Daniel Koepping 4cd4b8cc18 Volkswagen ID.4 lateral (#3366) ...

* VW ID.4 port

* VW MEB: safety vehicle model + tests

* safety tests

* cleanup

* fix test

* fix

* safety

* use curvature

* no pid

* clean long

* longitudinal

* add fcw

* allowance=80

* add carstate signals

* typo

* inline power

* add power tests

* fix mutation test

* update route

* flags

* merge master

* camera harness

* add blinker controls

* add tests

* rm rx

* fix ruff

* fix

* revert: blinker controls

* brake fault

* Update opendbc/car/volkswagen/interface.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Update opendbc/car/volkswagen/carstate.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* curvature limits

* rm stopAccel

* add pid

* starting

* pid correction

* apply ford limits

* only startaccel

* curvature std limits

* dedup tesla

* add ford safety

* integrator

* misra

* use lat accel

* ruff

* add ford limit fields

* tests

* simple ford curvature

* add test

* reduce

* lower jerk

* limit winddown

* lateral only

* Update opendbc/car/ford/carcontroller.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* comment

* unify max lat accel

* add test

* fix

* cleanup tests

* fix

* Revert "limit winddown"

This reverts commit 289e610f09.

* add back rt

* update lines

* update lines

* add is_zero from meb

* Revert "add is_zero from meb"

This reverts commit 1c97e6f658.

* note

* rm

* use curv=0

* no ford

* use power

* split from long

* fix

* comments

* cleanup

* fix

* comment

* reorder tests

* config struct

* direct config

* Revert "direct config"

This reverts commit 66b1ef5d9a.

* align

* fix

* Update opendbc/car/lateral.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* steerLimit

* inactive

* change to rt jerk value

* add rolling window

* group to struct

* rename new limit method

* more

* add second speed source

* rm long acc_main_on

* align curvature to actual

* Update opendbc/safety/modes/volkswagen_meb.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update opendbc/safety/modes/volkswagen_meb.h

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* allow debug

* redundant speed in cmd checks

* undeprecate curvature

* fix test

* whitelist cancel

* mutations

* set steeringCurvature

* Revert "set steeringCurvature"

This reverts commit 9c44a92519.

* gap

* KLR_01 frequency

* comment

* add tuning

* comments

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

2026-06-05 20:40:30 -07:00

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CARS.md

Volkswagen ID.4 lateral (#3366)

2026-06-05 20:40:30 -07:00