clean up

CHANGELOG.md

@@ -1,6 +1,3 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
-========================
-
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)

cereal/custom.capnp

@@ -194,13 +194,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
-  accelPersonality @8 :AccelerationPersonality;
-
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
-  }
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -349,6 +342,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -455,6 +449,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

cereal/log.capnp

@@ -2054,14 +2054,16 @@ struct DriverStateV2 {
     facePosition @2 :List(Float32);
     facePositionStd @3 :List(Float32);
     faceProb @4 :Float32;
-    leftEyeProb @5 :Float32;
-    rightEyeProb @6 :Float32;
-    leftBlinkProb @7 :Float32;
-    rightBlinkProb @8 :Float32;
-    sunglassesProb @9 :Float32;
+    eyesVisibleProb @14 :Float32;
+    eyesClosedProb @15 :Float32;
     phoneProb @13 :Float32;
 
     deprecated :group {
+      leftEyeProb @5 :Float32;
+      rightEyeProb @6 :Float32;
+      leftBlinkProb @7 :Float32;
+      rightBlinkProb @8 :Float32;
+      sunglassesProb @9 :Float32;
       notReadyProb @12 :List(Float32);
       occludedProb @10 :Float32;
       readyProb @11 :List(Float32);

common/params_keys.h

@@ -135,8 +135,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
-    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},
     {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
@@ -180,6 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},

selfdrive/controls/lib/desire_helper.py

@@ -56,7 +56,7 @@ class DesireHelper:
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
     self.alc.update_params()
     self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
@@ -88,8 +88,8 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
 
         self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -313,14 +313,11 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, a_cruise_min=None):
+  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
-    if a_cruise_min is None:
-      a_cruise_min = CRUISE_MIN_ACCEL
-
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
 
@@ -332,7 +329,7 @@ class LongitudinalMpc:
 
     # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
     # when the leads are no factor.
-    v_lower = v_ego + (T_IDXS * a_cruise_min * 1.05)
+    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
     # TODO does this make sense when max_a is negative?
     v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
     v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)

selfdrive/controls/lib/longitudinal_planner.py

@@ -110,7 +110,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    accel_clip = self.get_accel_clip(v_ego) or [ACCEL_MIN, get_max_accel(v_ego)]
+    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
     steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
     accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
 
@@ -138,8 +138,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality,
-                    a_cruise_min=self.get_cruise_min_accel(v_ego))
+    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)

selfdrive/modeld/dmonitoringmodeld.py

@@ -83,7 +83,7 @@ def parse_model_output(model_output):
     face_descs = model_output[f'face_descs_{ds_suffix}']
     parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
     parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
       parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
   return parsed
 
@@ -93,11 +93,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
   msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
   msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
   msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
   msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):

selfdrive/monitoring/helpers.py

@@ -32,9 +32,8 @@ class DRIVER_MONITOR_SETTINGS:
     self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
 
     self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.865
+    self._EYE_THRESHOLD = 0.5
+    self._BLINK_THRESHOLD = 0.5
     self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
@@ -111,11 +110,6 @@ class DriverProb:
     self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
-class DriverBlink:
-  def __init__(self):
-    self.left = 0.
-    self.right = 0.
-
 
 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
@@ -150,7 +144,7 @@ class DriverMonitoring:
     wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
     self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
     self.pose = DriverPose(settings=self.settings)
-    self.blink = DriverBlink()
+    self.blink_prob = 0.
     self.phone_prob = 0.
 
     self.always_on = always_on
@@ -253,7 +247,7 @@ class DriverMonitoring:
     if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
+    if self.blink_prob > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.phone_prob > self.settings._PHONE_THRESH:
@@ -294,10 +288,7 @@ class DriverMonitoring:
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()

selfdrive/monitoring/test_monitoring.py

@@ -20,10 +20,8 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientation = [0., 0., 0.]
   ds.leftDriverData.facePosition = [0., 0.]
   ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.eyesVisibleProb = 1.
+  ds.leftDriverData.eyesClosedProb = 1. * distracted
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used

selfdrive/selfdrived/selfdrived.py

@@ -298,9 +298,16 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+            (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)

selfdrive/test/process_replay/model_replay.py

@@ -76,7 +76,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.eyesClosedProb), "leftDriverData.eyesClosedProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -39,8 +39,6 @@ class BaseDriverCameraDialog(Widget):
     self._eye_fill_texture = None
     self._eye_orange_texture = None
     self._eye_size = 74
-    self._glasses_texture = None
-    self._glasses_size = 171
 
     self._load_eye_textures()
 
@@ -154,8 +152,6 @@ class BaseDriverCameraDialog(Widget):
       self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
     if self._eye_orange_texture is None:
       self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
-    if self._glasses_texture is None:
-      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
   def _draw_face_detection(self, rect: rl.Rectangle):
     dm_state = ui_state.sm["driverMonitoringState"]
@@ -202,31 +198,21 @@ class BaseDriverCameraDialog(Widget):
     eye_offset_x = 10
     eye_offset_y = 10
     eye_spacing = self._eye_size + 15
+    eyes_prob = driver_data.eyesVisibleProb
 
     left_eye_x = rect.x + eye_offset_x
     left_eye_y = rect.y + eye_offset_y
-    left_eye_prob = driver_data.leftEyeProb
 
     right_eye_x = rect.x + eye_offset_x + eye_spacing
     right_eye_y = rect.y + eye_offset_y
-    right_eye_prob = driver_data.rightEyeProb
 
     # Draw eyes with opacity based on probability
-    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
-      fill_opacity = eye_prob
-      orange_opacity = 1.0 - eye_prob
-
+    fill_opacity = eyes_prob
+    orange_opacity = 1.0 - eyes_prob
+    for eye_x, eye_y in [(left_eye_x, left_eye_y), (right_eye_x, right_eye_y)]:
       rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
       rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
 
-    # Draw sunglasses indicator based on sunglasses probability
-    # Position glasses centered between the two eyes at top left
-    glasses_x = rect.x + eye_offset_x - 4
-    glasses_y = rect.y
-    glasses_pos = rl.Vector2(glasses_x, glasses_y)
-    glasses_prob = driver_data.sunglassesProb
-    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
-
 
 class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
   def __init__(self):

selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py

@@ -51,11 +51,17 @@ class LaneChangeSettingsLayout(Widget):
       description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                              "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
     )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )
 
     items = [
       self._lane_change_timer,
       LineSeparatorSP(40),
       self._bsm_delay,
+      self._road_edge_block,
     ]
 
     return items

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.002.000"
+#define SUNNYPILOT_VERSION "2026.001.000"

sunnypilot/modeld_v2/modeld.py

@@ -34,6 +34,7 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
@@ -246,6 +247,9 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
+
+
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -349,7 +353,10 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -1,156 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-from cereal import custom
-import numpy as np
-from openpilot.common.realtime import DT_MDL
-from openpilot.common.params import Params
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-
-A_MAX_BP = [0.0, 4.0, 8.0, 16.0, 40.0]
-A_MAX_V = {
-  AccelPersonality.eco:    [1.20, 1.40, 1.20, 0.40, 0.08],
-  AccelPersonality.normal: [1.80, 1.80, 1.35, 0.50, 0.15],
-  AccelPersonality.sport:  [2.20, 2.20, 1.60, 0.70, 0.25],
-}
-
-COAST_DRAG_BP = [0.0, 10.0, 25.0, 40.0]
-COAST_DRAG_V = {
-  AccelPersonality.eco:    [-0.03, -0.05, -0.08, -0.12],
-  AccelPersonality.normal: [-0.04, -0.07, -0.12, -0.18],
-  AccelPersonality.sport:  [-0.06, -0.10, -0.18, -0.28],
-}
-
-A_MIN_FLOOR_BP = [0.0, 5.0, 15.0, 40.0]
-A_MIN_FLOOR_V = {
-  AccelPersonality.eco:    [-0.20, -0.35, -0.55, -0.50],
-  AccelPersonality.normal: [-0.25, -0.45, -0.75, -0.65],
-  AccelPersonality.sport:  [-0.35, -0.65, -1.00, -0.95],
-}
-
-DEFICIT_TO_FLOOR = 8.5
-COAST_DEADBAND = 1.0
-RAMP_OFF_RANGE = 5.0
-
-A_MIN_TIGHTEN_RATE = 0.6
-A_MIN_RELAX_RATE = 0.9
-A_MAX_RATE_UP = 1.5
-A_MAX_RATE_DOWN = 0.6
-
-MIN_MAX_GAP = 0.05
-
-PARAM_REFRESH_FRAMES = max(1, int(1.0 / DT_MDL))
-
-
-class AccelPersonalityController:
-  def __init__(self):
-    self.params = Params()
-    self.frame = 0
-    self._first = True
-
-    val = self.params.get('AccelPersonality')
-    self._personality = val if val is not None else AccelPersonality.normal
-    self._enabled = self.params.get_bool('AccelPersonalityEnabled')
-
-    self._v_cruise = 0.0
-    self._a_min = -0.05
-    self._a_max = 1.50
-
-    self._cache_v: float | None = None
-    self._cache_v_cruise: float | None = None
-    self._cache_a_min = self._a_min
-    self._cache_a_max = self._a_max
-
-  def update(self, sm=None):
-    self.frame += 1
-    self._cache_v = None
-    self._cache_v_cruise = None
-
-    if sm is not None:
-      vc = sm['carState'].vCruise
-      self._v_cruise = float(vc) * (1000.0 / 3600.0) if vc != V_CRUISE_UNSET else 0.0
-
-    if self.frame % PARAM_REFRESH_FRAMES == 0:
-      val = self.params.get('AccelPersonality')
-      self._personality = val if val is not None else AccelPersonality.normal
-      new_enabled = self.params.get_bool('AccelPersonalityEnabled')
-      if new_enabled and not self._enabled:
-        self._first = True
-      self._enabled = new_enabled
-
-  def get_accel_personality(self) -> int:
-    return int(self._personality)
-
-  def is_enabled(self) -> bool:
-    return self._enabled
-
-  def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-    v_ego = max(0.0, v_ego)
-    if (self._cache_v is not None
-        and abs(self._cache_v - v_ego) < 0.01
-        and self._cache_v_cruise == self._v_cruise):
-      return self._cache_a_min, self._cache_a_max
-    self._cache_a_min, self._cache_a_max = self._step(v_ego)
-    self._cache_v = v_ego
-    self._cache_v_cruise = self._v_cruise
-    return self._cache_a_min, self._cache_a_max
-
-  def get_min_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[0]
-
-  def get_max_accel(self, v_ego: float) -> float:
-    return self.get_accel_limits(v_ego)[1]
-
-  def _ramp_off(self, v_ego: float) -> float:
-    if self._v_cruise <= 0.0:
-      return 1.0
-    return float(np.clip((self._v_cruise - v_ego) / RAMP_OFF_RANGE, 0.0, 1.0))
-
-  def _target_max(self, v_ego: float) -> float:
-    base = float(np.interp(v_ego, A_MAX_BP, A_MAX_V[self._personality]))
-    return base * self._ramp_off(v_ego)
-
-  def _target_min(self, v_ego: float) -> float:
-    coast = float(np.interp(v_ego, COAST_DRAG_BP, COAST_DRAG_V[self._personality]))
-    if self._v_cruise <= 0.0 or v_ego >= self._v_cruise:
-      return coast
-    floor = float(np.interp(v_ego, A_MIN_FLOOR_BP, A_MIN_FLOOR_V[self._personality]))
-    deficit = self._v_cruise - v_ego
-    t = float(np.clip(deficit / DEFICIT_TO_FLOOR, 0.0, 1.0)) ** 1.5
-    return coast + t * (floor - coast)
-
-  def _apply_coast_deadband(self, v_ego: float, t_min: float, t_max: float) -> tuple[float, float]:
-    if self._v_cruise <= 0.0 or abs(v_ego - self._v_cruise) >= COAST_DEADBAND:
-      return t_min, t_max
-    coast = float(np.interp(v_ego, COAST_DRAG_BP, COAST_DRAG_V[self._personality]))
-    return coast, max(0.05, t_max * 0.25)
-
-  def _rate_limit(self, last: float, target: float, rate_down: float, rate_up: float) -> float:
-    rate = rate_up if target > last else rate_down
-    step = rate * DT_MDL
-    return float(np.clip(target, last - step, last + step))
-
-  def _step(self, v_ego: float) -> tuple[float, float]:
-    t_max = self._target_max(v_ego)
-    t_min = self._target_min(v_ego)
-    t_min, t_max = self._apply_coast_deadband(v_ego, t_min, t_max)
-
-    if self._first:
-      self._a_min, self._a_max = t_min, t_max
-      self._first = False
-      return self._a_min, self._a_max
-
-    new_min = self._rate_limit(self._a_min, t_min, rate_down=A_MIN_TIGHTEN_RATE, rate_up=A_MIN_RELAX_RATE)
-    new_max = self._rate_limit(self._a_max, t_max, rate_down=A_MAX_RATE_DOWN, rate_up=A_MAX_RATE_UP)
-
-    new_min = min(new_min, new_max - MIN_MAX_GAP)
-
-    self._a_min, self._a_max = new_min, new_max
-    return self._a_min, self._a_max

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -17,9 +17,6 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolve
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelPersonalityController
-from opendbc.car.interfaces import ACCEL_MIN
-
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
@@ -29,7 +26,6 @@ class LongitudinalPlannerSP:
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
-    self.accel_controller = AccelPersonalityController()
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
     self.sla = SpeedLimitAssist(CP, CP_SP)
@@ -47,17 +43,6 @@ class LongitudinalPlannerSP:
 
     return experimental_mode and self.dec.mode() == "blended"
 
-  def get_accel_clip(self, v_ego: float) -> list[float] | None:
-    if not self.accel_controller.is_enabled():
-      return None
-    a_max = self.accel_controller.get_max_accel(v_ego)
-    return [ACCEL_MIN, max(ACCEL_MIN, a_max)]
-
-  def get_cruise_min_accel(self, v_ego: float) -> float | None:
-    if self.accel_controller.is_enabled():
-      return self.accel_controller.get_min_accel(v_ego)
-    return None
-
   def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
     CS = sm['carState']
     v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
@@ -92,7 +77,6 @@ class LongitudinalPlannerSP:
     self.events_sp.clear()
     self.dec.update(sm)
     self.e2e_alerts_helper.update(sm, self.events_sp)
-    self.accel_controller.update(sm)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -111,8 +95,6 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
-    longitudinalPlanSP.accelPersonality = int(self.accel_controller.get_accel_personality())
-
     # Smart Cruise Control
     smartCruiseControl = longitudinalPlanSP.smartCruiseControl
     # Vision Control

sunnypilot/selfdrive/controls/lib/relc.py

@@ -0,0 +1,84 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+NEARSIDE_PROB = 0.2
+EDGE_PROB = 0.35
+EDGE_REACTION_TIME = 1.0
+EDGE_CLEAR_TIME = 0.3
+MIN_SPEED = 20 * CV.MPH_TO_MS
+
+
+class RoadEdgeLaneChangeController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.params = Params()
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+    self.param_read_counter = 0
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def read_params(self) -> None:
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def reset(self) -> None:
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def update(self, road_edge_stds, lane_line_probs, v_ego: float) -> None:
+    self.update_params()
+
+    if not self.enabled or v_ego < MIN_SPEED:
+      self.reset()
+      return
+
+    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    left_lane_prob = lane_line_probs[0]
+    right_lane_prob = lane_line_probs[3]
+
+    left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and right_lane_prob >= left_lane_prob
+    right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and left_lane_prob >= right_lane_prob
+
+    if left_cond:
+      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.left_clear_timer = 0.0
+      if self.left_edge_timer > EDGE_REACTION_TIME:
+        self.left_edge_detected = True
+    else:
+      self.left_clear_timer += DT_MDL
+      if self.left_clear_timer > EDGE_CLEAR_TIME:
+        self.left_edge_timer = 0.0
+        self.left_edge_detected = False
+
+    if right_cond:
+      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.right_clear_timer = 0.0
+      if self.right_edge_timer > EDGE_REACTION_TIME:
+        self.right_edge_detected = True
+    else:
+      self.right_clear_timer += DT_MDL
+      if self.right_clear_timer > EDGE_CLEAR_TIME:
+        self.right_edge_timer = 0.0
+        self.right_edge_detected = False

sunnypilot/selfdrive/controls/lib/tests/test_accel_controller.py

@@ -1,147 +0,0 @@
-"""
-Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-
-Coverage for AccelPersonalityController:
-- live param flip via auto-refresh (no Python set_enabled() call needed)
-- V_CRUISE_UNSET guard
-- enable-transition snap to fresh target
-- per-personality accel limit deltas vs stock get_max_accel
-"""
-import numpy as np
-
-from cereal import custom
-
-from openpilot.common.params import Params
-from opendbc.car.interfaces import ACCEL_MIN
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_max_accel as stock_get_max_accel
-
-from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import (
-  AccelPersonalityController,
-  PARAM_REFRESH_FRAMES,
-)
-
-
-AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
-
-
-class FakeCarState:
-  def __init__(self, v_cruise=30.0):
-    self.vCruise = v_cruise
-
-
-class FakeSM:
-  def __init__(self, v_cruise=30.0):
-    self._data = {'carState': FakeCarState(v_cruise)}
-
-  def __getitem__(self, k):
-    return self._data[k]
-
-
-def _print_table(title, header, rows):
-  print(f"\n--- {title} ---")
-  print(" | ".join(f"{h:>12}" for h in header))
-  print("-" * (15 * len(header)))
-  for row in rows:
-    print(" | ".join(f"{v:>12.3f}" if isinstance(v, float) else f"{v:>12}" for v in row))
-
-
-class TestAccelLiveFlip:
-  def test_enable_via_param(self):
-    Params().put_bool('AccelPersonalityEnabled', False)
-    c = AccelPersonalityController()
-    assert not c.is_enabled()
-    Params().put_bool('AccelPersonalityEnabled', True)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM())
-    assert c.is_enabled()
-
-  def test_disable_via_param(self):
-    Params().put_bool('AccelPersonalityEnabled', True)
-    c = AccelPersonalityController()
-    assert c.is_enabled()
-    Params().put_bool('AccelPersonalityEnabled', False)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM())
-    assert not c.is_enabled()
-
-  def test_personality_change_via_param(self):
-    Params().put('AccelPersonality', AccelPersonality.normal)
-    c = AccelPersonalityController()
-    assert c.get_accel_personality() == AccelPersonality.normal
-    Params().put('AccelPersonality', AccelPersonality.sport)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM())
-    assert c.get_accel_personality() == AccelPersonality.sport
-
-  def test_refresh_boundary_below_threshold(self):
-    Params().put_bool('AccelPersonalityEnabled', False)
-    c = AccelPersonalityController()
-    Params().put_bool('AccelPersonalityEnabled', True)
-    for _ in range(PARAM_REFRESH_FRAMES - 1):
-      c.update(FakeSM())
-    assert not c.is_enabled()
-
-  def test_enable_transition_snaps_to_target(self):
-    Params().put_bool('AccelPersonalityEnabled', True)
-    Params().put('AccelPersonality', AccelPersonality.sport)
-    c = AccelPersonalityController()
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM(v_cruise=35.0))
-    c.get_accel_limits(25.0)
-
-    Params().put_bool('AccelPersonalityEnabled', False)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM(v_cruise=35.0))
-    assert not c.is_enabled()
-
-    Params().put('AccelPersonality', AccelPersonality.eco)
-    Params().put_bool('AccelPersonalityEnabled', True)
-    for _ in range(PARAM_REFRESH_FRAMES + 1):
-      c.update(FakeSM(v_cruise=35.0))
-    assert c._first
-
-  def test_vcruise_unset_treated_as_zero(self):
-    Params().put_bool('AccelPersonalityEnabled', True)
-    c = AccelPersonalityController()
-    c.update(FakeSM(v_cruise=V_CRUISE_UNSET))
-    assert c._v_cruise == 0.0
-
-
-class TestAccelUsageDiff:
-  def test_accel_clip_per_personality(self, capsys):
-    rows = []
-    speeds = [3.0, 10.0, 20.0, 30.0]
-    personalities = [
-      ('eco', AccelPersonality.eco),
-      ('normal', AccelPersonality.normal),
-      ('sport', AccelPersonality.sport),
-    ]
-
-    Params().put_bool('AccelPersonalityEnabled', True)
-    sm = FakeSM(v_cruise=35.0)
-
-    any_delta = False
-    for label, p in personalities:
-      Params().put('AccelPersonality', p)
-      c = AccelPersonalityController()
-      c.update(sm)
-      for v_ego in speeds:
-        stock_hi = float(stock_get_max_accel(v_ego))
-        c_lo, c_hi = c.get_accel_limits(v_ego)
-        delta_hi = c_hi - stock_hi
-        delta_lo = c_lo - ACCEL_MIN
-        if abs(delta_hi) > 0.01 or abs(delta_lo) > 0.01:
-          any_delta = True
-        rows.append((label, v_ego, stock_hi, c_hi, delta_hi, c_lo, delta_lo))
-
-    with capsys.disabled():
-      _print_table(
-        "AccelPersonalityController: a_max stock vs controller",
-        ["personality", "v_ego", "stock_hi", "ctrl_hi", "delta_hi", "ctrl_lo", "delta_lo"],
-        rows,
-      )
-    assert any_delta

sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -5,6 +5,8 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+
 
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
@@ -107,7 +109,11 @@ def set_lane_turn_params():
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
   dh = DesireHelper()
+  relc = RoadEdgeLaneChangeController(dh)
+  relc.enabled = True
   dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
   for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
+    dh.update(carstate, lateral_active, lane_change_prob,
+              left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
   assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+

sunnypilot/selfdrive/controls/lib/tests/test_relc.py

@@ -0,0 +1,99 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
+  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
+)
+
+V_HIGH = MIN_SPEED + 2.0
+V_LOW = MIN_SPEED - 1.0
+
+
+@pytest.fixture
+def relc(mocker):
+  mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
+  mock_params.return_value.get_bool.return_value = True
+  controller = RoadEdgeLaneChangeController(DesireHelper())
+  controller.enabled = True
+  return controller
+
+
+def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH):
+  for _ in range(int(seconds / DT_MDL) + 1):
+    controller.update(road_edge_stds, lane_line_probs, v_ego)
+
+
+@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
+  ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
+  ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
+])
+def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
+  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+  assert getattr(relc, attr)
+
+
+def test_edge_detection_requires_time(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+  assert not relc.left_edge_detected
+
+
+def test_both_edges_detected(relc):
+  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_noise_doesnt_clear(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update(*clear, V_HIGH)
+  relc.update(*edge, V_HIGH)
+  assert relc.left_edge_detected
+
+
+def test_clears_after_window(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_low_speed_skips(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_speed_drop_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW)
+  assert not relc.left_edge_detected
+
+
+def test_param_off_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.params.get_bool.return_value = False
+  relc.read_params()
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected

sunnypilot/selfdrive/selfdrived/events.py

@@ -243,4 +243,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
       AlertStatus.normal, AlertSize.none,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
+
+  EventNameSP.laneChangeRoadEdge: {
+    ET.WARNING: Alert(
+      "Lane Change Unavailable: Road Edge",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }

sunnypilot/sunnylink/params_metadata.json

@@ -1,26 +1,4 @@
 {
-  "AccelPersonality": {
-    "title": "Acceleration Personality",
-    "description": "Select the acceleration personality profile. Sport provides more aggressive acceleration, Eco provides gentler acceleration.",
-    "options": [
-      {
-        "value": 0,
-        "label": "Sport"
-      },
-      {
-        "value": 1,
-        "label": "Normal"
-      },
-      {
-        "value": 2,
-        "label": "Eco"
-      }
-    ]
-  },
-  "AccelPersonalityEnabled": {
-    "title": "Custom Acceleration Personality",
-    "description": "Enable custom acceleration and braking profiles that adjust max acceleration and min deceleration based on speed and selected personality."
-  },
   "AccessToken": {
     "title": "AccessTokenIsNice",
     "description": ""
@@ -1136,6 +1114,10 @@
     "title": "Record Front Lock",
     "description": ""
   },
+  "RoadEdgeLaneChangeEnabled": {
+    "title": "Block Lane Change: Road Edge Detection",
+    "description": ""
+  },
   "RoadName": {
     "title": "Road Name",
     "description": ""

sunnypilot/sunnylink/settings_ui.json

@@ -519,6 +519,12 @@
                 }
               ]
             },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks lane change when the model sees a road edge on the side you signal."
+            },
             {
               "key": "AutoLaneChangeBsmDelay",
               "widget": "toggle",
@@ -620,65 +626,6 @@
                 }
               ]
             },
-            {
-              "key": "AccelPersonalityEnabled",
-              "widget": "toggle",
-              "title": "Acceleration Personality",
-              "description": "Enable per-personality acceleration profiles. Sport allows stronger acceleration; Eco is gentler.",
-              "visibility": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                }
-              ]
-            },
-            {
-              "key": "AccelPersonality",
-              "widget": "multiple_button",
-              "title": "Acceleration Profile",
-              "description": "Sport allows the most aggressive acceleration; Eco the gentlest. Normal sits between.",
-              "options": [
-                {
-                  "value": 0,
-                  "label": "Sport"
-                },
-                {
-                  "value": 1,
-                  "label": "Normal"
-                },
-                {
-                  "value": 2,
-                  "label": "Eco"
-                }
-              ],
-              "visibility": [
-                {
-                  "type": "param",
-                  "key": "AccelPersonalityEnabled",
-                  "equals": true
-                }
-              ],
-              "enablement": [
-                {
-                  "type": "capability",
-                  "field": "has_longitudinal_control",
-                  "equals": true
-                },
-                {
-                  "type": "param",
-                  "key": "AccelPersonalityEnabled",
-                  "equals": true
-                }
-              ]
-            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -1723,13 +1670,13 @@
         {
           "id": "updates",
           "title": "Updates",
-          "description": "Control software updates",
+          "description": "Control automatic software updates",
           "items": [
             {
               "key": "DisableUpdates",
               "widget": "toggle",
               "title": "Disable Updates",
-              "description": "When enabled, software updates will be off. This requires a reboot to take effect.",
+              "description": "When enabled, automatic software updates will be off. This requires a reboot to take effect.",
               "enablement": [
                 {
                   "type": "offroad_only"

sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -43,34 +43,6 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
-  - key: AccelPersonalityEnabled
-    widget: toggle
-    title: Acceleration Personality
-    description: Enable per-personality acceleration profiles. Sport allows stronger acceleration; Eco is gentler.
-    visibility:
-    - $ref: '#/macros/longitudinal'
-    enablement:
-    - $ref: '#/macros/longitudinal'
-  - key: AccelPersonality
-    widget: multiple_button
-    title: Acceleration Profile
-    description: Sport allows the most aggressive acceleration; Eco the gentlest. Normal sits between.
-    options:
-    - value: 0
-      label: Sport
-    - value: 1
-      label: Normal
-    - value: 2
-      label: Eco
-    visibility:
-    - type: param
-      key: AccelPersonalityEnabled
-      equals: true
-    enablement:
-    - $ref: '#/macros/longitudinal'
-    - type: param
-      key: AccelPersonalityEnabled
-      equals: true
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

sunnypilot/sunnylink/settings_ui_src/pages/software.yaml

@@ -9,12 +9,12 @@ description: Software update preferences
 sections:
 - id: updates
   title: Updates
-  description: Control software updates
+  description: Control automatic software updates
   items:
   - key: DisableUpdates
     widget: toggle
     title: Disable Updates
-    description: When enabled, software updates will be off. This requires a reboot to take effect.
+    description: When enabled, automatic software updates will be off. This requires a reboot to take effect.
     enablement:
     - $ref: '#/macros/offroad'
     - $ref: '#/macros/advanced_only'