FrogPilotFollowing:
           frogpilot_toggles.custom_personalities, sm["controlsState"].personality
         )
 
-      self.t_follow = get_T_FOLLOW(
+      t_follow_param = get_T_FOLLOW(
         frogpilot_toggles.aggressive_follow,
         frogpilot_toggles.standard_follow,
         frogpilot_toggles.relaxed_follow,
         frogpilot_toggles.custom_personalities, sm["controlsState"].personality
       )
+      if isinstance(t_follow_param, list):
+        self.t_follow = float(np.interp(v_ego, PERSONALITY_BP, t_follow_param))
+      else:
+        self.t_follow = float(t_follow_param)
     else:
       self.base_acceleration_jerk = 0
       self.base_danger_jerk = 0

frogpilot/ui/qt/offroad/longitudinal_settings.h

@@ -41,18 +41,18 @@ private:
   std::map<QString, AbstractControl*> toggles;
 
   QSet<QString> advancedLongitudinalTuneKeys = {"LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
-  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
+  QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
   QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
   QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"};
-  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
+  QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
   QSet<QString> speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7"};
   QSet<QString> speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCConfirmation", "SLCLookaheadHigher", "SLCLookaheadLower", "SLCMapboxFiller"};
   QSet<QString> speedLimitControllerVisualKeys = {"ShowSLCOffset", "SpeedLimitSources"};
-  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
+  QSet<QString> standardPersonalityKeys = {"StandardFollow", "StandardFollowHigh", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"};
   QSet<QString> trafficPersonalityKeys = {"TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", "ResetTrafficPersonality"};
 
   QSet<QString> parentKeys;

selfdrive/car/interfaces.py

@@ -37,7 +37,7 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.3
+FRICTION_THRESHOLD = 0.2
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')

selfdrive/controls/lib/latcontrol_torque.py

@@ -3,9 +3,9 @@ import numpy as np
 from collections import deque
 
 from cereal import log
-from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD
 from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -16,15 +16,22 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # wheel slip, or to speed.
 
 # This controller applies torque to achieve desired lateral
-# accelerations. To compensate for the low speed effects we
-# use a LOW_SPEED_FACTOR in the error. Additionally, there is
-# friction in the steering wheel that needs to be overcome to
-# move it at all, this is compensated for too.
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
 
-LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
+KP = 0.6
+KI = 0.15
 
-MAX_LAT_JERK_UP = 2.5            # m/s^3
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 1
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -32,13 +39,13 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
-    self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
-    self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)
-    self.previous_measurement = 0.0
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -52,6 +59,7 @@ class LatControlTorque(LatControl):
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
     if not active:
       output_torque = 0.0
       pid_log.active = False
@@ -61,37 +69,28 @@ class LatControlTorque(LatControl):
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES))
-      expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      self.requested_lateral_accel_buffer.append(future_desired_lateral_accel)
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
-      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
-      self.previous_measurement = measurement
-
-      low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor / self.torque_params.kp * error
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-      pid_log.error = float(error_lsf)
+      pid_log.error = float(error)
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       pid_log.active = True
@@ -99,9 +98,10 @@ class LatControlTorque(LatControl):
       pid_log.i = float(self.pid.i)
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)  # TODO: log lat accel?
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
       pid_log.actualLateralAccel = float(measurement)
       pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention

selfdrive/controls/lib/longcontrol.py

@@ -179,6 +179,26 @@ class LongControl:
       else:
         output_accel = raw_output_accel
 
+    if self.long_control_state == LongCtrlState.pid:
+      # Smooth acceleration and deceleration with urgency-based rate limiting
+      base_rate = 1.0
+      
+      if output_accel < self.last_output_accel:  # Deceleration requested
+          decel_needed = self.last_output_accel - output_accel
+          # Use a safe default for ACCEL_MIN if not available, to prevent division by zero
+          max_decel = abs(CarControllerParams.ACCEL_MIN) if CarControllerParams.ACCEL_MIN != 0 else 4.0
+          urgency = min(1.0, decel_needed / max_decel)
+          
+          # Adjust rate based on urgency (1.0 m/s^3 for low urgency, up to 4.0 m/s^3 for high urgency)
+          max_rate = 1.0 + 3.0 * urgency
+      else:
+          max_rate = base_rate  # Acceleration is always smooth
+      
+      max_accel_change = max_rate * DT_CTRL
+      output_accel = clip(output_accel,
+                          self.last_output_accel - max_accel_change,
+                          self.last_output_accel + max_accel_change)
+
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel
 

selfdrive/ui/translations/main_ar.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;سلوك متابعة يحاكي السائقين البشر&lt;/b&gt; عبر تقليل الفجوات خلف المركبات الأسرع لانطلاق أسرع وضبط مسافة المتابعة المطلوبة ديناميكياً لكبح ألطف وأكثر كفاءة.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_caveman.ts

@@ -2112,6 +2112,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Make car follow like human&lt;/b&gt;. Close gap behind fast car for quick takeoff. Change follow distance on the fly for soft, smart brake.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_de.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Dem Fahrverhalten menschlicher Fahrer nachempfunden&lt;/b&gt;, indem Lücken hinter schnelleren Fahrzeugen geschlossen werden, um schneller anzufahren, und der gewünschte Folgeabstand dynamisch angepasst wird, um sanfteres und effizienteres Bremsen zu ermöglichen.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_duck.ts

@@ -2112,6 +2112,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Quack! Mimic human drivers&lt;/b&gt; by waddling up to close gaps behind faster cars for zippy takeoffs, and duckily tweak the following distance for smoother, more efficient braking.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_es.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Comportamiento de seguimiento que imita a los conductores humanos&lt;/b&gt; cerrando huecos detrás de vehículos más rápidos para salidas más rápidas y ajustando dinámicamente la distancia de seguimiento deseada para un frenado más suave y eficiente.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_fr.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Un comportement de suivi qui imite les conducteurs humains&lt;/b&gt; en réduisant les écarts derrière les véhicules plus rapides pour des départs plus rapides et en ajustant dynamiquement la distance de suivi souhaitée pour un freinage plus doux et plus efficace.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_frog.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Croaky follow like humans&lt;/b&gt;, ribbit! Hop to close gaps behind faster cars for quick takeoffs, and croak-adjust the follow distance for gentler, thriftier braking.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_ja.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;人間のドライバーを模倣する追従挙動&lt;/b&gt;。より速い車両の後方で車間を詰めて発進を素早くし、望ましい追従距離を動的に調整して、より穏やかで効率的な減速を実現します。</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_ko.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;사람 운전자와 유사한 추종 동작&lt;/b&gt;으로, 더 빠른 차량 뒤 간격을 좁혀 신속한 출발을 돕고 원하는 추종 거리를 동적으로 조절해 더욱 부드럽고 효율적인 제동을 수행합니다.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_pirate.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Behavin’ like real hands at the wheel&lt;/b&gt; by closin’ gaps astern o’ swifter wagons fer quicker shove-offs, an’ smartly trimmin’ the wanted followin’ distance fer gentler, more shipshape brak’n.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Comportamento de acompanhamento que imita motoristas humanos&lt;/b&gt; ao fechar lacunas atrás de veículos mais rápidos para arrancadas mais rápidas e ajustar dinamicamente a distância de seguimento desejada para frenagens mais suaves e eficientes.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_shakespearean.ts

@@ -2116,6 +2116,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;Following comportment that doth mirror mortal coachmen&lt;/b&gt; by narrowing gaps behind swifter chariots for hastier set-offs and by dynamically tuning the desired following distance for gentler, more thrifty braking.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_th.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;พฤติกรรมการตามที่เลียนแบบผู้ขับขี่มนุษย์&lt;/b&gt; โดยปิดช่องว่างด้านหลังรถที่เร็วกว่าเพื่อออกตัวได้เร็วขึ้น และปรับระยะห่างที่ต้องการแบบไดนามิกเพื่อการเบรกที่นุ่มนวลและมีประสิทธิภาพมากขึ้น</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_tr.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;İnsan sürücüleri taklit eden takip davranışı&lt;/b&gt;: Daha hızlı araçların arkasındaki boşlukları kapatarak daha hızlı kalkışlar ve daha yumuşak, daha verimli frenleme için istenen takip mesafesini dinamik olarak ayarlama.</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;模仿人类驾驶员的跟车行为&lt;/b&gt;，通过在更快车辆后方缩小车距以更快起步，并动态调整期望跟车距离，以实现更平顺、更高效的制动。</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -2110,6 +2110,22 @@
         <source>&lt;b&gt;Following behavior that mimics human drivers&lt;/b&gt; by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking.</source>
         <translation type="gpt-5-generated">&lt;b&gt;模仿人類駕駛的跟車行為&lt;/b&gt;，在後方有更快車輛時縮小間距以更快起步，並動態調整期望跟車距離，以實現更柔順且更高效的制動。</translation>
     </message>
+    <message>
+        <source>High Speed Following Distance</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Aggressive" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.25 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Standard" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.45 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;How many seconds openpilot follows behind lead vehicles when using the "Relaxed" profile at high speeds.&lt;/b&gt; Increase for more space; decrease for tighter gaps.&lt;br&gt;&lt;br&gt;Default: 1.75 seconds.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotManageControl</name>