Prevent false stop departures without damping takeoff

This reverts commit 9e68801db0.

.github/workflows/cereal_validation.yaml

@@ -35,36 +35,18 @@ jobs:
       - name: Init sunnypilot opendbc submodule
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Checkout upstream openpilot
+      - name: Checkout upstream openpilot cereal
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
           path: upstream_openpilot
+          sparse-checkout: cereal
           ref: "refs/heads/master"
 
       - name: Init upstream opendbc submodule
         working-directory: upstream_openpilot
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Locate upstream capnp paths
-        id: locate-capnp
-        run: |
-          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
-          if [ -z "$CEREAL_DIR" ]; then
-            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
-            exit 1
-          fi
-          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
-          echo "Found upstream cereal at: $CEREAL_DIR"
-
-          IMPORT_ARGS=""
-          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
-          if [ -n "$CAR_CAPNP" ]; then
-            IMPORT_ARGS="-I $CAR_CAPNP"
-            echo "Found car.capnp at: $CAR_CAPNP"
-          fi
-          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
-
       - name: Install uv
         run: pip install uv
 
@@ -80,5 +62,4 @@ jobs:
           PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
           uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
             python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
-            ${{ steps.locate-capnp.outputs.import_args }}
+            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal

.gitmodules

@@ -4,6 +4,7 @@
 [submodule "opendbc"]
   path = opendbc_repo
   url = https://github.com/sunnypilot/opendbc.git
+  branch = tn
 [submodule "msgq"]
   path = msgq_repo
   url = https://github.com/commaai/msgq.git

CHANGELOG.md

@@ -1,34 +1,5 @@
-sunnypilot Version 2026.002.000 (2026-06-28)
+sunnypilot Version 2026.002.000 (2026-xx-xx)
 ========================
-* What's Changed (sunnypilot/sunnypilot)
-  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
-  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
-  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
-  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
-  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
-  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
-  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
-  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
-  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
-  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
-  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
-  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
-* What's Changed (sunnypilot/opendbc)
-  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
-  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
-  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
-  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
-* New Contributors (sunnypilot/sunnypilot)
-  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
-* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
-************************
-* Synced with commaai's openpilot (v0.11.1)
-  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Improved thermal policy for comma four
-* Acura MDX 2022-24 support thanks to mvl-boston!
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================

cereal/custom.capnp

@@ -194,6 +194,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
+  accelController @8 :AccelController;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -296,6 +297,47 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     greenLightAlert @0 :Bool;
     leadDepartAlert @1 :Bool;
   }
+
+  struct AccelController {
+    enabled @0 :Bool;
+    active @1 :Bool;
+    shadowOnly @2 :Bool;
+    profile @3 :Profile;
+    state @4 :State;
+    vTargetBase @5 :Float32;
+    vTargetRaw @6 :Float32;
+    vTargetFiltered @7 :Float32;
+    vTargetShadow @8 :Float32;
+    leadIndex @9 :Int8 = -1;
+    usableGap @10 :Float32;
+    closingSpeed @11 :Float32;
+    requiredDecel @12 :Float32;
+    aMaxProfile @13 :Float32;
+    aMaxEffective @14 :Float32;
+
+    enum Profile {
+      eco @0;
+      normal @1;
+      sport @2;
+    }
+
+    enum State {
+      inactive @0;
+      free @1;
+      restrict @2;
+      hold @3;
+      release @4;
+      stopHold @5;
+    }
+  }
+
+  # Compatibility type for vehicle integrations that map physical drive modes
+  # onto AccelPersonality. New controller telemetry uses AccelController.Profile.
+  enum AccelerationPersonality {
+    eco @0;
+    normal @1;
+    sport @2;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -342,6 +384,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -448,6 +491,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
-"""Validate sunnypilot routes are parseable by stock commaai/openpilot.
+"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
 
-Cap'n Proto is wire-compatible across renames, type relocations, and
-additive fields. The only breaking change is a union variant that
-upstream doesn't recognize — an unknown discriminant makes the entire
-union unreadable.
-
-This script checks: for every struct with a union that exists in both
-schemas, does sunnypilot introduce union variants upstream doesn't have?
+Rules (per struct matched across sides by typeId):
+  R1  shared ordinal must reference the same type.
+  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
+  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
+  R4  upstream-only ordinal -> OK.
+  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
 """
 
 from __future__ import annotations
@@ -25,19 +24,46 @@ def hex_id(value: int) -> str:
   return f"0x{value:016x}"
 
 
+def encode_type(type_node: Any) -> dict:
+  which = type_node.which()
+  if which == "struct":
+    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
+  if which == "enum":
+    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
+  if which == "interface":
+    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
+  if which == "list":
+    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
+  if which == "anyPointer":
+    return {"kind": "anyPointer"}
+  return {"kind": which}
+
+
+def encode_field(name: str, field: Any) -> dict:
+  proto = field.proto
+  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+
+  if proto.which() == "group":
+    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
+  else:
+    type_desc = encode_type(proto.slot.type)
+
+  return {
+    "name": name,
+    "ordinal": ordinal,
+    "discriminant": discriminant,
+    "type": type_desc,
+  }
+
+
 def encode_struct(schema: Any) -> dict:
   node = schema.node
-  fields = []
-  for name, field in schema.fields.items():
-    proto = field.proto
-    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
   return {
     "typeId": hex_id(node.id),
     "displayName": node.displayName,
     "hasUnion": node.struct.discriminantCount > 0,
-    "fields": fields,
+    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
   }
 
 
@@ -79,16 +105,15 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> Any:
+def load_log(cereal_dir: str) -> Any:
   import capnp
   cereal_dir = os.path.abspath(cereal_dir)
   capnp.remove_import_hook()
-  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
 
 
-def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
-  log = load_log(cereal_dir, extra_imports)
+def dump_schema(cereal_dir: str, path: str) -> None:
+  log = load_log(cereal_dir)
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -98,37 +123,100 @@ def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = No
   print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
 
 
+def types_equal(a: dict, b: dict) -> bool:
+  if a.get("kind") != b.get("kind"):
+    return False
+  kind = a["kind"]
+  if kind in ("struct", "enum", "interface", "group"):
+    return a.get("typeId") == b.get("typeId")
+  if kind == "list":
+    return types_equal(a["element"], b["element"])
+  return True
+
+
+def type_repr(t: dict) -> str:
+  kind = t.get("kind", "?")
+  if kind in ("struct", "enum", "interface", "group"):
+    return f"{kind}({t.get('typeId')})"
+  if kind == "list":
+    return f"list<{type_repr(t['element'])}>"
+  return kind
+
+
+def field_is_union_variant(field: dict) -> bool:
+  return field.get("discriminant") is not None
+
+
+def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
+  indexed: dict[int, dict] = {}
+  for field in struct["fields"]:
+    ordinal = field.get("ordinal")
+    if ordinal is None:
+      continue
+    indexed[ordinal] = field
+  return indexed
+
+
 def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
   violations: list[str] = []
-  sunnypilot_structs = sunnypilot_dump["structs"]
-  upstream_structs = upstream_dump["structs"]
+  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
+  upstream_structs: dict[str, dict] = upstream_dump["structs"]
 
-  for type_id, sp_struct in sunnypilot_structs.items():
-    if not sp_struct["hasUnion"]:
-      continue
-    up_struct = upstream_structs.get(type_id)
-    if up_struct is None:
+  sunnypilot_struct_referenced_from_shared: set[str] = set()
+
+  for type_id, sunnypilot_struct in sunnypilot_structs.items():
+    upstream_struct = upstream_structs.get(type_id)
+    if upstream_struct is None:
       continue
 
-    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
-    display = sp_struct["displayName"]
+    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
+    upstream_fields = index_fields_by_ordinal(upstream_struct)
+    display = sunnypilot_struct["displayName"]
 
-    for field in sp_struct["fields"]:
-      if field.get("discriminant") is None:
+    for ordinal, sunnypilot_field in sunnypilot_fields.items():
+      upstream_field = upstream_fields.get(ordinal)
+      if upstream_field is None:
+        if field_is_union_variant(sunnypilot_field):
+          violations.append(
+            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
+            f"union variant not present upstream. upstream cannot parse this discriminant."
+          )
         continue
-      if field["ordinal"] not in up_ordinals:
+
+      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
         violations.append(
-          f"{display} @{field['ordinal']} '{field['name']}': "
-          f"union variant not present upstream (discriminant={field['discriminant']})"
+          f"[R1] {display} @{ordinal}: type mismatch. "
+          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
+          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
         )
+        continue
+
+      cursor = sunnypilot_field["type"]
+      while cursor.get("kind") == "list":
+        cursor = cursor["element"]
+      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
+        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
+
+  for type_id, sunnypilot_struct in sunnypilot_structs.items():
+    if type_id in upstream_structs:
+      continue
+    if type_id in sunnypilot_struct_referenced_from_shared:
+      violations.append(
+        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
+        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
+      )
 
   return violations
 
 
-def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
-  log = load_log(cereal_dir, extra_imports)
-  with open(peer_path, "r", encoding="utf-8") as f:
-    peer_dump = json.load(f)
+def load_peer(path: str) -> dict:
+  with open(path, "r", encoding="utf-8") as handle:
+    return json.load(handle)
+
+
+def run_read(cereal_dir: str, peer_path: str) -> int:
+  log = load_log(cereal_dir)
+  peer_dump = load_peer(peer_path)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -136,29 +224,32 @@ def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None =
   violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
 
   if not violations:
-    print("cereal compat OK: upstream can parse sunnypilot routes.")
+    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
+          "(no leaked structs, no ordinal collisions).")
     return 0
 
-  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
+  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
+        f"({len(violations)} violation(s)):")
   for v in violations:
     print(f"  {v}")
   return 1
 
 
 def main() -> int:
-  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
+  parser = argparse.ArgumentParser(
+    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
+  )
   mode = parser.add_mutually_exclusive_group(required=True)
   mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
-  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
+  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
   args = parser.parse_args()
 
   if args.generate:
-    dump_schema(args.cereal_dir, args.file, args.import_path)
+    dump_schema(args.cereal_dir, args.file)
     return 0
-  return run_read(args.cereal_dir, args.file, args.import_path)
+  return run_read(args.cereal_dir, args.file)
 
 
 if __name__ == "__main__":

common/params_keys.h

@@ -179,12 +179,19 @@ 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"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
+    // toyota specific params
+    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -228,6 +235,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
+    // Accel Controller profiles (Eco / Normal / Sport)
+    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
+
     // sunnypilot model params
     {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},

common/tests/test_params.py

@@ -112,12 +112,16 @@ class TestParams:
   def test_params_default_value(self):
     self.params.remove("LanguageSetting")
     self.params.remove("LongitudinalPersonality")
+    self.params.remove("AccelPersonalityEnabled")
+    self.params.remove("AccelPersonality")
     self.params.remove("LiveParameters")
 
     assert self.params.get("LanguageSetting") is None
     assert self.params.get("LanguageSetting", return_default=False) is None
     assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
     assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
+    assert self.params.get("AccelPersonalityEnabled", return_default=True) is False
+    assert self.params.get("AccelPersonality", return_default=True) == 1
     assert self.params.get("LiveParameters") is None
     assert self.params.get("LiveParameters", return_default=True) is None
 

docs/CARS.md

@@ -4,24 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 341 Supported Cars
+# 340 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,7 +126,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -224,14 +223,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
@@ -239,35 +238,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -280,8 +279,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -313,61 +312,60 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

selfdrive/car/card.py

@@ -10,7 +10,7 @@ from cereal import car, log, custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -121,7 +121,13 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
+    # set alternative experiences from parameters
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
+
     # mads
     set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)

selfdrive/car/tests/test_models.py

@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.honda.values import HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -358,13 +358,7 @@ class TestCarModelBase(unittest.TestCase):
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
 
       if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
+        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
 
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -448,12 +442,7 @@ class TestCarModelBase(unittest.TestCase):
         checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
                                        angle_can < (self.safety.get_angle_meas_min() - 1))
 
-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
+      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 

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

@@ -217,6 +217,7 @@ class LongitudinalMpc:
   def __init__(self, dt=DT_MDL):
     self.dt = dt
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
+    self.last_solution_status = 0
     self.reset()
     self.source = LongitudinalPlanSource.cruise
 
@@ -267,10 +268,11 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard, *, jerk_cost_multiplier=1.0):
     jerk_factor = get_jerk_factor(personality)
     a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
+    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost,
+                    jerk_factor * J_EGO_COST * jerk_cost_multiplier]
     constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     self.set_cost_weights(cost_weights, constraint_cost_weights)
 
@@ -313,7 +315,7 @@ 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):
+  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, accel_max=None):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -345,6 +347,14 @@ class LongitudinalMpc:
 
     self.params[:,0] = ACCEL_MIN
     self.params[:,1] = ACCEL_MAX
+    if accel_max is not None:
+      try:
+        accel_max_trajectory = np.asarray(accel_max, dtype=float)
+      except (OverflowError, TypeError, ValueError):
+        accel_max_trajectory = np.empty(0)
+      if accel_max_trajectory.shape == (N + 1,) and np.all(np.isfinite(accel_max_trajectory)):
+        self.params[:,1] = np.clip(accel_max_trajectory, 0.0, ACCEL_MAX)
+        self.params[0,1] = max(self.params[0,1], float(np.clip(self.x0[2], ACCEL_MIN, ACCEL_MAX)))
     self.params[:,2] = np.min(x_obstacles, axis=1)
     self.params[:,3] = np.copy(self.a_prev)
     self.params[:,4] = t_follow
@@ -364,6 +374,7 @@ class LongitudinalMpc:
     self.solver.constraints_set(0, "ubx", self.x0)
 
     self.solution_status = self.solver.solve()
+    self.last_solution_status = self.solution_status
     self.solve_time = float(self.solver.get_stats('time_tot')[0])
     self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
     self.time_linearization = float(self.solver.get_stats('time_lin')[0])

selfdrive/controls/lib/longitudinal_planner.py

@@ -51,7 +51,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc, dt=dt)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -129,16 +129,18 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast = max(accel_coast, accel_clip[0])
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
-
     # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
     v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+    base_v_cruise = v_cruise
 
     if force_slow_decel:
       v_cruise = 0.0
 
-    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)
+    is_e2e = LongitudinalPlannerSP.update_accel_controller_mpc(
+      self, sm, base_v_cruise, v_cruise, prev_accel_constraint, reset_state=reset_state,
+      cruise_initialized=v_cruise_initialized, available_accel_max=accel_clip[1] if self.allow_throttle else 0.0,
+      previous_should_stop=self.output_should_stop, force_decel=force_slow_decel,
+    )
 
     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)
@@ -154,13 +156,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
-    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    action_t = self.CP.longitudinalActuatorDelay + DT_MDL
+    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(
+      self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t, vEgoStopping=self.CP.vEgoStopping,
+    )
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.is_e2e(sm):
+    if is_e2e:
       output_a_target = min(output_a_target_e2e, output_a_target_mpc)
       self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
       if output_a_target < output_a_target_mpc:
@@ -168,6 +171,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     else:
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
+    self.output_should_stop = self.accel_controller_should_stop(self.output_should_stop, is_e2e)
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)

selfdrive/selfdrived/selfdrived.py

@@ -321,9 +321,16 @@ 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/longitudinal_maneuvers/plant.py

@@ -1,5 +1,11 @@
 #!/usr/bin/env python3
+from collections import deque
+from collections.abc import Callable
+from dataclasses import dataclass
+import math
 import time
+from typing import Any
+
 import numpy as np
 
 from cereal import log
@@ -11,12 +17,105 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPl
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 
+LeadObservation = dict[str, Any]
+LeadObservationFn = Callable[[float, str, LeadObservation], LeadObservation | None]
+ModelActionFn = Callable[[float, float, float], tuple[float, bool]]
+EgoObservationFn = Callable[[float, float, float], tuple[float, float]]
+
+
+@dataclass(frozen=True)
+class ActuatorModel:
+  planner_delay: float
+  transport_delay: float
+  actuator_lag: float
+  command_rate_limit: float
+  stopping_acceleration: float
+  standstill_breakaway_acceleration: float
+  standstill_breakaway_time: float
+
+  def __post_init__(self):
+    nonnegative_fields = {
+      "planner_delay": self.planner_delay,
+      "transport_delay": self.transport_delay,
+      "actuator_lag": self.actuator_lag,
+      "standstill_breakaway_acceleration": self.standstill_breakaway_acceleration,
+      "standstill_breakaway_time": self.standstill_breakaway_time,
+    }
+    if any(not math.isfinite(value) or value < 0.0 for value in nonnegative_fields.values()):
+      raise ValueError(f"ActuatorModel fields must be finite and non-negative: {nonnegative_fields}")
+    if not math.isfinite(self.command_rate_limit) or self.command_rate_limit <= 0.0:
+      raise ValueError("command_rate_limit must be finite and positive")
+    if not math.isfinite(self.stopping_acceleration) or self.stopping_acceleration > 0.0:
+      raise ValueError("stopping_acceleration must be finite and non-positive")
+
+
+# Route-derived conservative Prius TSS2 stress model for the acceleration-controller
+# regression suite. The 1.0 m/s² gate represents prompt takeoffs, not a universal
+# physical threshold: the supplied routes also contain low-command creep departures.
+# This models vehicle response only and does not emulate Toyota's CAN controller.
+PRIUS_TSS2_ROUTE_MODEL = ActuatorModel(
+  planner_delay=0.05,
+  transport_delay=0.0,
+  actuator_lag=0.20,
+  command_rate_limit=4.0,
+  stopping_acceleration=-2.0,
+  standstill_breakaway_acceleration=1.0,
+  standstill_breakaway_time=0.05,
+)
+
+
 class Plant:
   messaging_initialized = False
 
-  def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
-               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False):
-    self.rate = 1. / DT_MDL
+  def __init__(
+    self,
+    lead_relevancy=False,
+    speed=0.0,
+    distance_lead=2.0,
+    enabled=True,
+    only_lead2=False,
+    only_radar=False,
+    e2e=False,
+    personality=0,
+    force_decel=False,
+    lead_observation_fn: LeadObservationFn | None = None,
+    model_action_fn: ModelActionFn | None = None,
+    ego_observation_fn: EgoObservationFn | None = None,
+    actuator_delay: float | None = None,
+    actuator_lag: float = 0.0,
+    actuator_model: ActuatorModel | None = None,
+  ):
+    """Closed-loop longitudinal planner plant.
+
+    ``lead_observation_fn(time, lead_name, truth)`` may return a complete or partial
+    observed LeadData mapping, or ``None`` for an absent lead. It is called separately
+    for ``leadOne`` and ``leadTwo``. The supplied truth mapping is a copy, and observed
+    values never affect the physical lead trajectory.
+
+    ``model_action_fn(time, v_ego, a_ego)`` returns
+    ``(desired_acceleration, should_stop)``.
+
+    ``ego_observation_fn(time, true_v_ego, true_a_ego)`` returns the observed
+    ``(v_ego, a_ego)`` published in ``carState``. It can inject measurement noise
+    without changing the physical plant state.
+
+    Passing ``actuator_delay`` both overrides ``CP.longitudinalActuatorDelay`` and
+    adds the corresponding command transport delay to the plant. ``None`` keeps the
+    historical Honda planner delay with instantaneous plant response. ``actuator_lag``
+    is an optional first-order acceleration-response time constant. Both defaults keep
+    historical plant dynamics unchanged.
+
+    ``actuator_model`` opts into a staged vehicle-response model. Its planner delay
+    is used by MPC, while its independent transport delay is used by the command
+    queue before rate limiting, standstill breakaway confirmation, and first-order
+    lag. Leaving it unset preserves the historical actuator path.
+    """
+    if actuator_delay is not None and (not math.isfinite(actuator_delay) or actuator_delay < 0.0):
+      raise ValueError("actuator_delay must be finite and non-negative")
+    if not math.isfinite(actuator_lag) or actuator_lag < 0.0:
+      raise ValueError("actuator_lag must be finite and non-negative")
+
+    self.rate = 1.0 / DT_MDL
 
     if not Plant.messaging_initialized:
       Plant.radar = messaging.pub_sock('radarState')
@@ -28,10 +127,15 @@ class Plant:
 
     self.v_lead_prev = 0.0
 
-    self.distance = 0.
+    self.distance = 0.0
     self.speed = speed
     self.should_stop = False
     self.acceleration = 0.0
+    self.a_target = 0.0
+    self.actuator_command = 0.0
+    self.applied_actuator_command = 0.0
+    self.breakaway_confirmed = False
+    self._breakaway_timer = 0.0
 
     # lead car
     self.lead_relevancy = lead_relevancy
@@ -42,9 +146,18 @@ class Plant:
     self.e2e = e2e
     self.personality = personality
     self.force_decel = force_decel
+    self.lead_observation_fn = lead_observation_fn
+    self.model_action_fn = model_action_fn
+    self.ego_observation_fn = ego_observation_fn
+    self.actuator_model = actuator_model
+    self.actuator_delay = actuator_model.planner_delay if actuator_model is not None else actuator_delay
+    self.transport_delay = actuator_model.transport_delay if actuator_model is not None else actuator_delay
+    self.actuator_lag = actuator_model.actuator_lag if actuator_model is not None else actuator_lag
+    self.publish_realized_a_ego = any((lead_observation_fn is not None, model_action_fn is not None, ego_observation_fn is not None,
+                                      actuator_delay is not None, actuator_lag > 0.0, actuator_model is not None))
 
     self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
-    self.ts = 1. / self.rate
+    self.ts = 1.0 / self.rate
     time.sleep(0.1)
     self.sm = messaging.SubMaster(['longitudinalPlan'])
 
@@ -52,14 +165,86 @@ class Plant:
     from opendbc.car.honda.interface import CarInterface
 
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+    if self.actuator_delay is not None:
+      CP.longitudinalActuatorDelay = self.actuator_delay
     CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
     self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
 
+    if self.actuator_model is not None and self.speed >= 0.01:
+      self.breakaway_confirmed = True
+    delay_steps = 0 if self.transport_delay is None else round(self.transport_delay / self.ts)
+    self._actuator_delay_queue = deque([self.acceleration] * delay_steps)
+
   @property
   def current_time(self):
     return float(self.rk.frame) / self.rate
 
-  def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0):
+  @staticmethod
+  def _lead_message(observation: LeadObservation):
+    lead = log.RadarState.LeadData.new_message()
+    for field, value in observation.items():
+      setattr(lead, field, value)
+    return lead
+
+  def _observe_lead(self, lead_name: str, truth: LeadObservation, present_by_default: bool) -> LeadObservation | None:
+    if self.lead_observation_fn is None:
+      return dict(truth) if present_by_default else None
+
+    observed = self.lead_observation_fn(self.current_time, lead_name, dict(truth))
+    if observed is None:
+      return None
+
+    # Partial overrides are convenient for individual sensor glitches, while copying
+    # from truth ensures every field written to cereal is deterministic.
+    complete_observation = dict(truth)
+    complete_observation.update(observed)
+    return complete_observation
+
+  def _update_actuator(self, command: float) -> tuple[float, float]:
+    if self._actuator_delay_queue:
+      self._actuator_delay_queue.append(command)
+      delayed_command = self._actuator_delay_queue.popleft()
+    else:
+      delayed_command = command
+
+    if self.actuator_model is not None:
+      max_command_delta = self.actuator_model.command_rate_limit * self.ts
+      self.applied_actuator_command = float(np.clip(delayed_command,
+                                                   self.applied_actuator_command - max_command_delta,
+                                                   self.applied_actuator_command + max_command_delta))
+
+      if self.speed < 0.01:
+        if self.applied_actuator_command <= 0.0:
+          self.breakaway_confirmed = False
+          self._breakaway_timer = 0.0
+        elif not self.breakaway_confirmed:
+          breakaway_ready = self.applied_actuator_command + 1e-9 >= self.actuator_model.standstill_breakaway_acceleration
+          if breakaway_ready:
+            self._breakaway_timer += self.ts
+          else:
+            self._breakaway_timer = 0.0
+
+          self.breakaway_confirmed = breakaway_ready and self._breakaway_timer + 1e-9 >= self.actuator_model.standstill_breakaway_time
+        if not self.breakaway_confirmed:
+          self.acceleration = 0.0
+          return delayed_command, self.acceleration
+      else:
+        self.breakaway_confirmed = True
+
+      response_command = self.applied_actuator_command
+    else:
+      # Preserve the historical response path exactly when no staged model is used.
+      self.applied_actuator_command = delayed_command
+      response_command = delayed_command
+
+    if self.actuator_lag > 0.0:
+      alpha = 1.0 - math.exp(-self.ts / self.actuator_lag)
+      self.acceleration += alpha * (response_command - self.acceleration)
+    else:
+      self.acceleration = response_command
+    return delayed_command, self.acceleration
+
+  def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50.0, pitch=0.0, prob_throttle=1.0):
     # ******** publish a fake model going straight and fake calibration ********
     # note that this is worst case for MPC, since model will delay long mpc by one time step
     radar = messaging.new_message('radarState')
@@ -72,39 +257,48 @@ class Plant:
     car_state_sp = messaging.new_message('carStateSP')
     live_map_data_sp = messaging.new_message('liveMapDataSP')
     gps_data = messaging.new_message('gpsLocation')
-    a_lead = (v_lead - self.v_lead_prev)/self.ts
+    a_lead = (v_lead - self.v_lead_prev) / self.ts
     self.v_lead_prev = v_lead
 
     if self.lead_relevancy:
-      d_rel = np.maximum(0., self.distance_lead - self.distance)
+      d_rel = np.maximum(0.0, self.distance_lead - self.distance)
       v_rel = v_lead - self.speed
       if self.only_radar:
         status = True
-      elif prob_lead > .5:
+      elif prob_lead > 0.5:
         status = True
       else:
         status = False
     else:
-      d_rel = 200.
-      v_rel = 0.
+      d_rel = 200.0
+      v_rel = 0.0
       prob_lead = 0.0
       status = False
 
-    lead = log.RadarState.LeadData.new_message()
-    lead.dRel = float(d_rel)
-    lead.yRel = 0.0
-    lead.vRel = float(v_rel)
-    lead.aRel = float(a_lead - self.acceleration)
-    lead.vLead = float(v_lead)
-    lead.vLeadK = float(v_lead)
-    lead.aLeadK = float(a_lead)
-    # TODO use real radard logic for this
-    lead.aLeadTau = float(_LEAD_ACCEL_TAU)
-    lead.status = status
-    lead.modelProb = float(prob_lead)
-    if not self.only_lead2:
-      radar.radarState.leadOne = lead
-    radar.radarState.leadTwo = lead
+    truth_lead: LeadObservation = {
+      "dRel": float(d_rel),
+      "yRel": 0.0,
+      "vRel": float(v_rel),
+      "aRel": float(a_lead - self.acceleration),
+      "vLead": float(v_lead),
+      "dPath": 0.0,
+      "vLat": 0.0,
+      "vLeadK": float(v_lead),
+      "aLeadK": float(a_lead),
+      "fcw": False,
+      "status": bool(status),
+      # TODO use real radard logic for this
+      "aLeadTau": float(_LEAD_ACCEL_TAU),
+      "modelProb": float(prob_lead),
+      "radar": bool(self.only_radar),
+      "radarTrackId": -1,
+    }
+    lead_one_observation = self._observe_lead("leadOne", truth_lead, not self.only_lead2)
+    lead_two_observation = self._observe_lead("leadTwo", truth_lead, True)
+    if lead_one_observation is not None:
+      radar.radarState.leadOne = self._lead_message(lead_one_observation)
+    if lead_two_observation is not None:
+      radar.radarState.leadTwo = self._lead_message(lead_two_observation)
 
     # Simulate model predicting slightly faster speed
     # this is to ensure lead policy is effective when model
@@ -112,10 +306,15 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
-    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
+    if self.model_action_fn is None:
+      model_acceleration, model_should_stop = self.acceleration + 0.1, False
+    else:
+      model_acceleration, model_should_stop = self.model_action_fn(self.current_time, self.speed, self.acceleration)
+    model.modelV2.action.desiredAcceleration = float(model_acceleration)
+    model.modelV2.action.shouldStop = bool(model_should_stop)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
-    velocity.x[0] = float(self.speed) # always start at current speed
+    velocity.x[0] = float(self.speed)  # always start at current speed
     model.modelV2.velocity = velocity
     acceleration = log.XYZTData.new_message()
     acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
@@ -126,33 +325,45 @@ class Plant:
     ss.selfdriveState.experimentalMode = self.e2e
     ss.selfdriveState.personality = self.personality
     control.controlsState.forceDecel = self.force_decel
-    car_state.carState.vEgo = float(self.speed)
+    true_v_ego = self.speed
+    true_a_ego = self.acceleration
+    published_v_ego = true_v_ego
+    published_a_ego = true_a_ego if self.publish_realized_a_ego else 0.0
+    if self.ego_observation_fn is not None:
+      published_v_ego, published_a_ego = self.ego_observation_fn(self.current_time, true_v_ego, true_a_ego)
+    car_state.carState.vEgo = float(published_v_ego)
+    car_state.carState.aEgo = float(published_a_ego)
     car_state.carState.standstill = bool(self.speed < 0.01)
     car_state.carState.vCruise = float(v_cruise * 3.6)
-    car_control.carControl.orientationNED = [0., float(pitch), 0.]
+    car_control.carControl.orientationNED = [0.0, float(pitch), 0.0]
 
     # ******** get controlsState messages for plotting ***
-    sm = {'radarState': radar.radarState,
-          'carState': car_state.carState,
-          'carControl': car_control.carControl,
-          'controlsState': control.controlsState,
-          'selfdriveState': ss.selfdriveState,
-          'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2,
-          'carStateSP': car_state_sp.carStateSP,
-          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
-          'gpsLocation': gps_data.gpsLocation}
+    sm = {
+      'radarState': radar.radarState,
+      'carState': car_state.carState,
+      'carControl': car_control.carControl,
+      'controlsState': control.controlsState,
+      'selfdriveState': ss.selfdriveState,
+      'liveParameters': lp.liveParameters,
+      'modelV2': model.modelV2,
+      'carStateSP': car_state_sp.carStateSP,
+      'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+      'gpsLocation': gps_data.gpsLocation,
+    }
     self.planner.update(sm)
-    self.acceleration = self.planner.output_a_target
+    self.a_target = self.planner.output_a_target
+    self.actuator_command = self.a_target
     if self.planner.output_should_stop:
-      self.acceleration = min(-0.5, self.acceleration)
+      stopping_acceleration = -0.5 if self.actuator_model is None else self.actuator_model.stopping_acceleration
+      self.actuator_command = min(stopping_acceleration, self.actuator_command)
+    delayed_actuator_command, _ = self._update_actuator(self.actuator_command)
     self.speed = self.speed + self.acceleration * self.ts
     self.should_stop = self.planner.output_should_stop
     fcw = self.planner.fcw
     self.distance_lead = self.distance_lead + v_lead * self.ts
 
     # ******** run the car ********
-    #print(self.distance, speed)
+    # print(self.distance, speed)
     if self.speed <= 0:
       self.speed = 0
       self.acceleration = 0
@@ -160,30 +371,64 @@ class Plant:
 
     # *** radar model ***
     if self.lead_relevancy:
-      d_rel = np.maximum(0., self.distance_lead - self.distance)
+      d_rel = np.maximum(0.0, self.distance_lead - self.distance)
       v_rel = v_lead - self.speed
     else:
-      d_rel = 200.
-      v_rel = 0.
+      d_rel = 200.0
+      v_rel = 0.0
 
     # print at 5hz
     # if (self.rk.frame % (self.rate // 5)) == 0:
     #   print("%2.2f sec   %6.2f m  %6.2f m/s  %6.2f m/s2   lead_rel: %6.2f m  %6.2f m/s"
     #         % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel))
 
-
     # ******** update prevs ********
     self.rk.monitor_time()
 
+    accel_controller_result = getattr(self.planner, "accel_controller_result", None)
     return {
       "distance": self.distance,
       "speed": self.speed,
       "acceleration": self.acceleration,
+      "realized_acceleration": self.acceleration,
+      "a_target": self.a_target,
+      "planner_acceleration": self.a_target,
+      "actuator_command": self.actuator_command,
+      "stop_clamped_actuator_command": self.actuator_command,
+      "delayed_actuator_command": delayed_actuator_command,
+      "applied_actuator_command": self.applied_actuator_command,
+      "vehicle_actuator_command": self.applied_actuator_command,
+      "true_v_ego": true_v_ego,
+      "true_a_ego": true_a_ego,
+      "published_a_ego": published_a_ego,
+      "published_v_ego": published_v_ego,
+      "observed_a_ego": published_a_ego,
+      "observed_v_ego": published_v_ego,
+      "planner_delay": self.actuator_delay,
+      "transport_delay": self.transport_delay,
+      "breakaway_confirmed": self.breakaway_confirmed,
+      "breakaway_time": self._breakaway_timer,
       "should_stop": self.should_stop,
       "distance_lead": self.distance_lead,
       "fcw": fcw,
+      "mpc_source": self.planner.mpc.source,
+      "dec_mode": self.planner.dec.mode(),
+      "pace_cap": getattr(accel_controller_result, "target_speed", None),
+      "base_target": getattr(accel_controller_result, "base_speed", None),
+      "raw_energy_cap": getattr(accel_controller_result, "raw_energy_cap", None),
+      "live_filtered_cap": getattr(accel_controller_result, "live_filtered_cap", None),
+      "shadow_filtered_cap": getattr(accel_controller_result, "shadow_filtered_cap", None),
+      "accel_controller_selected_lead": getattr(accel_controller_result, "selected_lead", None),
+      "model_action": {
+        "desiredAcceleration": float(model_acceleration),
+        "shouldStop": bool(model_should_stop),
+      },
+      "truth_lead": dict(truth_lead),
+      "lead_one_observation": None if lead_one_observation is None else dict(lead_one_observation),
+      "lead_two_observation": None if lead_two_observation is None else dict(lead_two_observation),
     }
 
+
 # simple engage in standalone mode
 def plant_thread():
   plant = Plant()

selfdrive/test/longitudinal_maneuvers/test_plant.py

@@ -0,0 +1,80 @@
+import math
+
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
+
+
+def test_full_lead_observation_is_independent_from_truth():
+  callback_inputs = []
+
+  def observe_lead(current_time, lead_name, truth):
+    callback_inputs.append((current_time, lead_name, truth))
+    if lead_name == "leadOne":
+      return {
+        "dRel": 12.5,
+        "vRel": -4.0,
+        "vLead": 6.0,
+        "vLeadK": 5.5,
+        "aLeadK": -1.25,
+        "aLeadTau": 0.7,
+        "status": True,
+        "modelProb": 0.9,
+        "radarTrackId": 42,
+      }
+    return None
+
+  plant = Plant(lead_relevancy=True, speed=10.0, distance_lead=50.0, lead_observation_fn=observe_lead)
+  result = plant.step(v_lead=8.0)
+
+  assert [entry[1] for entry in callback_inputs] == ["leadOne", "leadTwo"]
+  assert callback_inputs[0][2]["dRel"] == pytest.approx(50.0)
+  assert result["truth_lead"]["dRel"] == pytest.approx(50.0)
+  assert result["lead_one_observation"]["dRel"] == pytest.approx(12.5)
+  assert result["lead_one_observation"]["radarTrackId"] == 42
+  assert result["lead_two_observation"] is None
+  assert result["distance_lead"] == pytest.approx(50.0 + 8.0 * DT_MDL)
+
+
+def test_model_action_realized_acceleration_and_source_logging():
+  def model_action(current_time, v_ego, a_ego):
+    return -1.25, True
+
+  plant = Plant(speed=10.0, e2e=True, force_decel=True, model_action_fn=model_action, actuator_lag=0.5)
+  first = plant.step()
+  second = plant.step()
+
+  assert first["model_action"] == {"desiredAcceleration": -1.25, "shouldStop": True}
+  assert first["published_a_ego"] == pytest.approx(0.0)
+  assert second["published_a_ego"] == pytest.approx(first["realized_acceleration"])
+  assert first["acceleration"] == first["realized_acceleration"]
+  assert abs(first["realized_acceleration"]) < abs(first["actuator_command"])
+  assert first["mpc_source"] is not None
+  assert first["dec_mode"] in ("acc", "blended")
+  assert "pace_cap" in first
+  assert "raw_energy_cap" in first
+  assert "live_filtered_cap" in first
+  assert first["lead_one_observation"] is not None
+  assert first["truth_lead"] == first["lead_one_observation"]
+
+
+def test_configurable_transport_delay_and_first_order_lag():
+  plant = Plant(speed=10.0, actuator_delay=2 * DT_MDL, actuator_lag=0.2)
+
+  assert plant.planner.CP.longitudinalActuatorDelay == pytest.approx(2 * DT_MDL)
+  delayed_commands = [plant._update_actuator(-1.0) for _ in range(3)]
+  assert [command for command, _ in delayed_commands[:2]] == [0.0, 0.0]
+
+  expected_acceleration = -(1.0 - math.exp(-DT_MDL / 0.2))
+  assert delayed_commands[2][0] == -1.0
+  assert delayed_commands[2][1] == pytest.approx(expected_acceleration)
+
+
+@pytest.mark.parametrize(
+  ("delay", "lag"),
+  [(-0.1, 0.0), (float("nan"), 0.0), (float("inf"), 0.0), (None, -0.1), (None, float("nan")), (None, float("inf"))],
+)
+def test_invalid_actuator_dynamics(delay, lag):
+  with pytest.raises(ValueError):
+    Plant(actuator_delay=delay, actuator_lag=lag)

selfdrive/ui/layouts/settings/toggles.py

@@ -27,6 +27,12 @@ DESCRIPTIONS = {
     "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
     "your steering wheel distance button."
   ),
+  "AccelPersonalityEnabled": tr_noop(
+    "Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking and stopping authority."
+  ),
+  "AccelPersonality": tr_noop(
+    "Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts and recovers more quickly."
+  ),
   "IsLdwEnabled": tr_noop(
     "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
     "without a turn signal activated while driving over 31 mph (50 km/h)."
@@ -106,6 +112,24 @@ class TogglesLayout(Widget):
       icon="speed_limit.png"
     )
 
+    self._accel_personality_enabled = toggle_item(
+      lambda: tr("Enable Accel Controller"),
+      lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
+      self._params.get_bool("AccelPersonalityEnabled"),
+      callback=self._set_accel_personality_enabled,
+      icon="speed_limit.png",
+    )
+
+    self._accel_personality_setting = multiple_button_item(
+      lambda: tr("Acceleration Profile"),
+      lambda: tr(DESCRIPTIONS["AccelPersonality"]),
+      buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
+      button_width=300,
+      callback=self._set_accel_personality,
+      selected_index=self._params.get("AccelPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
     self._toggles = {}
     self._locked_toggles = set()
     for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
@@ -135,9 +159,11 @@ class TogglesLayout(Widget):
 
       self._toggles[param] = toggle
 
-      # insert longitudinal personality after NDOG toggle
+      # insert longitudinal personality and Accel Controller settings after NDOG toggle
       if param == "DisengageOnAccelerator":
         self._toggles["LongitudinalPersonality"] = self._long_personality_setting
+        self._toggles["AccelPersonalityEnabled"] = self._accel_personality_enabled
+        self._toggles["AccelPersonality"] = self._accel_personality_setting
 
     self._update_experimental_mode_icon()
     self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
@@ -158,6 +184,7 @@ class TogglesLayout(Widget):
 
   def _update_toggles(self):
     ui_state.update_params()
+    accel_personality_enabled = self._params.get_bool("AccelPersonalityEnabled")
 
     e2e_description = tr(
       "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
@@ -176,11 +203,15 @@ class TogglesLayout(Widget):
         self._toggles["ExperimentalMode"].action_item.set_enabled(True)
         self._toggles["ExperimentalMode"].set_description(e2e_description)
         self._long_personality_setting.action_item.set_enabled(True)
+        self._accel_personality_enabled.action_item.set_enabled(True)
+        self._accel_personality_setting.action_item.set_enabled(accel_personality_enabled)
       else:
         # no long for now
         self._toggles["ExperimentalMode"].action_item.set_enabled(False)
         self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._long_personality_setting.action_item.set_enabled(False)
+        self._accel_personality_enabled.action_item.set_enabled(False)
+        self._accel_personality_setting.action_item.set_enabled(False)
         self._params.remove("ExperimentalMode")
 
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
@@ -203,6 +234,10 @@ class TogglesLayout(Widget):
     # refresh toggles from params to mirror external changes
     for param in self._toggle_defs:
       self._toggles[param].action_item.set_state(self._params.get_bool(param))
+    self._accel_personality_enabled.action_item.set_state(accel_personality_enabled)
+    self._accel_personality_setting.action_item.set_selected_button(
+      self._params.get("AccelPersonality", return_default=True)
+    )
 
     # these toggles need restart, block while engaged
     for toggle_def in self._toggle_defs:
@@ -247,3 +282,10 @@ class TogglesLayout(Widget):
 
   def _set_longitudinal_personality(self, button_index: int):
     self._params.put("LongitudinalPersonality", button_index, block=True)
+
+  def _set_accel_personality(self, button_index: int):
+    self._params.put("AccelPersonality", button_index, block=True)
+
+  def _set_accel_personality_enabled(self, state: bool):
+    self._params.put_bool("AccelPersonalityEnabled", state, block=True)
+    self._accel_personality_setting.action_item.set_enabled(state and ui_state.has_longitudinal_control)

selfdrive/ui/mici/layouts/main.py

@@ -13,6 +13,7 @@ from openpilot.system.ui.lib.application import gui_app
 
 if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView
 
 ONROAD_DELAY = 2.5  # seconds
 
@@ -118,13 +119,15 @@ class MiciMainLayout(Scroller):
 
     # FIXME: these two pops can interrupt user interacting in the settings
     if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
       self._onroad_time_delay = None
 
     # When car leaves standstill, pop nav stack and scroll to onroad
     CS = ui_state.sm["carState"]
     if not CS.standstill and self._prev_standstill:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
     self._prev_standstill = CS.standstill
 
   def _on_interactive_timeout(self):

selfdrive/ui/mici/layouts/settings/toggles.py

@@ -14,6 +14,8 @@ class TogglesLayoutMici(NavScroller):
     super().__init__()
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
+    self._accel_personality_enabled = BigParamControl("enable accel controller", "AccelPersonalityEnabled")
+    self._accel_personality_toggle = BigMultiParamToggle("acceleration profile", "AccelPersonality", ["eco", "normal", "sport"])
     self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
@@ -24,6 +26,8 @@ class TogglesLayoutMici(NavScroller):
 
     self._scroller.add_widgets([
       self._personality_toggle,
+      self._accel_personality_enabled,
+      self._accel_personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
       ldw_toggle,
@@ -36,6 +40,7 @@ class TogglesLayoutMici(NavScroller):
     # Toggle lists
     self._refresh_toggles = (
       ("ExperimentalMode", self._experimental_btn),
+      ("AccelPersonalityEnabled", self._accel_personality_enabled),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),
       ("AlwaysOnDM", always_on_dm_toggle),
@@ -45,6 +50,9 @@ class TogglesLayoutMici(NavScroller):
     )
 
     enable_openpilot.set_enabled(lambda: not ui_state.engaged)
+    self._accel_personality_toggle.set_enabled(
+      lambda: ui_state.has_longitudinal_control and ui_state.params.get_bool("AccelPersonalityEnabled")
+    )
     record_front.set_enabled(False if ui_state.params.get_bool("RecordFrontLock") else (lambda: not ui_state.engaged))
     record_mic.set_enabled(lambda: not ui_state.engaged)
 
@@ -75,13 +83,18 @@ class TogglesLayoutMici(NavScroller):
       if ui_state.has_longitudinal_control:
         self._experimental_btn.set_visible(True)
         self._personality_toggle.set_visible(True)
+        self._accel_personality_enabled.set_visible(True)
+        self._accel_personality_toggle.set_visible(True)
       else:
         # no long for now
         self._experimental_btn.set_visible(False)
         self._experimental_btn.set_checked(False)
         self._personality_toggle.set_visible(False)
+        self._accel_personality_enabled.set_visible(False)
+        self._accel_personality_toggle.set_visible(False)
         ui_state.params.remove("ExperimentalMode")
 
     # Refresh toggles from params to mirror external changes
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
+    self._accel_personality_toggle.refresh()

selfdrive/ui/mici/widgets/button.py

@@ -382,13 +382,18 @@ class BigMultiParamToggle(BigMultiToggle):
     self._load_value()
 
   def _load_value(self):
-    self.set_value(self._options[self._params.get(self._param) or 0])
+    value = self._params.get(self._param, return_default=True)
+    index = value if isinstance(value, int) else 0
+    self.set_value(self._options[max(0, min(index, len(self._options) - 1))])
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     new_idx = self._options.index(self.value)
     self._params.put(self._param, new_idx)
 
+  def refresh(self):
+    self._load_value()
+
 
 class BigParamControl(BigToggle):
   def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):

selfdrive/ui/sunnypilot/layouts/settings/steering.py

@@ -134,11 +134,6 @@ class SteeringLayout(Widget):
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
-    if enforce_torque_enabled and nnlc_enabled:
-      self._torque_control_toggle.action_item.set_state(False)
-      self._nnlc_toggle.action_item.set_state(False)
-      enforce_torque_enabled = False
-      nnlc_enabled = False
     self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())

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

selfdrive/ui/sunnypilot/mici/layouts/main.py

@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, 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 openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+
+class MiciMainLayoutSP(MiciMainLayout):
+  def _should_auto_scroll_to_onroad(self) -> bool:
+    return not self._onroad_layout.is_on_info_panel()

selfdrive/ui/sunnypilot/mici/layouts/onroad.py

@@ -0,0 +1,63 @@
+"""
+Copyright (c) 2021-, 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 pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
+
+CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
+HORIZONTAL_SETTLE_PX = 5
+HORIZONTAL_RESET_RATIO = 0.5
+
+
+class OnroadViewContainerSP(ScrollerSP):
+  def __init__(self, bookmark_callback=None):
+    super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
+    self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
+    self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
+
+    self._scroller.add_widgets([
+      self.road_view,
+      self.onroad_info_panel,
+    ])
+    self._scroller.set_reset_scroll_at_show(False)
+    self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
+
+    for child in (self.road_view, self.onroad_info_panel):
+      inner_touch_valid = child._touch_valid_callback
+      child.set_touch_valid_callback(
+        lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
+      )
+
+  def set_rect(self, rect: rl.Rectangle):
+    super().set_rect(rect)
+    self.road_view.set_rect(rect)
+    self.onroad_info_panel.set_rect(rect)
+    return self
+
+  def is_swiping_left(self) -> bool:
+    return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
+
+  def set_click_callback(self, callback) -> None:
+    self.road_view.set_click_callback(callback)
+    self.onroad_info_panel.set_click_callback(callback)
+
+  def is_on_info_panel(self) -> bool:
+    """True when scrolled past halfway toward onroad_info_panel (used by main layout
+    to skip auto-pop-back-to-camera while user is reading the info panel)."""
+    return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
+
+  def _render(self, rect: rl.Rectangle):
+    if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
+      self._scroller.scroll_panel.set_offset(0)
+
+    vertical_offset = self._scroller.scroll_panel.get_offset()
+    show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
+    self.road_view.set_show_confidence_ball(show_ball)
+
+    super()._render(rect)

selfdrive/ui/sunnypilot/mici/layouts/onroad_info_panel.py

@@ -0,0 +1,324 @@
+"""
+Copyright (c) 2021-, 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 pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+
+@dataclass(frozen=True)
+class OnroadInfoPanelColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = rl.Color(255, 0, 0, 255)
+  green: rl.Color = rl.Color(0, 255, 0, 255)
+  grey: rl.Color = rl.Color(190, 195, 190, 255)
+  light_grey: rl.Color = rl.Color(200, 200, 200, 255)
+  dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
+  bg_dark: rl.Color = rl.Color(0, 0, 0, 255)
+  card_bg: rl.Color = rl.Color(50, 50, 50, 200)
+  badge_bg: rl.Color = rl.Color(60, 60, 60, 255)
+
+
+COLORS = OnroadInfoPanelColors()
+
+
+class OnroadInfoPanel(Widget):
+  def __init__(self, bookmark_callback=None):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.speed_limit_offset: float = 0.0
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+    self.set_speed: float = 0.0
+    self.cruise_enabled: bool = False
+
+    self._sign_slide: float = 0.0
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+    self._marquee_offset: float = 0.0
+    self._marquee_direction: int = 1
+    self._marquee_pause_timer: float = 0.0
+    self._marquee_speed: float = 40.0
+    self._marquee_pause_duration: float = 1.5
+
+    self._alert_renderer = AlertRenderer()
+    self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._bookmark_icon = BookmarkIcon(bookmark_callback)
+
+  def is_swiping_left(self) -> bool:
+    return self._bookmark_icon.is_swiping_left()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    # Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
+    if not self._bookmark_icon.interacting():
+      super()._handle_mouse_release(mouse_pos)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+    if sm.valid["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      self.speed_limit = resolver.speedLimit * speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
+
+    if sm.valid["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.next_speed_limit = lmd.speedLimitAhead * speed_conv
+      self.next_speed_limit_distance = lmd.speedLimitAheadDistance
+      self.road_name = lmd.roadName
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+    if sm.valid["carState"] and sm.valid["controlsState"]:
+      self.cruise_enabled = sm["carState"].cruiseState.enabled
+      v_cruise_cluster = sm["carState"].vCruiseCluster
+      set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+
+    rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
+    margin = 20
+    mid_y = rect.y + rect.height / 2
+
+    left_x = rect.x + margin
+
+    if self.cruise_enabled:
+      unit = tr("MAX")
+      display_speed = self.set_speed
+    else:
+      unit = tr("km/h") if ui_state.is_metric else tr("MPH")
+      display_speed = self.current_speed
+
+    speed_val = str(round(display_speed))
+    if self.speed_limit_valid and display_speed > self.speed_limit:
+      speed_color = COLORS.red
+    else:
+      speed_color = COLORS.white
+
+    rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, mid_y - 95), 38, 0, COLORS.grey)
+    rl.draw_text_ex(self._font_bold, speed_val, rl.Vector2(left_x, mid_y - 60), 110, 0, speed_color)
+
+    sign_width = 135
+    sign_height = 135 if ui_state.is_metric else 175
+
+    has_next = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
+    target_slide = 1.0 if has_next else 0.0
+    slide_speed = 3.0 * rl.get_frame_time()
+    if self._sign_slide < target_slide:
+      self._sign_slide = min(self._sign_slide + slide_speed, target_slide)
+    elif self._sign_slide > target_slide:
+      self._sign_slide = max(self._sign_slide - slide_speed, target_slide)
+
+    next_w = int(sign_width * 0.7)
+    next_h = int(sign_height * 0.7)
+    next_peek = int(next_w * 0.85) + 5
+    centered_x = rect.x + rect.width - sign_width - margin
+    shifted_x = rect.x + rect.width - sign_width - margin - next_peek
+    sign_x = centered_x + (shifted_x - centered_x) * self._sign_slide
+    sign_y = rect.y + (rect.height - sign_height) / 2
+
+    road_y = mid_y + 55
+    road_width = sign_x - left_x - margin
+    self._draw_road_name(left_x, road_y, road_width)
+
+    if has_next and self._sign_slide > 0.01:
+      next_val = str(round(self.next_speed_limit))
+      dist_str = self._format_distance(self.next_speed_limit_distance)
+      next_x = sign_x + sign_width - int(next_w * 0.15)
+      next_y = sign_y + (sign_height - next_h) / 2
+
+      next_speed_color = COLORS.black
+      if ui_state.is_metric:
+        self._draw_vienna_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
+      else:
+        self._draw_mutcd_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
+
+      dist_size = measure_text_cached(self._font_medium, dist_str, 24)
+      rl.draw_text_ex(self._font_medium, dist_str, rl.Vector2(next_x + next_w / 2 - dist_size.x / 2, next_y + next_h + 4), 24, 0, COLORS.grey)
+
+    self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
+
+    if self.speed_limit_offset != 0 and self.speed_limit_valid:
+      offset_val = str(abs(round(self.speed_limit_offset)))
+      badge_sz = 42
+      badge_x = sign_x + sign_width - badge_sz * 0.85
+      badge_y = sign_y - badge_sz * 0.25
+
+      if ui_state.is_metric:
+        badge_r = badge_sz / 2
+        badge_cx = badge_x + badge_r
+        badge_cy = badge_y + badge_r
+        rl.draw_circle(int(badge_cx), int(badge_cy), badge_r + 2, COLORS.dark_grey)
+        rl.draw_circle(int(badge_cx), int(badge_cy), badge_r, COLORS.badge_bg)
+        self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(badge_cx, badge_cy), COLORS.white)
+      else:
+        mutcd_badge_x = sign_x + sign_width - badge_sz * 0.65
+        mutcd_badge_y = sign_y - badge_sz * 0.50
+        badge_rect = rl.Rectangle(mutcd_badge_x, mutcd_badge_y, badge_sz, badge_sz)
+        rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
+        rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
+        self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(mutcd_badge_x + badge_sz / 2, mutcd_badge_y + badge_sz / 2), COLORS.white)
+
+    # SCC
+    speed_size = measure_text_cached(self._font_bold, speed_val, 110)
+    scc_x = left_x + speed_size.x + 30
+    scc_y = mid_y - 50
+    self._draw_scc_icons(scc_x, scc_y)
+
+    self._bookmark_icon.render(rect)
+
+    if ui_state.started:
+      alert_obj, no_alert = self._alert_renderer.will_render()
+      self._alert_alpha_filter.update(0 if no_alert else 1)
+      alpha = self._alert_alpha_filter.x
+      if alpha > 0.01:
+        rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
+      self._alert_renderer.render(rect)
+
+  def _draw_scc_icons(self, x: float, y: float) -> None:
+    sm = ui_state.sm
+    if not sm.valid["longitudinalPlanSP"]:
+      return
+    scc = sm["longitudinalPlanSP"].smartCruiseControl
+
+    box_w, box_h = 100, 36
+    gap = 6
+    drawn = 0
+
+    for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
+      if not active:
+        continue
+      bx = x
+      by = y + drawn * (box_h + gap)
+      rl.draw_rectangle_rounded(rl.Rectangle(bx, by, box_w, box_h), 0.3, 10, COLORS.green)
+      self._draw_text_centered(self._font_bold, label, 20, rl.Vector2(bx + box_w / 2, by + box_h / 2), COLORS.black)
+      drawn += 1
+
+  def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
+    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+    else:
+      self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+
+  def _draw_road_name(self, x: float, y: float, width: float) -> None:
+    road_display = self.road_name if self.road_name else "--"
+    font_size = 30
+    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
+    text_width = road_size.x
+
+    if text_width <= width:
+      self._marquee_offset = 0.0
+      self._marquee_direction = 1
+      self._marquee_pause_timer = 0.0
+      rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
+    else:
+      overflow = text_width - width
+      dt = rl.get_frame_time()
+
+      if self._marquee_pause_timer > 0:
+        self._marquee_pause_timer -= dt
+      else:
+        self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
+
+        if self._marquee_offset >= overflow:
+          self._marquee_offset = overflow
+          self._marquee_direction = -1
+          self._marquee_pause_timer = self._marquee_pause_duration
+        elif self._marquee_offset <= 0:
+          self._marquee_offset = 0
+          self._marquee_direction = 1
+          self._marquee_pause_timer = self._marquee_pause_duration
+
+      rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
+      text_pos = rl.Vector2(x - self._marquee_offset, y)
+      rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
+      rl.end_scissor_mode()
+
+  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    center = rl.Vector2(x + width / 2, y + height / 2)
+    outer_radius = min(width, height) / 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
+    text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
+    text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
+
+  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    sign_rect = rl.Rectangle(x, y, width, height)
+    rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
+
+    inset = max(4, width * 0.05)
+    inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
+    outer_radius = 0.35 * width / 2.0
+    inner_radius = outer_radius - inset
+    inner_roundness = inner_radius / (inner_rect.width / 2.0)
+    rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
+
+    mid_x = x + width / 2
+    label_size = max(18, int(width * 0.26))
+    if is_upcoming:
+      self._draw_text_centered(self._font_bold, tr("AHEAD"), label_size, rl.Vector2(mid_x, y + height * 0.27), COLORS.black)
+    else:
+      self._draw_text_centered(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black)
+      self._draw_text_centered(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black)
+
+    speed_font_size = int(width * 0.52) if len(speed_str) >= 3 else int(width * 0.62)
+    self._draw_text_centered(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color)
+
+  def _draw_text_centered(self, font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")

selfdrive/ui/sunnypilot/mici/onroad/augmented_road_view.py

@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, 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 pyray as rl
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+
+
+class _SuppressedConfidenceBall:
+  def render(self, *_):
+    pass
+
+
+class AugmentedRoadViewSP(AugmentedRoadView):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    self._show_confidence_ball: bool = True
+    self._real_confidence_ball = self._confidence_ball
+    self._confidence_ball = _SuppressedConfidenceBall()
+
+  def set_show_confidence_ball(self, show: bool) -> None:
+    self._show_confidence_ball = show
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    if self._show_confidence_ball:
+      self._real_confidence_ball.render(self.rect)

selfdrive/ui/sunnypilot/mici/widgets/scroll_panel_sp.py

@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, 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 pyray as rl
+from openpilot.system.ui.lib.application import MouseEvent
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
+
+
+class GuiScrollPanel2SP(GuiScrollPanel2):
+  """Reject orthogonal-dominant drags so nested scrollers (outer horizontal +
+  inner vertical) don't both engage on a slightly diagonal swipe.
+
+  Implemented as a post-super state rollback rather than reimplementing the
+  PRESSED state machine — keeps stock behaviour authoritative."""
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
+                          content_size: float) -> None:
+    pre_state = self._state
+    super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
+
+    if self._state == ScrollState.MANUAL_SCROLL and pre_state == ScrollState.PRESSED and \
+       self._initial_click_event is not None:
+      diff_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
+      diff_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
+      along = diff_x if self._horizontal else diff_y
+      anti = diff_y if self._horizontal else diff_x
+      if anti > along:
+        self._state = ScrollState.STEADY
+        self._velocity = 0.0
+        self._velocity_buffer.clear()

selfdrive/ui/sunnypilot/mici/widgets/scroller_sp.py

@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, 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 openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class ScrollerSP(Scroller):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    inner = self._scroller
+    inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)

selfdrive/ui/sunnypilot/ui_state.py

@@ -179,10 +179,6 @@ class UIStateSP:
     CP = self.CP
 
     if CP is not None:
-      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
-        self.params.put_bool("EnforceTorqueControl", False, block=True)
-        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
-
       # Angle steering: no torque-based lateral controls
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.params.remove("EnforceTorqueControl")

selfdrive/ui/ui.py

@@ -10,6 +10,9 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
+
 BIG_UI = gui_app.big_ui()
 
 

sunnypilot/modeld_v2/compile_modeld.py

@@ -188,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
   n_frames = img_shape[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
 
-  numpy_keys = {}
+  npy_keys = {}
   queue_keys = {}
 
   for key, shape in input_shapes.items():
@@ -196,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
       continue
     if len(shape) == 3 and shape[1] > 1:
       if key.startswith('desire'):
-        numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
+        npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
         queue_keys[f'{key}_q'] = Tensor(
           np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
           device=device).contiguous().realize()
@@ -205,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
           np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
           device=device).contiguous().realize()
       else:
-        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+        npy_keys[key] = np.zeros(shape, dtype=np.float32)
     elif len(shape) == 2:
-      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+      npy_keys[key] = np.zeros(shape, dtype=np.float32)
 
-  if 'traffic_convention' not in numpy_keys:
+  if 'traffic_convention' not in npy_keys:
     tc_shape = input_shapes.get('traffic_convention', (1, 2))
-    numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+    npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
 
-  numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
-  numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+  npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
+  npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
 
   input_queues = {
     'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     **queue_keys,
-    **{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
   }
-  return input_queues, numpy_keys
+  return input_queues, npy_keys
 
 
 def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,

sunnypilot/modeld_v2/modeld.py

@@ -40,6 +40,7 @@ from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelp
 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.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
@@ -62,6 +63,11 @@ def _find_driving_pkl(bundle):
   if _pkl_exists(pkl_path):
     return pkl_path
 
+  fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
+  if _pkl_exists(fallback):
+    return fallback
+  return None
+
 
 class FrameMeta:
   frame_id: int = 0
@@ -120,7 +126,7 @@ class ModelState(ModelStateBase):
       self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
       from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
       frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+      self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
     else:
       vision_metadata = metadata['vision']
       policy_keys = [k for k in metadata if k != 'vision']
@@ -138,7 +144,7 @@ class ModelState(ModelStateBase):
       policy_input_shapes = first_policy_metadata['input_shapes']
       self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
       frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+      self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
 
     from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
     from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
@@ -178,7 +184,7 @@ class ModelState(ModelStateBase):
 
   @property
   def desire_key(self) -> str:
-    return next(k for k in self.numpy_inputs if k.startswith('desire'))
+    return next(k for k in self.npy if k.startswith('desire'))
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -194,16 +200,16 @@ class ModelState(ModelStateBase):
 
     desire_key = self.desire_key
     inputs[desire_key][0] = 0
-    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
     self.prev_desire[:] = inputs[desire_key]
     for key in ('traffic_convention', 'lateral_control_params'):
-      if key in self.numpy_inputs and key in inputs:
-        self.numpy_inputs[key][:] = inputs[key]
+      if key in self.npy and key in inputs:
+        self.npy[key][:] = inputs[key]
 
     road_key = next(n for n in bufs if 'big' not in n)
     wide_key = next(n for n in bufs if 'big' in n)
-    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
-    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
+    self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
     if prepare_only:
       self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
@@ -231,8 +237,8 @@ class ModelState(ModelStateBase):
       if 'planplus' in outputs and 'plan' in outputs:
         outputs['plan'] = outputs['plan'] + outputs['planplus']
 
-    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
-      buf = self.numpy_inputs['prev_desired_curv']
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
+      buf = self.npy['prev_desired_curv']
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
@@ -324,6 +330,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
   meta_constants = load_meta_constants()
 
   while True:
@@ -404,7 +411,7 @@ def main(demo=False):
       'traffic_convention': traffic_convention,
     }
 
-    if 'lateral_control_params' in model.numpy_inputs:
+    if 'lateral_control_params' in model.npy:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
@@ -428,7 +435,10 @@ 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/modeld_v2/models/README.md

@@ -0,0 +1,62 @@
+## Neural networks in openpilot
+To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
+
+## Supercombo
+### Supercombo input format (Full size: 799906 x float32)
+* **image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **wide image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **desire**
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
+* **traffic convention**
+  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
+
+
+### Supercombo output format (Full size: XXX x float32)
+Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
+
+
+## Driver Monitoring Model
+* .onnx model can be run with onnx runtimes
+* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
+
+### input format
+* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
+* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
+
+### output format
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1

sunnypilot/modeld_v2/tests/dmon_lag/repro.cc

@@ -0,0 +1,101 @@
+// clang++ -O2 repro.cc && ./a.out
+
+#include <sched.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+
+static inline double millis_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
+}
+
+#define MODEL_WIDTH 320
+#define MODEL_HEIGHT 640
+
+// null function still breaks it
+#define input_lambda(x) x
+
+// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
+void inner(uint8_t *resized_buf, float *net_input_buf) {
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  // one shot conversion, O(n) anyway
+  // yuvframe2tensor, normalize
+  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
+    for (int c = 0; c < MODEL_WIDTH/2; c++) {
+      // Y_ul
+      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
+      // Y_ur
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
+      // Y_dl
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
+      // Y_dr
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
+      // U
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
+      // V
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
+    }
+  }
+}
+
+float trial() {
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
+
+  // allocate the buffers
+  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
+  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
+  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
+
+  // test for bad buffers
+  static int CNT = 20;
+  float avg = 0.0;
+  for (int i = 0; i < CNT; i++) {
+    double s4 = millis_since_boot();
+    inner(resized_buf, net_input_buf);
+    double s5 = millis_since_boot();
+    avg += s5-s4;
+  }
+  avg /= CNT;
+
+  // once it's bad, it's reliably bad
+  if (avg > 10) {
+    printf("HIT %f\n", avg);
+    printf("BAD\n");
+
+    for (int i = 0; i < 200; i++) {
+      double s4 = millis_since_boot();
+      inner(resized_buf, net_input_buf);
+      double s5 = millis_since_boot();
+      printf("%.2f   ", s5-s4);
+    }
+    printf("\n");
+
+    exit(0);
+  }
+
+  // don't free so we get a different buffer each time
+  //free(resized_buf);
+  //free(net_input_buf);
+
+  return avg;
+}
+
+int main() {
+  while (true) {
+    float ret = trial();
+    printf("got %f\n", ret);
+  }
+}
+

sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py

@@ -46,6 +46,16 @@ class TestFindDrivingPkl:
     assert result is not None
     assert 'driving_fof_tinygrad.pkl' in result
 
+  def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.system.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_tinygrad.pkl' in result
+
 
 # Init — assertion guard
 
@@ -74,8 +84,8 @@ class TestStockEquivalence:
     skip_keys = {'action_t'}
     assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
       f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
-    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
-      f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
+    assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
 
   def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
     from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
@@ -178,16 +188,16 @@ class TestInputQueueCreation:
   def test_npy_contains_transforms(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
-    assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
-    assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
-    assert state.numpy_inputs['tfm'].shape == (3, 3)
-    assert state.numpy_inputs['big_tfm'].shape == (3, 3)
+    assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.npy['tfm'].shape == (3, 3)
+    assert state.npy['big_tfm'].shape == (3, 3)
 
   @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
   def test_npy_contains_desire(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
-    assert arch.expected_desire_key in state.numpy_inputs, \
+    assert arch.expected_desire_key in state.npy, \
       f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
 
 

sunnypilot/modeld_v2/tests/tf_test/build.sh

@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow

sunnypilot/modeld_v2/tests/tf_test/main.cc

@@ -0,0 +1,69 @@
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+#include "tensorflow/c/c_api.h"
+
+void* read_file(const char* path, size_t* out_len) {
+  FILE* f = fopen(path, "r");
+  if (!f) {
+    return NULL;
+  }
+  fseek(f, 0, SEEK_END);
+  long f_len = ftell(f);
+  rewind(f);
+
+  char* buf = (char*)calloc(f_len, 1);
+  assert(buf);
+
+  size_t num_read = fread(buf, f_len, 1, f);
+  fclose(f);
+
+  if (num_read != 1) {
+    free(buf);
+    return NULL;
+  }
+
+  if (out_len) {
+    *out_len = f_len;
+  }
+
+  return buf;
+}
+
+static void DeallocateBuffer(void* data, size_t) {
+  free(data);
+}
+
+int main(int argc, char* argv[]) {
+  TF_Buffer* buf;
+  TF_Graph* graph;
+  TF_Status* status;
+  char *path = argv[1];
+
+  // load model
+  {
+    size_t model_size;
+    char tmp[1024];
+    snprintf(tmp, sizeof(tmp), "%s.pb", path);
+    printf("loading model %s\n", tmp);
+    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
+    buf = TF_NewBuffer();
+    buf->data = model_data;
+    buf->length = model_size;
+    buf->data_deallocator = DeallocateBuffer;
+    printf("loaded model of size %d\n", model_size);
+  }
+
+  // import graph
+  status = TF_NewStatus();
+  graph = TF_NewGraph();
+  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
+  TF_GraphImportGraphDef(graph, buf, opts, status);
+  TF_DeleteImportGraphDefOptions(opts);
+  TF_DeleteBuffer(buf);
+  if (TF_GetCode(status) != TF_OK) {
+    printf("FAIL: %s\n", TF_Message(status));
+  } else {
+    printf("SUCCESS\n");
+  }
+}

sunnypilot/modeld_v2/tests/tf_test/pb_loader.py

@@ -0,0 +1,8 @@
+#!/usr/bin/env python3
+import sys
+import tensorflow as tf
+
+with open(sys.argv[1], "rb") as f:
+  graph_def = tf.compat.v1.GraphDef()
+  graph_def.ParseFromString(f.read())
+  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")

sunnypilot/modeld_v2/tests/timing/benchmark.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+
+import os
+import time
+import numpy as np
+
+import cereal.messaging as messaging
+from openpilot.system.manager.process_config import managed_processes
+
+
+N = int(os.getenv("N", "5"))
+TIME = int(os.getenv("TIME", "30"))
+
+if __name__ == "__main__":
+  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
+
+  execution_times = []
+
+  for _ in range(N):
+    os.environ['LOGPRINT'] = 'debug'
+    managed_processes['modeld'].start()
+    time.sleep(5)
+
+    t = []
+    start = time.monotonic()
+    while time.monotonic() - start < TIME:
+      msgs = messaging.drain_sock(sock, wait_for_one=True)
+      for m in msgs:
+        t.append(m.modelV2.modelExecutionTime)
+
+    execution_times.append(np.array(t[10:]) * 1000)
+    managed_processes['modeld'].stop()
+
+  print("\n\n")
+  print(f"ran modeld {N} times for {TIME}s each")
+  for _, t in enumerate(execution_times):
+    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
+  print("\n\n")

sunnypilot/models/helpers.py

@@ -6,138 +6,80 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import hashlib
-import os
 import pickle
-from pathlib import Path
 import numpy as np
 
-from cereal import custom
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
+from cereal import custom
+from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
 from openpilot.system.hardware.hw import Paths
+from pathlib import Path
+
+# see the README.md for more details on the model selector versioning
+CURRENT_SELECTOR_VERSION = 15
+REQUIRED_MIN_SELECTOR_VERSION = 14
 
-# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 15
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
 ModelManager = custom.ModelManagerSP
-_LAST_VALIDATED_RAW = None
-
-
-def _compute_hash(file_path: str) -> str | None:
-  from openpilot.common.file_chunker import read_file_chunked
-  try:
-    return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
-  except FileNotFoundError:
-    return None
 
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
-  file_hash = _compute_hash(file_path)
-  return file_hash == expected_hash.lower() if file_hash else False
-
-
-def _verify_file(file_path: str, expected_hash: str) -> bool:
-  file_hash = _compute_hash(file_path)
-  return file_hash == expected_hash.lower() if file_hash else False
+  from openpilot.common.file_chunker import read_file_chunked
+  try:
+    data = read_file_chunked(file_path)
+  except FileNotFoundError:
+    return False
+  return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
 
 
 def is_bundle_version_compatible(bundle: dict) -> bool:
   """
-  The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
+  Checks whether the model bundle is compatible with the current selector version constraints.
+
+  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
   required to load the model. This function ensures that:
-    the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
+
+    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
+    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
+
+  This allows the selector to enforce both a minimum and maximum range of supported models,
+  even if a model would otherwise be compatible.
+
+  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
+  :type bundle: Dict
+  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
+  :rtype: Bool
   """
-  return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
+  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
 
 
-def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
-  artifacts = []
-  for model in getattr(bundle, 'models', []) or []:
-    for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
-      if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
-        sha256 = getattr(artifact.downloadUri, 'sha256', None)
-        if sha256:
-          artifacts.append((artifact.fileName, sha256))
-  return artifacts
+def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
+  """Gets the active model bundle from cache"""
+  if params is None:
+    params = Params()
 
-
-def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
-  model_root = Paths.model_root()
-  return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
-             for file_name, expected_hash in _bundle_artifacts(bundle))
-
-
-def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
-  if active_bundle is None:
-    return False
-
-  if available_bundles is not None:
-    matching_bundle = None
-    for bundle in available_bundles:
-      if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
-        if active_bundle.ref == bundle.ref:
-          matching_bundle = bundle
-          break
-      elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
-        matching_bundle = bundle
-        break
-
-    if matching_bundle is None:
-      return True
-    if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
-      return True
-
-    active_runner = getattr(active_bundle, 'runner', None)
-    matching_runner = getattr(matching_bundle, 'runner', None)
-    if active_runner is not None and matching_runner is not None:
-      if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
-        return True
-    if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
-      return True
-
-  return not _bundle_is_valid_locally(active_bundle)
-
-
-def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
-  global _LAST_VALIDATED_RAW
-
-  raw_bundle = params.get("ModelManager_ActiveBundle")
-  if not raw_bundle:
-    return
-
-  if raw_bundle == _LAST_VALIDATED_RAW:
-    return
-
-  active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
-  if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
-    cloudlog.warning("Active model bundle invalid; resetting to default")
-    params.remove("ModelManager_ActiveBundle")
-    params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
-    _LAST_VALIDATED_RAW = None
-  else:
-    _LAST_VALIDATED_RAW = raw_bundle
-
-
-def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
-  params = params or Params()
   try:
-    active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
-    if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
-      return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
+    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle)
   except Exception:
     pass
+
   return None
 
 
-def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
-  params = params or Params()
+def get_active_model_runner(params: Params = None, force_check=False) -> int:
+  if params is None:
+    params = Params()
+
   cached_runner_type = params.get("ModelRunnerTypeCache")
   if cached_runner_type is not None and not force_check:
     return cached_runner_type
+
   runner_type = custom.ModelManagerSP.Runner.stock
+
   if active_bundle := get_active_bundle(params):
     runner_type = active_bundle.runner.raw
 
@@ -146,40 +88,66 @@ def get_active_model_runner(params: Params | None = None, force_check: bool = Fa
 
   return runner_type
 
-
 def _get_model():
   if bundle := get_active_bundle():
     drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
     return drive_model
+
   return None
 
-
 def load_metadata():
-  model = _get_model()
-  metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
+  metadata_path = METADATA_PATH
+
+  if model := _get_model():
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
 
   with open(metadata_path, 'rb') as f:
     return pickle.load(f)
 
 
-def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
-  return {
-    key: np.zeros(shape, dtype=np.float32).flatten()
-    for key, shape in model_metadata['input_shapes'].items()
-    if 'img' not in key
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs = {
+    k: np.zeros(v, dtype=np.float32).flatten()
+    for k, v in model_metadata['input_shapes'].items()
+    if 'img' not in k
   }
 
+  return inputs
 
-def load_meta_constants(model_metadata: dict):
-  """ Loads the appropriate meta model class based on key shapes"""
-  if 'sim_pose' in model_metadata['input_shapes']:
-    return MetaSimPose
 
-  meta_slice = model_metadata['output_slices']['meta']
-  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
-    return MetaTombRaider
+def load_meta_constants(model_metadata):
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
 
-  return Meta
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  meta = Meta  # Default Meta
+
+  if 'sim_pose' in model_metadata['input_shapes'].keys():
+    # Meta for models with sim_pose input
+    meta = MetaSimPose
+  else:
+    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
+    meta_slice = model_metadata['output_slices']['meta']
+    meta_tf_slice = slice(5868, 5921, None)
+
+    if (
+            meta_slice.start == meta_tf_slice.start and
+            meta_slice.stop == meta_tf_slice.stop and
+            meta_slice.step == meta_tf_slice.step
+    ):
+      meta = MetaTombRaider
+
+  return meta
 
 
 # The following method(s) are modeld helper methods

sunnypilot/models/manager.py

@@ -17,7 +17,7 @@ from openpilot.system.hardware.hw import Paths
 
 from cereal import messaging, custom
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
-from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
+from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
 
 
 class ModelManagerSP:
@@ -239,7 +239,6 @@ class ModelManagerSP:
     while True:
       try:
         self.available_models = self.model_fetcher.get_available_bundles()
-        validate_active_bundle(self.params, self.available_models)
         self.active_bundle = get_active_bundle(self.params)
 
         if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
@@ -253,8 +252,8 @@ class ModelManagerSP:
               self.selected_bundle = None
 
         if self.params.get("ModelManager_ClearCache"):
-          self.clear_model_cache()
-          self.params.remove("ModelManager_ClearCache")
+            self.clear_model_cache()
+            self.params.remove("ModelManager_ClearCache")
 
         self._report_status()
         rk.keep_time()

sunnypilot/selfdrive/car/interfaces.py

@@ -129,6 +129,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaEnhancedBsm",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]

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

@@ -0,0 +1,8 @@
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import (
+  AccelController,
+  AccelControllerResult,
+  AccelControllerState,
+)
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import AccelProfile
+
+__all__ = ["AccelController", "AccelControllerResult", "AccelControllerState", "AccelProfile"]

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

@@ -0,0 +1,734 @@
+from collections import deque
+from dataclasses import dataclass, field
+from enum import IntEnum
+import math
+
+import numpy as np
+
+from cereal import log
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
+  LongitudinalMpc, LongitudinalPlanSource, STOP_DISTANCE, T_IDXS, get_T_FOLLOW, get_stopped_equivalence_factor,
+)
+from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import (
+  ACCEL_LIMIT_HORIZON_JERK, ACCEL_PROFILE_MAX_BP, ACCEL_PROFILE_MAX_V, BRAKING_ACCEL_LIMIT_THRESHOLD, CAP_FILTER_FRAMES,
+  LAUNCH_END_SPEED, LAUNCH_TARGET_HEADROOM, LAUNCH_TARGET_SLEW, LEAD_LOSS_HOLD_TIME, LEAD_MATCH_ACCEL_SLEW,
+  LEAD_MATCH_GAP_GAIN, LEAD_MATCH_SPEED_HEADROOM, LEAD_MATCH_TAPER_GAIN, MATCHED_PACE_DECEL_RATE, MAX_LEAD_ACCEL_TAU,
+  MIN_LEAD_SPEED, PACE_RELIEF_DEADBAND, PACE_TARGET_ARM_MARGIN, PACE_TARGET_RESERVE,
+  PACE_RESTRICT_DEADBAND, PROFILE_CONFIGS, RADAR_STALE_TIMEOUT, STOP_GAP_RESERVE, STOP_GAP_RESERVE_DECEL_BP,
+  STOP_GAP_RESERVE_LEAD_SPEED,
+  STOP_HOLD_CREEP_DISTANCE, STOP_HOLD_CREEP_SPEED, STOP_HOLD_EGO_SPEED, STOP_HOLD_EXIT_FRAMES, STOP_HOLD_EXIT_SPEED,
+  STOP_HOLD_FAST_DEPARTURE_DISTANCE, STOP_HOLD_MAX_LEAD_DISTANCE, STOPPED_LEAD_SPEED, VEGO_NOISE_TOLERANCE, AccelProfile,
+)
+
+
+class AccelControllerState(IntEnum):
+  inactive = 0
+  free = 1
+  restrict = 2
+  hold = 3
+  release = 4
+  stopHold = 5
+
+
+@dataclass(frozen=True)
+class EnergyEnvelope:
+  cap: float = math.inf
+  selected_lead: int = -1
+  selected_lead_track_id: int = -1
+  selected_lead_speed: float = math.inf
+  selected_lead_accel: float = 0.0
+  departure_lead_index: int = -1
+  departure_lead_speed: float = math.inf
+  departure_cap: float = math.inf
+  departure_lead_speeds: tuple[float, float] = (math.inf, math.inf)
+  departure_lead_distances: tuple[float, float] = (-math.inf, -math.inf)
+  departure_lead_track_ids: tuple[int, int] = (-1, -1)
+  departure_lead_separations: tuple[float, float] = (-math.inf, -math.inf)
+  usable_gap: float = math.inf
+  closing_speed: float = 0.0
+  required_decel: float = 0.0
+  has_nearly_stopped_lead: bool = False
+  lead_status: bool = False
+
+
+@dataclass(frozen=True)
+class AccelControllerResult:
+  target_speed: float
+  enabled: bool
+  active: bool
+  shadow_active: bool
+  launching: bool
+  departure_launching: bool
+  profile: AccelProfile
+  profile_accel_max: float
+  positive_accel_max: float
+  effective_accel_max: float
+  mpc_accel_max: tuple[float, ...] | None
+  state: AccelControllerState
+  shadow_state: AccelControllerState
+  base_speed: float
+  raw_energy_cap: float
+  live_filtered_cap: float
+  shadow_filtered_cap: float
+  selected_lead: int
+  selected_lead_speed: float
+  usable_gap: float
+  closing_speed: float
+  required_decel: float
+
+
+@dataclass
+class _ControllerPath:
+  cap_samples: deque[float] = field(default_factory=lambda: deque([math.inf] * CAP_FILTER_FRAMES, maxlen=CAP_FILTER_FRAMES))
+  lead_speed_samples: deque[float] = field(default_factory=lambda: deque([math.inf] * CAP_FILTER_FRAMES, maxlen=CAP_FILTER_FRAMES))
+  lead_accel_samples: deque[float] = field(default_factory=lambda: deque([0.0] * CAP_FILTER_FRAMES, maxlen=CAP_FILTER_FRAMES))
+  departure_samples: tuple[deque[float], deque[float]] = field(
+    default_factory=lambda: (deque(maxlen=CAP_FILTER_FRAMES), deque(maxlen=CAP_FILTER_FRAMES)),
+  )
+  departure_motion_samples: deque[float] = field(default_factory=lambda: deque(maxlen=CAP_FILTER_FRAMES))
+  departure_references: list[float | None] = field(default_factory=lambda: [None, None])
+  departure_track_ids: list[int] = field(default_factory=lambda: [-1, -1])
+  pace: float | None = None
+  state: AccelControllerState = AccelControllerState.inactive
+  departure_frames: int = 0
+  active_frames: int = 0
+  lead_loss_frames: int = 0
+  lead_switch_guard_frames: int = 0
+  selected_lead: int = -1
+  selected_lead_track_id: int = -1
+  stale_frames: int = 0
+  launching: bool = False
+  departure_launch: bool = False
+  matched_lead: bool = False
+  braking_limited: bool = False
+  braking_handoff: bool = False
+  pace_reserve_armed: bool = False
+  matched_accel_limit: float | None = None
+
+  @property
+  def filtered_cap(self) -> float:
+    return sorted(self.cap_samples)[CAP_FILTER_FRAMES // 2]
+
+  @property
+  def filtered_lead_speed(self) -> float:
+    return sorted(self.lead_speed_samples)[CAP_FILTER_FRAMES // 2]
+
+  @property
+  def filtered_lead_accel(self) -> float:
+    return sorted(self.lead_accel_samples)[CAP_FILTER_FRAMES // 2]
+
+  def robust_departure_separation(self, lead_index: int) -> float:
+    samples = self.departure_samples[lead_index]
+    return float(np.median(samples)) if samples else -math.inf
+
+  def reset(self) -> None:
+    self.cap_samples = deque([math.inf] * CAP_FILTER_FRAMES, maxlen=CAP_FILTER_FRAMES)
+    self.lead_speed_samples = deque([math.inf] * CAP_FILTER_FRAMES, maxlen=CAP_FILTER_FRAMES)
+    self.lead_accel_samples = deque([0.0] * CAP_FILTER_FRAMES, maxlen=CAP_FILTER_FRAMES)
+    self.departure_samples = (deque(maxlen=CAP_FILTER_FRAMES), deque(maxlen=CAP_FILTER_FRAMES))
+    self.departure_motion_samples = deque(maxlen=CAP_FILTER_FRAMES)
+    self.departure_references = [None, None]
+    self.departure_track_ids = [-1, -1]
+    self.pace = None
+    self.state = AccelControllerState.inactive
+    self.departure_frames = 0
+    self.active_frames = 0
+    self.lead_loss_frames = 0
+    self.lead_switch_guard_frames = 0
+    self.selected_lead = -1
+    self.selected_lead_track_id = -1
+    self.stale_frames = 0
+    self.launching = False
+    self.departure_launch = False
+    self.matched_lead = False
+    self.braking_limited = False
+    self.braking_handoff = False
+    self.pace_reserve_armed = False
+    self.matched_accel_limit = None
+
+
+class AccelController:
+  def __init__(self, CP, dt: float = DT_MDL):
+    if not math.isfinite(dt) or dt <= 0.0:
+      raise ValueError("dt must be finite and positive")
+
+    self.CP = CP
+    self.dt = dt
+    self.lead_loss_hold_frames = max(CAP_FILTER_FRAMES, math.ceil(LEAD_LOSS_HOLD_TIME / dt))
+    self.radar_stale_frames = max(1, math.ceil(RADAR_STALE_TIMEOUT / dt))
+    self.live = _ControllerPath()
+    self.shadow = _ControllerPath()
+    self._held_envelope: EnergyEnvelope | None = None
+
+  @staticmethod
+  def _profile(profile: int | AccelProfile) -> AccelProfile:
+    try:
+      return AccelProfile(profile)
+    except (TypeError, ValueError):
+      return AccelProfile.normal
+
+  @classmethod
+  def get_profile_accel_max(cls, profile: int | AccelProfile, v_ego: float) -> float:
+    if not math.isfinite(v_ego):
+      return math.nan
+    selected_profile = cls._profile(profile)
+    return float(np.interp(max(v_ego, 0.0), ACCEL_PROFILE_MAX_BP, ACCEL_PROFILE_MAX_V[selected_profile]))
+
+  def _delay(self) -> float:
+    try:
+      return float(self.CP.longitudinalActuatorDelay) + DT_MDL
+    except (AttributeError, OverflowError, TypeError, ValueError):
+      return math.nan
+
+  @staticmethod
+  def _project_ego(v_ego: float, a_ego: float, delay: float) -> tuple[float, float]:
+    if a_ego < 0.0:
+      stop_time = -v_ego / a_ego if v_ego > 0.0 else 0.0
+      if stop_time <= delay:
+        distance = -v_ego**2 / (2.0 * a_ego) if v_ego > 0.0 else 0.0
+        return distance, 0.0
+    return max(v_ego * delay + 0.5 * a_ego * delay**2, 0.0), max(v_ego + a_ego * delay, 0.0)
+
+  @staticmethod
+  def _lead_values(lead) -> tuple[float, float, float, float] | None:
+    try:
+      if not lead.status:
+        return None
+      d_rel, v_lead = float(lead.dRel), float(lead.vLeadK)
+    except (AttributeError, OverflowError, TypeError, ValueError):
+      return None
+    if not math.isfinite(d_rel) or d_rel < 0.0 or not math.isfinite(v_lead) or v_lead < MIN_LEAD_SPEED:
+      return None
+
+    try:
+      a_lead = float(lead.aLeadK)
+    except (AttributeError, OverflowError, TypeError, ValueError):
+      a_lead = 0.0
+    if not math.isfinite(a_lead):
+      a_lead = 0.0
+
+    try:
+      a_lead_tau = float(lead.aLeadTau)
+    except (AttributeError, OverflowError, TypeError, ValueError):
+      a_lead_tau = _LEAD_ACCEL_TAU
+    if not math.isfinite(a_lead_tau) or not 0.0 < a_lead_tau <= MAX_LEAD_ACCEL_TAU:
+      a_lead_tau = _LEAD_ACCEL_TAU
+    return d_rel, max(v_lead, 0.0), float(np.clip(a_lead, -10.0, 5.0)), a_lead_tau
+
+  @staticmethod
+  def _lead_track_id(lead) -> int:
+    try:
+      return max(int(lead.radarTrackId), -1)
+    except (AttributeError, OverflowError, TypeError, ValueError):
+      return -1
+
+  def calculate_energy_envelope(self, radar_state, v_ego: float, a_ego: float, profile: int | AccelProfile,
+                                follow_personality=log.LongitudinalPersonality.standard) -> EnergyEnvelope:
+    delay = self._delay()
+    if not all(math.isfinite(value) for value in (v_ego, a_ego, delay)) or v_ego < 0.0 or delay < 0.0:
+      return EnergyEnvelope()
+
+    try:
+      leads = (radar_state.leadOne, radar_state.leadTwo)
+      lead_status = any(bool(lead.status) for lead in leads)
+    except (AttributeError, TypeError, ValueError):
+      return EnergyEnvelope()
+
+    try:
+      t_follow = get_T_FOLLOW(follow_personality)
+    except (NotImplementedError, TypeError, ValueError):
+      t_follow = get_T_FOLLOW(log.LongitudinalPersonality.standard)
+    if not math.isfinite(t_follow) or t_follow < 0.0:
+      return EnergyEnvelope(lead_status=lead_status)
+
+    x_ego, v_ego_delay = self._project_ego(v_ego, a_ego, delay)
+    comfort_decel = PROFILE_CONFIGS[self._profile(profile)].comfort_decel
+    candidates: list[EnergyEnvelope] = []
+    departure_candidates: list[tuple[float, int]] = []
+    departure_speeds = [math.inf, math.inf]
+    departure_distances = [-math.inf, -math.inf]
+    departure_track_ids = [-1, -1]
+    departure_separations = [-math.inf, -math.inf]
+    departure_caps = [math.inf, math.inf]
+
+    for lead_index, lead in enumerate(leads):
+      values = self._lead_values(lead)
+      if values is None:
+        continue
+      try:
+        d_rel, v_lead, a_lead, a_lead_tau = values
+        lead_xv = LongitudinalMpc.extrapolate_lead(d_rel, v_lead, a_lead, a_lead_tau)
+        x_lead = float(np.interp(delay, T_IDXS, lead_xv[:, 0]))
+        v_lead_delay = float(np.interp(delay, T_IDXS, lead_xv[:, 1]))
+        safety_gap = max(x_lead - x_ego - STOP_DISTANCE - t_follow * v_lead_delay, 0.0)
+        closing_speed = max(v_ego_delay - v_lead_delay, 0.0)
+        required_decel = 0.0 if closing_speed == 0.0 else math.inf if safety_gap == 0.0 else closing_speed**2 / (2.0 * safety_gap)
+        reserve = float(np.interp(v_lead_delay, (0.0, STOP_GAP_RESERVE_LEAD_SPEED), (STOP_GAP_RESERVE, 0.0)))
+        reserve_scale = float(np.interp(required_decel, STOP_GAP_RESERVE_DECEL_BP, (1.0, 0.0)))
+        usable_gap = max(safety_gap - reserve * reserve_scale, 0.0)
+        cap = v_lead_delay + math.sqrt(2.0 * comfort_decel * usable_gap)
+        departure_cap = v_lead_delay + math.sqrt(2.0 * comfort_decel * safety_gap)
+        separation = x_lead - x_ego
+        departure_distance = x_lead + float(get_stopped_equivalence_factor(v_lead_delay))
+      except (FloatingPointError, OverflowError, TypeError, ValueError):
+        continue
+
+      finite_values = (x_lead, v_lead_delay, safety_gap, usable_gap, closing_speed, cap, departure_cap, departure_distance)
+      if not all(math.isfinite(value) and value >= 0.0 for value in finite_values) or math.isnan(required_decel) or required_decel < 0.0:
+        continue
+      if not math.isfinite(separation):
+        continue
+
+      candidates.append(EnergyEnvelope(
+        cap=cap, selected_lead=lead_index, selected_lead_track_id=self._lead_track_id(lead),
+        selected_lead_speed=v_lead_delay, selected_lead_accel=a_lead,
+        usable_gap=usable_gap, closing_speed=closing_speed, required_decel=required_decel, lead_status=lead_status,
+      ))
+      departure_candidates.append((departure_distance, lead_index))
+      departure_speeds[lead_index] = v_lead_delay
+      departure_distances[lead_index] = d_rel
+      departure_track_ids[lead_index] = self._lead_track_id(lead)
+      departure_separations[lead_index] = separation
+      departure_caps[lead_index] = departure_cap
+
+    if not candidates:
+      return EnergyEnvelope(lead_status=lead_status)
+
+    selected = min(candidates, key=lambda candidate: candidate.cap)
+    departure_lead_index = min(departure_candidates, key=lambda candidate: candidate[0])[1]
+    departure_lead_speed = departure_speeds[departure_lead_index]
+    return EnergyEnvelope(
+      cap=selected.cap, selected_lead=selected.selected_lead, selected_lead_track_id=selected.selected_lead_track_id,
+      selected_lead_speed=selected.selected_lead_speed,
+      selected_lead_accel=selected.selected_lead_accel,
+      departure_lead_index=departure_lead_index, departure_lead_speed=departure_lead_speed,
+      departure_cap=departure_caps[departure_lead_index], departure_lead_speeds=tuple(departure_speeds),
+      departure_lead_distances=tuple(departure_distances), departure_lead_track_ids=tuple(departure_track_ids),
+      departure_lead_separations=tuple(departure_separations),
+      usable_gap=selected.usable_gap, closing_speed=selected.closing_speed, required_decel=selected.required_decel,
+      has_nearly_stopped_lead=departure_lead_speed < STOPPED_LEAD_SPEED, lead_status=lead_status,
+    )
+
+  @staticmethod
+  def _move(value: float, target: float, rate: float, dt: float) -> float:
+    return float(np.clip(target, value - rate * dt, value + rate * dt))
+
+  @staticmethod
+  def _lead_source(source) -> bool:
+    return source in (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1)
+
+  def _update_samples(self, path: _ControllerPath, envelope: EnergyEnvelope) -> bool:
+    had_filtered_lead = math.isfinite(path.filtered_cap)
+    has_lead = envelope.selected_lead >= 0
+    path.cap_samples.append(envelope.cap if has_lead else math.inf)
+    path.lead_speed_samples.append(envelope.selected_lead_speed if has_lead else math.inf)
+    path.lead_accel_samples.append(envelope.selected_lead_accel if has_lead else 0.0)
+    path.lead_loss_frames = 0 if has_lead else path.lead_loss_frames + 1
+    for lead_index, distance in enumerate(envelope.departure_lead_distances):
+      if not math.isfinite(distance):
+        continue
+      samples = path.departure_samples[lead_index]
+      track_id = envelope.departure_lead_track_ids[lead_index]
+      identity_changed = bool(samples) and track_id != path.departure_track_ids[lead_index] and (track_id >= 0 or path.departure_track_ids[lead_index] >= 0)
+      max_distance_step = max(STOP_HOLD_CREEP_DISTANCE / 2.0, 3.0 * envelope.departure_lead_speeds[lead_index] * self.dt)
+      geometry_jump = bool(samples) and abs(distance - samples[-1]) > max_distance_step
+      if identity_changed or geometry_jump:
+        samples.clear()
+        path.departure_references[lead_index] = distance
+      samples.append(distance)
+      path.departure_track_ids[lead_index] = track_id
+    lead_index = envelope.departure_lead_index
+    if lead_index >= 0:
+      distance = envelope.departure_lead_distances[lead_index]
+      samples = path.departure_motion_samples
+      max_distance_step = max(STOP_HOLD_CREEP_DISTANCE / 2.0, 3.0 * envelope.departure_lead_speed * self.dt)
+      if samples and abs(distance - samples[-1]) > max_distance_step:
+        samples.clear()
+      samples.append(distance)
+    return not had_filtered_lead and math.isfinite(path.filtered_cap)
+
+  @staticmethod
+  def _seed_departure_tracking(path: _ControllerPath, envelope: EnergyEnvelope) -> None:
+    path.departure_samples = (deque(maxlen=CAP_FILTER_FRAMES), deque(maxlen=CAP_FILTER_FRAMES))
+    path.departure_motion_samples = deque(maxlen=CAP_FILTER_FRAMES)
+    path.departure_references = [None, None]
+    path.departure_track_ids = list(envelope.departure_lead_track_ids)
+    for lead_index, distance in enumerate(envelope.departure_lead_distances):
+      if math.isfinite(distance):
+        path.departure_samples[lead_index].append(distance)
+        path.departure_references[lead_index] = distance
+    if envelope.departure_lead_index >= 0:
+      path.departure_motion_samples.append(envelope.departure_lead_distances[envelope.departure_lead_index])
+    path.departure_frames = 0
+
+  @staticmethod
+  def _departure_progress(path: _ControllerPath, envelope: EnergyEnvelope, minimum_distance: float, *, robust: bool = True) -> bool:
+    lead_index = envelope.departure_lead_index
+    if lead_index < 0 or envelope.departure_lead_speed <= STOP_HOLD_CREEP_SPEED:
+      return False
+    reference = path.departure_references[lead_index]
+    samples = path.departure_samples[lead_index]
+    distance = path.robust_departure_separation(lead_index) if robust else samples[-1] if samples else -math.inf
+    return reference is not None and distance - reference >= minimum_distance
+
+  @classmethod
+  def _creep_departure(cls, path: _ControllerPath, envelope: EnergyEnvelope) -> bool:
+    return cls._departure_progress(path, envelope, STOP_HOLD_CREEP_DISTANCE)
+
+  @staticmethod
+  def _recent_departure_motion(path: _ControllerPath) -> bool:
+    samples = tuple(path.departure_motion_samples)[-STOP_HOLD_EXIT_FRAMES:]
+    if len(samples) < STOP_HOLD_EXIT_FRAMES:
+      return False
+    deltas = np.diff(samples)
+    return samples[-1] - samples[0] >= STOP_HOLD_FAST_DEPARTURE_DISTANCE and np.count_nonzero(deltas > 0.005) >= 2
+
+  def _enter_stop_hold(self, path: _ControllerPath, envelope: EnergyEnvelope) -> None:
+    if path.state != AccelControllerState.stopHold:
+      self._seed_departure_tracking(path, envelope)
+    path.pace = 0.0
+    path.state = AccelControllerState.stopHold
+    path.departure_frames = 0
+    path.launching = False
+    path.departure_launch = False
+    path.matched_lead = False
+    path.pace_reserve_armed = False
+    path.matched_accel_limit = None
+
+  def _update_path(self, path: _ControllerPath, envelope: EnergyEnvelope, base_speed: float, v_ego: float,
+                   profile: AccelProfile, profile_accel_max: float, previous_should_stop: bool,
+                   previous_mpc_source, planner_speed: float, planner_accel: float) -> float:
+    confirmed_lead = self._update_samples(path, envelope)
+    path.active_frames += 1
+    has_lead = envelope.selected_lead >= 0
+    filtered_cap = path.filtered_cap
+    slot_changed = has_lead and path.selected_lead >= 0 and envelope.selected_lead != path.selected_lead
+    track_changed = (has_lead and path.selected_lead >= 0 and envelope.selected_lead == path.selected_lead
+                     and envelope.selected_lead_track_id != path.selected_lead_track_id
+                     and (path.selected_lead_track_id >= 0 or envelope.selected_lead_track_id >= 0))
+    false_relief = (has_lead and math.isfinite(filtered_cap)
+                    and envelope.cap >= filtered_cap + PACE_RELIEF_DEADBAND)
+    if (slot_changed or track_changed) and false_relief and path.lead_switch_guard_frames == 0 and planner_accel <= BRAKING_ACCEL_LIMIT_THRESHOLD:
+      path.lead_switch_guard_frames = self.lead_loss_hold_frames
+    elif path.lead_switch_guard_frames > 0:
+      path.lead_switch_guard_frames -= 1
+    if slot_changed or track_changed:
+      path.matched_lead = False
+      path.matched_accel_limit = None
+    if has_lead:
+      path.selected_lead = envelope.selected_lead
+      path.selected_lead_track_id = envelope.selected_lead_track_id
+    elif path.lead_loss_frames >= self.lead_loss_hold_frames:
+      path.lead_switch_guard_frames = 0
+      path.selected_lead = -1
+      path.selected_lead_track_id = -1
+    departure_separation = (envelope.departure_lead_separations[envelope.departure_lead_index]
+                            if envelope.departure_lead_index >= 0 else math.inf)
+    stopped_lead_hold = (has_lead and envelope.has_nearly_stopped_lead
+                         and (envelope.departure_cap < 0.50
+                              or (path.braking_limited and departure_separation <= STOP_HOLD_MAX_LEAD_DISTANCE)))
+    invalid_lead = envelope.lead_status and not has_lead
+    prior_lead_context = self._lead_source(previous_mpc_source) or math.isfinite(filtered_cap) or path.braking_limited
+    previous_stop = (previous_should_stop and prior_lead_context
+                     and (not has_lead or envelope.departure_lead_speed < STOP_HOLD_EXIT_SPEED))
+    stop_evidence = (stopped_lead_hold or envelope.cap < 0.50 or filtered_cap < 0.50
+                     or (previous_stop and not path.launching) or invalid_lead)
+    confirmed_creep_departure = (path.launching and path.departure_launch and has_lead
+                                 and (self._departure_progress(path, envelope, STOP_HOLD_FAST_DEPARTURE_DISTANCE)
+                                      or self._recent_departure_motion(path)))
+    if (path.active_frames >= self.lead_loss_hold_frames and math.isfinite(filtered_cap)
+        and has_lead and planner_accel <= BRAKING_ACCEL_LIMIT_THRESHOLD):
+      path.braking_limited = True
+    elif not has_lead and path.lead_loss_frames >= self.lead_loss_hold_frames:
+      path.braking_limited = False
+
+    if path.pace is None:
+      e2e_handoff = previous_mpc_source == LongitudinalPlanSource.e2e
+      seed_from_ego = has_lead and planner_accel > BRAKING_ACCEL_LIMIT_THRESHOLD and not e2e_handoff
+      path.pace = min(base_speed, v_ego) if seed_from_ego else base_speed
+      path.braking_handoff = e2e_handoff and planner_accel < 0.0
+      path.state = AccelControllerState.free
+      if v_ego < STOP_HOLD_EGO_SPEED and not stop_evidence:
+        path.pace = min(base_speed, v_ego + LAUNCH_TARGET_HEADROOM)
+        path.state = AccelControllerState.release
+        path.launching = True
+        path.departure_launch = False
+    elif path.braking_handoff and planner_accel >= 0.0:
+      path.braking_handoff = False
+
+    path.pace = min(path.pace, base_speed)
+    if (v_ego < STOP_HOLD_EGO_SPEED and stop_evidence and not confirmed_creep_departure
+        and path.state != AccelControllerState.stopHold):
+      self._enter_stop_hold(path, envelope)
+      return path.pace
+
+    if path.state == AccelControllerState.stopHold:
+      for lead_index in range(len(path.departure_references)):
+        separation = path.robust_departure_separation(lead_index)
+        if math.isfinite(separation) and path.departure_references[lead_index] is None:
+          path.departure_references[lead_index] = separation
+      fast_departure = (has_lead and min(envelope.selected_lead_speed, envelope.departure_lead_speed) > STOP_HOLD_EXIT_SPEED
+                        and envelope.departure_cap > STOP_HOLD_EXIT_SPEED)
+      raw_departure = (fast_departure
+                       or (not envelope.lead_status and path.lead_loss_frames >= self.lead_loss_hold_frames))
+      departed = self._creep_departure(path, envelope) or raw_departure
+      if fast_departure and path.departure_frames == 0 and path.departure_motion_samples:
+        path.departure_motion_samples = deque([path.departure_motion_samples[-1]], maxlen=CAP_FILTER_FRAMES)
+      path.departure_frames = path.departure_frames + 1 if departed else 0
+      path.pace = 0.0
+      fast_departure_confirmed = fast_departure and self._recent_departure_motion(path)
+      if path.departure_frames < STOP_HOLD_EXIT_FRAMES or (fast_departure and not fast_departure_confirmed):
+        return path.pace
+      path.pace = base_speed
+      path.state = AccelControllerState.release
+      path.departure_frames = 0
+      path.launching = True
+      path.departure_launch = has_lead
+      return path.pace
+
+    if path.launching:
+      invalid_lead = envelope.lead_status and not has_lead
+      renewed_stop = (has_lead and not confirmed_creep_departure
+                      and (envelope.cap < STOP_HOLD_EXIT_SPEED
+                           or (envelope.has_nearly_stopped_lead and envelope.departure_cap < STOP_HOLD_EXIT_SPEED)))
+      guarded_departure_loss = path.departure_launch and not envelope.lead_status and path.lead_loss_frames < self.lead_loss_hold_frames
+      if invalid_lead:
+        path.launching = False
+        path.departure_launch = False
+        if v_ego < STOP_HOLD_EGO_SPEED:
+          self._enter_stop_hold(path, envelope)
+          return path.pace
+        path.state = AccelControllerState.hold
+        return path.pace
+      if guarded_departure_loss:
+        path.state = AccelControllerState.hold
+        return path.pace
+      if path.departure_launch and not has_lead:
+        path.departure_launch = False
+      if renewed_stop:
+        path.launching = False
+        path.departure_launch = False
+        if v_ego < STOP_HOLD_EGO_SPEED:
+          self._enter_stop_hold(path, envelope)
+          return path.pace
+      if path.departure_launch:
+        path.pace = base_speed
+      else:
+        launch_target = min(base_speed, v_ego + LAUNCH_TARGET_HEADROOM)
+        path.pace = min(base_speed, max(path.pace, launch_target) + LAUNCH_TARGET_SLEW * self.dt)
+      if v_ego >= LAUNCH_END_SPEED:
+        path.launching = False
+        path.departure_launch = False
+
+    comfort_decel = PROFILE_CONFIGS[profile].comfort_decel
+    if (has_lead and not path.launching and path.state == AccelControllerState.restrict
+        and envelope.closing_speed <= 0.0
+        and v_ego >= path.filtered_lead_speed - VEGO_NOISE_TOLERANCE):
+      path.matched_lead = True
+    elif not has_lead and path.lead_loss_frames >= self.lead_loss_hold_frames:
+      path.matched_lead = False
+
+    if path.matched_lead:
+      if not has_lead:
+        if self._lead_source(previous_mpc_source) and planner_speed < path.pace:
+          path.pace = max(planner_speed, path.pace - MATCHED_PACE_DECEL_RATE * self.dt)
+        path.state = AccelControllerState.hold
+        return path.pace
+      if math.isfinite(path.filtered_lead_speed):
+        recovery_speed = min(base_speed, path.filtered_lead_speed + min(LEAD_MATCH_SPEED_HEADROOM, LEAD_MATCH_GAP_GAIN * envelope.usable_gap))
+        desired_accel_limit = min(profile_accel_max, LEAD_MATCH_TAPER_GAIN * max(recovery_speed - v_ego, 0.0))
+      else:
+        desired_accel_limit = 0.0
+      if path.filtered_lead_accel < BRAKING_ACCEL_LIMIT_THRESHOLD:
+        desired_accel_limit = profile_accel_max
+      if path.matched_accel_limit is None:
+        path.matched_accel_limit = profile_accel_max
+      if path.lead_switch_guard_frames > 0:
+        desired_accel_limit = min(desired_accel_limit, path.matched_accel_limit)
+      path.matched_accel_limit = min(profile_accel_max,
+                                     self._move(path.matched_accel_limit, desired_accel_limit, LEAD_MATCH_ACCEL_SLEW, self.dt))
+      matched_ceiling = min(base_speed, filtered_cap)
+      if matched_ceiling <= path.pace - PACE_RESTRICT_DEADBAND:
+        path.pace = max(matched_ceiling, path.pace - MATCHED_PACE_DECEL_RATE * self.dt)
+        path.state = AccelControllerState.restrict
+      elif path.lead_switch_guard_frames == 0 and matched_ceiling >= path.pace + PACE_RELIEF_DEADBAND:
+        path.pace = min(matched_ceiling, path.pace + profile_accel_max * self.dt)
+        path.state = AccelControllerState.free if path.pace >= base_speed - PACE_RESTRICT_DEADBAND else AccelControllerState.release
+      else:
+        path.state = AccelControllerState.free if path.pace >= base_speed - PACE_RESTRICT_DEADBAND else AccelControllerState.hold
+      return path.pace
+    path.matched_accel_limit = None
+
+    ceiling = min(base_speed, filtered_cap)
+    if (confirmed_lead and path.active_frames == CAP_FILTER_FRAMES // 2 + 1 and not path.launching
+        and planner_speed < path.pace):
+      path.pace = max(planner_speed, path.pace - comfort_decel * self.dt)
+
+    if self._lead_source(previous_mpc_source) and not has_lead and planner_speed < path.pace:
+      path.pace = max(planner_speed, path.pace - MATCHED_PACE_DECEL_RATE * self.dt)
+      path.state = AccelControllerState.hold
+      return path.pace
+
+    if ceiling <= path.pace - PACE_RESTRICT_DEADBAND or (path.state == AccelControllerState.restrict and ceiling < path.pace):
+      path.pace = max(ceiling, path.pace - comfort_decel * self.dt)
+      path.state = AccelControllerState.restrict
+      return path.pace
+
+    filter_warmup = has_lead and not math.isfinite(filtered_cap)
+    guarded_lead_loss = not has_lead and path.lead_loss_frames < self.lead_loss_hold_frames
+    if (filter_warmup or guarded_lead_loss) and path.pace < base_speed - PACE_RESTRICT_DEADBAND:
+      path.state = AccelControllerState.hold
+      return path.pace
+
+    confirmed_clear_road = not math.isfinite(filtered_cap) and not guarded_lead_loss
+    relief = not has_lead or envelope.closing_speed <= 0.0
+    if relief and (ceiling >= path.pace + PACE_RELIEF_DEADBAND or (confirmed_clear_road and ceiling > path.pace)):
+      if path.lead_switch_guard_frames == 0:
+        path.pace = ceiling
+      path.state = AccelControllerState.free if path.pace >= base_speed - PACE_RESTRICT_DEADBAND else AccelControllerState.release
+    else:
+      path.state = AccelControllerState.free if path.pace >= base_speed - PACE_RESTRICT_DEADBAND else AccelControllerState.hold
+    return path.pace
+
+  @staticmethod
+  def _valid_context(base_speed: float, v_ego: float, a_ego: float, planner_speed: float, planner_accel: float, stock_accel_max: float,
+                     delay: float, engaged: bool, cruise_initialized: bool) -> bool:
+    values = (base_speed, v_ego, a_ego, planner_speed, planner_accel, stock_accel_max, delay)
+    return (engaged and cruise_initialized and base_speed >= 0.0 and v_ego >= -VEGO_NOISE_TOLERANCE
+            and planner_speed >= 0.0 and stock_accel_max >= 0.0 and delay >= 0.0 and all(math.isfinite(value) for value in values))
+
+  def _update_freshness(self, path: _ControllerPath, radar_fresh: bool) -> bool:
+    if radar_fresh:
+      path.stale_frames = 0
+      return True
+    path.stale_frames += 1
+    if path.stale_frames >= self.radar_stale_frames:
+      path.reset()
+    return False
+
+  @staticmethod
+  def _build_accel_ceiling(limit: float, planner_accel: float) -> tuple[float, ...] | None:
+    if limit >= ACCEL_MAX - 1e-9:
+      return None
+    a0 = float(np.clip(planner_accel, ACCEL_MIN, ACCEL_MAX))
+    ceiling = np.maximum(limit, a0 - ACCEL_LIMIT_HORIZON_JERK * T_IDXS)
+    ceiling = np.clip(ceiling, 0.0, ACCEL_MAX)
+    ceiling[0] = max(ceiling[0], a0)
+    return tuple(float(value) for value in ceiling)
+
+  def reset(self) -> None:
+    self.live.reset()
+    self.shadow.reset()
+    self._held_envelope = None
+
+  def update(self, radar_state, *, base_speed: float, v_ego: float, a_ego: float, profile: int | AccelProfile, follow_personality,
+             enabled: bool, acc_selected: bool, engaged: bool, cruise_initialized: bool, stock_accel_max: float,
+             previous_should_stop: bool, radar_fresh: bool = True,
+             previous_mpc_source=None, planner_speed: float | None = None, planner_accel: float = 0.0) -> AccelControllerResult:
+    selected_profile = self._profile(profile)
+    sanitized_v_ego = max(v_ego, 0.0) if math.isfinite(v_ego) and v_ego >= -VEGO_NOISE_TOLERANCE else v_ego
+    profile_accel_max = self.get_profile_accel_max(selected_profile, sanitized_v_ego)
+    try:
+      stock_accel_max = float(stock_accel_max)
+    except (OverflowError, TypeError, ValueError):
+      stock_accel_max = math.nan
+    positive_accel_max = (max(0.0, min(profile_accel_max, stock_accel_max, ACCEL_MAX))
+                          if math.isfinite(profile_accel_max) and math.isfinite(stock_accel_max) else math.nan)
+    planner_speed = sanitized_v_ego if planner_speed is None else planner_speed
+    valid_context = self._valid_context(base_speed, sanitized_v_ego, a_ego, planner_speed, planner_accel, stock_accel_max, self._delay(),
+                                        engaged, cruise_initialized)
+    feature_context = valid_context and bool(enabled)
+    if feature_context and radar_fresh:
+      envelope = self.calculate_energy_envelope(radar_state, sanitized_v_ego, a_ego, selected_profile, follow_personality)
+      self._held_envelope = envelope
+    elif feature_context and self._held_envelope is not None:
+      envelope = self._held_envelope
+    else:
+      envelope = EnergyEnvelope(lead_status=self._radar_has_lead(radar_state))
+      if not feature_context:
+        self._held_envelope = None
+
+    shadow_fresh = self._update_freshness(self.shadow, radar_fresh) if feature_context else False
+    if feature_context and radar_fresh:
+      self._update_path(self.shadow, envelope, base_speed, sanitized_v_ego, selected_profile, profile_accel_max, previous_should_stop,
+                        previous_mpc_source, planner_speed, planner_accel)
+      shadow_active = True
+    elif feature_context and not shadow_fresh and self.shadow.pace is not None:
+      shadow_active = True
+    else:
+      self.shadow.reset()
+      shadow_active = False
+
+    live_context = feature_context and bool(acc_selected)
+    live_fresh = self._update_freshness(self.live, radar_fresh) if live_context else False
+    if live_context and radar_fresh:
+      pace_target = self._update_path(self.live, envelope, base_speed, sanitized_v_ego, selected_profile, profile_accel_max,
+                                      previous_should_stop,
+                                      previous_mpc_source, planner_speed, planner_accel)
+      live_active = True
+    elif live_context and not live_fresh and self.live.pace is not None:
+      pace_target = self.live.pace
+      live_active = True
+    else:
+      self.live.reset()
+      pace_target = base_speed
+      live_active = False
+
+    if not radar_fresh and not shadow_active and not live_active:
+      self._held_envelope = None
+      envelope = EnergyEnvelope(lead_status=self._radar_has_lead(radar_state))
+
+    stop_hold_active = live_active and self.live.state == AccelControllerState.stopHold
+    matched_limit_active = (live_active and self.live.matched_lead and self.live.matched_accel_limit is not None
+                            and not self.live.braking_handoff)
+    lead_accel_request = (live_active and envelope.selected_lead >= 0
+                          and envelope.closing_speed <= 0.0 and planner_accel >= 0.0)
+    profile_limit_active = live_active and not stop_hold_active and (self.live.launching or not envelope.lead_status or lead_accel_request)
+    if matched_limit_active:
+      effective_accel_max = min(positive_accel_max, self.live.matched_accel_limit)
+    elif profile_limit_active:
+      effective_accel_max = positive_accel_max
+    else:
+      effective_accel_max = math.inf
+    if matched_limit_active or profile_limit_active:
+      mpc_accel_max = self._build_accel_ceiling(effective_accel_max, planner_accel)
+    else:
+      mpc_accel_max = None
+    guarded_lead_loss = (not envelope.lead_status and self.live.selected_lead >= 0
+                         and self.live.lead_loss_frames < self.lead_loss_hold_frames)
+    lead_context = envelope.lead_status or math.isfinite(self.live.filtered_cap) or guarded_lead_loss
+    reserve_eligible = (live_active and lead_context and not stop_hold_active and self.live.lead_switch_guard_frames == 0
+                        and not self.live.launching and not self.live.braking_handoff)
+    if not lead_context:
+      self.live.pace_reserve_armed = False
+    elif (reserve_eligible and not self.live.pace_reserve_armed and math.isfinite(self.live.filtered_cap)
+          and self.live.filtered_cap <= pace_target + PACE_TARGET_ARM_MARGIN):
+      self.live.pace_reserve_armed = True
+
+    target_speed = 0.0 if stop_hold_active else pace_target
+    if reserve_eligible and self.live.pace_reserve_armed:
+      target_speed = max(0.0, target_speed - PACE_TARGET_RESERVE)
+
+    return AccelControllerResult(
+      target_speed=target_speed,
+      enabled=bool(enabled), active=live_active, shadow_active=shadow_active, launching=live_active and self.live.launching,
+      departure_launching=live_active and self.live.launching and self.live.departure_launch,
+      profile=selected_profile, profile_accel_max=profile_accel_max if live_active else math.inf,
+      positive_accel_max=positive_accel_max if live_active else math.inf, effective_accel_max=effective_accel_max,
+      mpc_accel_max=mpc_accel_max, state=self.live.state,
+      shadow_state=self.shadow.state, base_speed=base_speed, raw_energy_cap=envelope.cap,
+      live_filtered_cap=self.live.filtered_cap if live_active else math.inf,
+      shadow_filtered_cap=self.shadow.filtered_cap if shadow_active else math.inf, selected_lead=envelope.selected_lead,
+      selected_lead_speed=envelope.selected_lead_speed, usable_gap=envelope.usable_gap,
+      closing_speed=envelope.closing_speed, required_decel=envelope.required_decel,
+    )
+
+  @staticmethod
+  def _radar_has_lead(radar_state) -> bool:
+    try:
+      return bool(radar_state.leadOne.status or radar_state.leadTwo.status)
+    except (AttributeError, TypeError, ValueError):
+      return True

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

@@ -0,0 +1,65 @@
+from dataclasses import dataclass
+from enum import IntEnum
+
+
+class AccelProfile(IntEnum):
+  eco = 0
+  normal = 1
+  sport = 2
+
+
+@dataclass(frozen=True)
+class ProfileConfig:
+  comfort_decel: float
+
+
+PROFILE_CONFIGS = {
+  AccelProfile.eco: ProfileConfig(comfort_decel=0.25),
+  AccelProfile.normal: ProfileConfig(comfort_decel=0.30),
+  AccelProfile.sport: ProfileConfig(comfort_decel=0.35),
+}
+
+ACCEL_PROFILE_MAX_BP = [0.0, 3.0, 10.0, 25.0, 40.0]
+ACCEL_PROFILE_MAX_V = {
+  AccelProfile.eco: [1.65, 1.30, 0.72, 0.32, 0.16],
+  AccelProfile.normal: [1.80, 1.50, 0.97, 0.48, 0.30],
+  AccelProfile.sport: [2.00, 1.90, 1.15, 0.68, 0.42],
+}
+
+CAP_FILTER_FRAMES = 5
+LEAD_LOSS_HOLD_TIME = 0.50
+PACE_RESTRICT_DEADBAND = 0.15
+PACE_RELIEF_DEADBAND = 0.35
+PACE_TARGET_ARM_MARGIN = 1.0
+PACE_TARGET_RESERVE = 0.10
+LAUNCH_TARGET_HEADROOM = 3.0
+LAUNCH_TARGET_SLEW = 8.75
+LAUNCH_END_SPEED = 3.0
+ACCEL_LIMIT_HORIZON_JERK = 1.0
+LEAD_MATCH_GAP_GAIN = 0.04
+LEAD_MATCH_SPEED_HEADROOM = 1.25
+LEAD_MATCH_TAPER_GAIN = 1.00
+LEAD_MATCH_ACCEL_SLEW = 0.25
+MATCHED_PACE_DECEL_RATE = 0.50
+BRAKING_ACCEL_LIMIT_THRESHOLD = -0.11
+MPC_DECEL_JERK_COST_MULTIPLIER = 1.05
+MPC_DECEL_JERK_MAX_REQUIRED_DECEL = 0.80
+MPC_DECEL_JERK_MAX_REQUIRED_DECEL_RATE = 0.35
+MPC_DECEL_JERK_MAX_TARGET_REDUCTION = 9.0
+
+STOP_HOLD_EGO_SPEED = 0.30
+STOPPED_LEAD_SPEED = 0.30
+STOP_HOLD_EXIT_SPEED = 0.80
+STOP_HOLD_EXIT_FRAMES = 4
+STOP_HOLD_CREEP_SPEED = 0.15
+STOP_HOLD_CREEP_DISTANCE = 0.30
+STOP_HOLD_FAST_DEPARTURE_DISTANCE = 0.03
+STOP_HOLD_MAX_LEAD_DISTANCE = 30.0
+STOP_GAP_RESERVE = 0.75
+STOP_GAP_RESERVE_LEAD_SPEED = 2.0
+STOP_GAP_RESERVE_DECEL_BP = (0.30, 0.80)
+
+RADAR_STALE_TIMEOUT = 0.50
+MAX_LEAD_ACCEL_TAU = 10.0
+MIN_LEAD_SPEED = -1.0
+VEGO_NOISE_TOLERANCE = 0.10

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

@@ -0,0 +1,819 @@
+import math
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+
+from cereal import log
+from opendbc.car.interfaces import ACCEL_MAX, ACCEL_MIN
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import (
+  STOP_DISTANCE, T_IDXS, LongitudinalMpc, LongitudinalPlanSource, get_T_FOLLOW,
+)
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality import AccelController, AccelControllerState, AccelProfile
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import (
+  ACCEL_LIMIT_HORIZON_JERK, ACCEL_PROFILE_MAX_BP, ACCEL_PROFILE_MAX_V, CAP_FILTER_FRAMES, LAUNCH_END_SPEED,
+  LAUNCH_TARGET_HEADROOM, LAUNCH_TARGET_SLEW, LEAD_MATCH_ACCEL_SLEW, MATCHED_PACE_DECEL_RATE, PROFILE_CONFIGS,
+  PACE_TARGET_RESERVE, RADAR_STALE_TIMEOUT, STOP_GAP_RESERVE, STOP_HOLD_EXIT_FRAMES,
+)
+
+
+def make_lead(*, status=False, d_rel=0.0, v_lead_k=0.0, a_lead_k=0.0, a_lead_tau=1.5, radar_track_id=-1):
+  return SimpleNamespace(status=status, dRel=d_rel, vLeadK=v_lead_k, aLeadK=a_lead_k, aLeadTau=a_lead_tau,
+                         radarTrackId=radar_track_id)
+
+
+def make_radar(lead_one=None, lead_two=None):
+  return SimpleNamespace(leadOne=lead_one or make_lead(), leadTwo=lead_two or make_lead())
+
+
+def make_controller(delay=0.10):
+  return AccelController(SimpleNamespace(longitudinalActuatorDelay=delay))
+
+
+def update(controller, radar_state=None, **overrides):
+  args = {
+    "base_speed": 25.0,
+    "v_ego": 10.0,
+    "a_ego": 0.0,
+    "profile": AccelProfile.normal,
+    "follow_personality": log.LongitudinalPersonality.standard,
+    "enabled": True,
+    "acc_selected": True,
+    "engaged": True,
+    "cruise_initialized": True,
+    "stock_accel_max": ACCEL_MAX,
+    "previous_should_stop": False,
+  }
+  args.update(overrides)
+  return controller.update(radar_state or make_radar(), **args)
+
+
+def restrictive_radar():
+  return make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0, a_lead_k=-0.5))
+
+
+def enter_stop_hold(controller, *, base_speed=8.0, v_ego=0.1):
+  stopped = make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.0))
+  return update(controller, stopped, base_speed=base_speed, v_ego=v_ego, previous_should_stop=True)
+
+
+class TestProfiles:
+  def test_lookup_table_is_explicit_and_tunable(self):
+    assert ACCEL_PROFILE_MAX_BP == [0.0, 3.0, 10.0, 25.0, 40.0]
+    assert ACCEL_PROFILE_MAX_V == {
+      AccelProfile.eco: [1.65, 1.30, 0.72, 0.32, 0.16],
+      AccelProfile.normal: [1.80, 1.50, 0.97, 0.48, 0.30],
+      AccelProfile.sport: [2.00, 1.90, 1.15, 0.68, 0.42],
+    }
+
+  @pytest.mark.parametrize("profile", list(AccelProfile))
+  def test_lookup_interpolates_and_stays_inside_global_limit(self, profile):
+    for speed, expected in zip(ACCEL_PROFILE_MAX_BP, ACCEL_PROFILE_MAX_V[profile], strict=True):
+      assert AccelController.get_profile_accel_max(profile, speed) == expected
+
+    limits = [AccelController.get_profile_accel_max(profile, speed) for speed in np.linspace(-1.0, 50.0, 201)]
+    assert all(0.0 <= limit <= ACCEL_MAX for limit in limits)
+    assert np.all(np.diff(limits) <= 0.0)
+
+  @pytest.mark.parametrize("speed", ACCEL_PROFILE_MAX_BP)
+  def test_profile_order_is_distinct(self, speed):
+    eco, normal, sport = [AccelController.get_profile_accel_max(profile, speed) for profile in AccelProfile]
+    assert eco < normal < sport
+
+  def test_invalid_profile_defaults_to_normal(self):
+    assert update(make_controller(), profile=999).profile == AccelProfile.normal
+
+  def test_stock_limit_intersects_profile_before_mpc(self):
+    controller = make_controller()
+    results = [update(controller, v_ego=10.0, profile=AccelProfile.sport, stock_accel_max=0.30)
+               for _ in range(controller.lead_loss_hold_frames)]
+    result = results[-1]
+    assert result.profile_accel_max == pytest.approx(1.15)
+    assert result.positive_accel_max == pytest.approx(0.30)
+    assert result.effective_accel_max == pytest.approx(0.30)
+    assert all(sample.mpc_accel_max is not None for sample in results)
+    assert all(max(sample.mpc_accel_max) <= 0.30 + 1e-9 for sample in results)
+
+  def test_runtime_profile_switch_applies_the_lookup_value_directly(self):
+    controller = make_controller()
+    sport = [update(controller, v_ego=10.0, profile=AccelProfile.sport, stock_accel_max=1.20)
+             for _ in range(controller.lead_loss_hold_frames)][-1]
+    eco = update(controller, v_ego=10.0, profile=AccelProfile.eco, stock_accel_max=1.20)
+
+    assert sport.effective_accel_max == pytest.approx(1.15)
+    assert eco.effective_accel_max == pytest.approx(0.72)
+
+  def test_matched_lead_waits_until_ego_catches_the_lead(self):
+    radar = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    slow_controller, caught_controller = make_controller(), make_controller()
+    for controller in (slow_controller, caught_controller):
+      for _ in range(CAP_FILTER_FRAMES + 10):
+        update(controller, radar, v_ego=10.0, planner_accel=-0.2)
+
+    update(slow_controller, radar, v_ego=3.0, planner_accel=-0.2)
+    update(caught_controller, radar, v_ego=8.0, planner_accel=-0.2)
+
+    assert not slow_controller.live.matched_lead
+    assert caught_controller.live.matched_lead
+
+  def test_stock_limit_reduction_applies_immediately(self):
+    controller = make_controller()
+    for _ in range(controller.lead_loss_hold_frames):
+      update(controller, v_ego=10.0, profile=AccelProfile.sport, stock_accel_max=1.20)
+
+    reduced = update(controller, v_ego=10.0, profile=AccelProfile.sport, stock_accel_max=0.30)
+    assert reduced.effective_accel_max == pytest.approx(0.30)
+    assert reduced.mpc_accel_max is not None
+    assert max(reduced.mpc_accel_max) <= 0.30 + 1e-9
+
+  def test_one_frame_stock_zero_does_not_poison_profile_recovery(self):
+    clean_controller, glitch_controller = make_controller(), make_controller()
+    for _ in range(clean_controller.lead_loss_hold_frames + 10):
+      clean = update(clean_controller, v_ego=10.0, stock_accel_max=1.5)
+      recovered = update(glitch_controller, v_ego=10.0, stock_accel_max=1.5)
+
+    limited = update(glitch_controller, v_ego=10.0, stock_accel_max=0.0)
+    clean = update(clean_controller, v_ego=10.0, stock_accel_max=1.5)
+    recovered = update(glitch_controller, v_ego=10.0, stock_accel_max=1.5)
+
+    assert limited.effective_accel_max == 0.0
+    assert recovered.effective_accel_max == pytest.approx(clean.effective_accel_max)
+
+  @pytest.mark.parametrize("radar_fresh", (True, False), ids=("dropout", "stale"))
+  def test_matched_lead_ceiling_obeys_current_stock_limit(self, radar_fresh):
+    controller = make_controller()
+    radar = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, radar, v_ego=10.0, planner_accel=-0.2)
+    for _ in range(20):
+      update(controller, radar, v_ego=8.0, planner_accel=-0.2)
+    assert controller.live.matched_lead
+
+    limited = update(controller, stock_accel_max=0.0, radar_fresh=radar_fresh)
+    assert limited.effective_accel_max == 0.0
+    assert limited.mpc_accel_max is not None
+    assert max(limited.mpc_accel_max) == 0.0
+
+  def test_exact_global_max_uses_stock_ceiling(self):
+    result = update(make_controller(), base_speed=8.0, v_ego=0.0, profile=AccelProfile.sport)
+    assert result.positive_accel_max == ACCEL_MAX
+    assert result.mpc_accel_max is None
+
+
+class TestMpcCeiling:
+  @pytest.mark.parametrize("planner_accel", (-1.0, 0.0, 1.2, ACCEL_MAX))
+  def test_ceiling_is_finite_feasible_and_jerk_bounded(self, planner_accel):
+    limit = 0.50
+    ceiling = np.asarray(AccelController._build_accel_ceiling(limit, planner_accel))
+    a0 = float(np.clip(planner_accel, ACCEL_MIN, ACCEL_MAX))
+
+    assert ceiling.shape == T_IDXS.shape
+    assert np.all(np.isfinite(ceiling))
+    assert np.all((0.0 <= ceiling) & (ceiling <= ACCEL_MAX))
+    assert ceiling[0] + 1e-9 >= a0
+    assert np.all(ceiling + 1e-9 >= limit)
+    assert np.all(np.diff(ceiling) <= 1e-9)
+    assert np.all(-np.diff(ceiling) <= ACCEL_LIMIT_HORIZON_JERK * np.diff(T_IDXS) + 1e-9)
+
+  def test_zero_limit_remains_feasible_for_positive_x0(self):
+    ceiling = np.asarray(AccelController._build_accel_ceiling(0.0, 0.8))
+    assert ceiling[0] == pytest.approx(0.8)
+    assert ceiling[-1] == pytest.approx(0.0)
+    assert np.all(ceiling >= 0.0)
+
+  def test_inactive_controller_has_no_custom_ceiling(self):
+    controller = make_controller()
+    result = update(controller, enabled=False)
+    assert not result.active
+    assert not result.shadow_active
+    assert result.mpc_accel_max is None
+    assert math.isinf(result.effective_accel_max)
+    assert controller.live.pace is None and controller.shadow.pace is None
+
+  def test_profile_ceiling_does_not_interfere_while_planner_is_braking(self):
+    controller = make_controller()
+    radar = restrictive_radar()
+    warmup = [update(controller, radar, planner_accel=-0.2) for _ in range(controller.lead_loss_hold_frames)]
+
+    assert all(sample.mpc_accel_max is None for sample in warmup)
+    assert controller.live.braking_limited
+
+    bypassed = update(controller, radar, planner_accel=-0.2, acc_selected=False)
+    assert not bypassed.active and bypassed.mpc_accel_max is None
+    assert not controller.live.braking_limited
+
+  def test_profile_ceiling_stays_continuous_while_a_lead_begins_pulling_away(self):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 5):
+      update(controller, restrictive_radar(), v_ego=10.0, planner_accel=-0.2)
+
+    pulling_away = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=12.0))
+    result = update(controller, pulling_away, v_ego=10.0, planner_accel=0.2)
+
+    assert result.state == AccelControllerState.restrict
+    assert result.effective_accel_max == pytest.approx(result.positive_accel_max)
+    assert result.mpc_accel_max is not None
+
+  def test_matched_lead_terminal_taper_changes_smoothly(self):
+    controller = make_controller()
+    radar = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    for _ in range(CAP_FILTER_FRAMES + 5):
+      update(controller, radar, v_ego=10.0, planner_accel=-0.2)
+
+    braking = update(controller, radar, v_ego=8.0, planner_accel=-0.2)
+    braking_limit = controller.live.matched_accel_limit
+    accelerating = update(controller, radar, v_ego=8.0, planner_accel=0.2)
+
+    assert controller.live.matched_lead
+    assert braking.mpc_accel_max is not None and accelerating.mpc_accel_max is not None
+    assert braking_limit is not None
+    assert abs(controller.live.matched_accel_limit - braking_limit) <= LEAD_MATCH_ACCEL_SLEW * DT_MDL + 1e-9
+    assert braking.effective_accel_max <= braking.positive_accel_max
+    assert accelerating.effective_accel_max <= accelerating.positive_accel_max
+
+  def test_matched_lead_ignores_two_frame_speed_jump(self):
+    clean_controller, noisy_controller = make_controller(), make_controller()
+    radar = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    for controller in (clean_controller, noisy_controller):
+      for _ in range(CAP_FILTER_FRAMES + 10):
+        update(controller, radar, v_ego=10.0, planner_accel=-0.2)
+      for _ in range(20):
+        update(controller, radar, v_ego=8.0, planner_accel=-0.2)
+
+    speed_jump = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=16.0))
+    for _ in range(2):
+      clean = update(clean_controller, radar, v_ego=8.0)
+      noisy = update(noisy_controller, speed_jump, v_ego=8.0)
+      assert noisy.effective_accel_max == pytest.approx(clean.effective_accel_max)
+      assert noisy.target_speed == pytest.approx(clean.target_speed)
+
+  def test_matched_lead_ignores_two_frame_acceleration_jump(self):
+    clean_controller, noisy_controller = make_controller(), make_controller()
+    steady = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    for controller in (clean_controller, noisy_controller):
+      for _ in range(CAP_FILTER_FRAMES + 10):
+        update(controller, steady, v_ego=10.0, planner_accel=-0.2)
+      for _ in range(20):
+        update(controller, steady, v_ego=8.0, planner_accel=-0.2)
+
+    braking_jump = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0, a_lead_k=-1.0))
+    for _ in range(2):
+      clean = update(clean_controller, steady, v_ego=8.0)
+      noisy = update(noisy_controller, braking_jump, v_ego=8.0)
+      assert noisy.effective_accel_max == pytest.approx(clean.effective_accel_max)
+      assert noisy.target_speed == pytest.approx(clean.target_speed)
+
+
+class TestEnergyEnvelope:
+  def test_relative_pace_energy_formula(self):
+    controller = make_controller()
+    lead = make_lead(status=True, d_rel=50.0, v_lead_k=8.0)
+    envelope = controller.calculate_energy_envelope(make_radar(lead), 10.0, 0.0, AccelProfile.normal)
+    delay = controller._delay()
+    lead_xv = LongitudinalMpc.extrapolate_lead(lead.dRel, lead.vLeadK, lead.aLeadK, lead.aLeadTau)
+    x_lead = float(np.interp(delay, T_IDXS, lead_xv[:, 0]))
+    v_lead = float(np.interp(delay, T_IDXS, lead_xv[:, 1]))
+    x_ego, _ = controller._project_ego(10.0, 0.0, delay)
+    safety_gap = max(x_lead - x_ego - STOP_DISTANCE - get_T_FOLLOW(log.LongitudinalPersonality.standard) * v_lead, 0.0)
+    expected = v_lead + math.sqrt(2.0 * PROFILE_CONFIGS[AccelProfile.normal].comfort_decel * safety_gap)
+
+    assert envelope.cap == pytest.approx(expected)
+    assert envelope.cap != pytest.approx(math.sqrt(v_lead**2 + 2.0 * PROFILE_CONFIGS[AccelProfile.normal].comfort_decel * safety_gap))
+
+  def test_profile_order_controls_approach_timing(self):
+    radar = make_radar(make_lead(status=True, d_rel=50.0, v_lead_k=8.0))
+    caps = [make_controller().calculate_energy_envelope(radar, 10.0, 0.0, profile).cap for profile in AccelProfile]
+    assert caps[0] < caps[1] < caps[2]
+
+  def test_stopped_lead_reserve_only_reduces_comfort_gap(self):
+    envelope = make_controller().calculate_energy_envelope(
+      make_radar(make_lead(status=True, d_rel=60.0, v_lead_k=0.0)), 5.0, 0.0, AccelProfile.normal,
+    )
+    comfort_decel = PROFILE_CONFIGS[AccelProfile.normal].comfort_decel
+    safety_gap = (envelope.departure_cap - envelope.departure_lead_speed) ** 2 / (2.0 * comfort_decel)
+    assert envelope.required_decel < 0.30
+    assert safety_gap - envelope.usable_gap == pytest.approx(STOP_GAP_RESERVE)
+    assert envelope.departure_cap > envelope.cap
+
+  def test_more_restrictive_lead_is_selected(self):
+    radar = make_radar(make_lead(status=True, d_rel=70.0, v_lead_k=12.0), make_lead(status=True, d_rel=25.0, v_lead_k=8.0))
+    assert make_controller().calculate_energy_envelope(radar, 10.0, 0.0, AccelProfile.normal).selected_lead == 1
+
+  @pytest.mark.parametrize("field,value", [
+    ("aLeadK", math.nan), ("aLeadK", math.inf), ("aLeadTau", math.nan), ("aLeadTau", -1.0), ("radarTrackId", math.nan),
+  ])
+  def test_nonessential_invalid_lead_fields_are_sanitized(self, field, value):
+    lead = make_lead(status=True, d_rel=30.0, v_lead_k=8.0)
+    setattr(lead, field, value)
+    envelope = make_controller().calculate_energy_envelope(make_radar(lead), 10.0, 0.0, AccelProfile.normal)
+    assert envelope.selected_lead == 0
+    assert math.isfinite(envelope.cap)
+
+  @pytest.mark.parametrize("field,value", [("dRel", math.nan), ("dRel", -1.0), ("vLeadK", math.nan), ("vLeadK", -2.0)])
+  def test_invalid_geometry_is_not_used(self, field, value):
+    lead = make_lead(status=True, d_rel=30.0, v_lead_k=8.0)
+    setattr(lead, field, value)
+    envelope = make_controller().calculate_energy_envelope(make_radar(lead), 10.0, 0.0, AccelProfile.normal)
+    assert envelope.selected_lead == -1
+    assert envelope.lead_status
+    assert math.isinf(envelope.cap)
+
+  def test_raw_radar_is_never_mutated(self):
+    lead = make_lead(status=True, d_rel=30.0, v_lead_k=8.0, a_lead_k=-15.0, a_lead_tau=math.nan)
+    before = vars(lead).copy()
+    make_controller().calculate_energy_envelope(make_radar(lead), 10.0, 0.0, AccelProfile.normal)
+    assert vars(lead) == before
+
+
+class TestPaceAndLifecycle:
+  def test_five_frame_median_needs_three_restrictive_samples(self):
+    controller = make_controller()
+    results = [update(controller, restrictive_radar()) for _ in range(CAP_FILTER_FRAMES)]
+    assert math.isinf(results[1].live_filtered_cap)
+    assert math.isfinite(results[2].live_filtered_cap)
+
+  def test_restriction_uses_comfort_rate_with_one_bounded_reserve_step(self):
+    controller = make_controller()
+    results = [update(controller, restrictive_radar()) for _ in range(CAP_FILTER_FRAMES + 10)]
+    targets = np.asarray([result.target_speed for result in results])
+    max_step = PROFILE_CONFIGS[AccelProfile.normal].comfort_decel * DT_MDL
+
+    target_steps = -np.diff(targets)
+    assert np.count_nonzero(target_steps > max_step + 1e-9) == 1
+    assert np.max(target_steps) <= PACE_TARGET_RESERVE + max_step + 1e-9
+    assert results[-1].state == AccelControllerState.restrict
+    assert results[-1].target_speed < results[0].target_speed
+
+  @pytest.mark.parametrize("clear_frames", (1, 2, CAP_FILTER_FRAMES + 1))
+  def test_lead_acquired_after_clear_road_cannot_step_pace_to_planner(self, clear_frames):
+    controller = make_controller()
+    for _ in range(clear_frames):
+      update(controller, base_speed=25.0, v_ego=20.0, planner_speed=25.0)
+
+    results = [update(controller, restrictive_radar(), base_speed=25.0, v_ego=20.0, planner_speed=20.0)
+               for _ in range(CAP_FILTER_FRAMES)]
+    targets = np.asarray([25.0, *(result.target_speed for result in results)])
+    max_step = PROFILE_CONFIGS[AccelProfile.normal].comfort_decel * DT_MDL
+
+    target_steps = -np.diff(targets)
+    assert np.count_nonzero(target_steps > max_step + 1e-9) == 1
+    assert np.max(target_steps) <= PACE_TARGET_RESERVE + max_step + 1e-9
+
+  def test_lead_slot_is_forgotten_before_reacquisition(self):
+    controller = make_controller()
+    lead_one = restrictive_radar()
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, lead_one, base_speed=25.0, v_ego=20.0, planner_speed=20.0, planner_accel=-0.2)
+
+    for _ in range(controller.lead_loss_hold_frames):
+      before = update(controller, base_speed=25.0, v_ego=20.0, planner_speed=20.0, planner_accel=-0.2)
+    assert controller.live.selected_lead == -1
+
+    lead_two = make_radar(lead_two=make_lead(status=True, d_rel=20.0, v_lead_k=8.0, a_lead_k=-0.5))
+    results = [update(controller, lead_two, base_speed=25.0, v_ego=20.0, planner_speed=5.0, planner_accel=-0.2)
+               for _ in range(CAP_FILTER_FRAMES)]
+    targets = np.asarray([before.target_speed, *(result.target_speed for result in results)])
+    max_step = PROFILE_CONFIGS[AccelProfile.normal].comfort_decel * DT_MDL
+
+    target_steps = -np.diff(targets)
+    assert np.count_nonzero(target_steps > max_step + 1e-9) == 1
+    assert np.max(target_steps) <= PACE_TARGET_RESERVE + max_step + 1e-9
+
+  @pytest.mark.parametrize("replacement_track_id", (200, -1), ids=("radar-track", "vision-track"))
+  def test_false_relief_track_replacement_freezes_bounded_pace_release(self, replacement_track_id):
+    controller = make_controller()
+    original = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0, radar_track_id=100))
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, original, base_speed=25.0, v_ego=10.0, planner_speed=10.0, planner_accel=-0.2)
+    for _ in range(20):
+      before = update(controller, original, base_speed=25.0, v_ego=8.0, planner_speed=8.0, planner_accel=-0.2)
+    assert controller.live.matched_lead
+
+    replacement = make_radar(make_lead(status=True, d_rel=40.0, v_lead_k=12.0, radar_track_id=replacement_track_id))
+    switched = update(controller, replacement, base_speed=25.0, v_ego=8.0, planner_speed=5.0, planner_accel=-0.2)
+
+    target_drop = before.target_speed - switched.target_speed
+    assert -PACE_TARGET_RESERVE - 1e-9 <= target_drop <= MATCHED_PACE_DECEL_RATE * DT_MDL + 1e-9
+    assert switched.effective_accel_max <= switched.positive_accel_max + 1e-9
+    assert switched.target_speed < switched.base_speed
+    assert controller.live.lead_switch_guard_frames == controller.lead_loss_hold_frames
+
+  def test_track_id_churn_without_false_relief_does_not_arm_guard(self):
+    controller = make_controller()
+    original = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0, radar_track_id=100))
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, original, base_speed=25.0, v_ego=10.0, planner_speed=10.0, planner_accel=-0.2)
+
+    replacement = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0, radar_track_id=200))
+    update(controller, replacement, base_speed=25.0, v_ego=10.0, planner_speed=10.0, planner_accel=-0.2)
+
+    assert controller.live.lead_switch_guard_frames == 0
+
+  def test_short_dropout_holds_then_releases_without_a_second_accel_cap(self):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 20):
+      restricted = update(controller, restrictive_radar())
+
+    held = [update(controller) for _ in range(controller.lead_loss_hold_frames - 1)]
+    assert all(result.target_speed <= restricted.target_speed + 1e-9 for result in held)
+
+    released = update(controller)
+    assert released.target_speed == released.base_speed
+
+  def test_previous_lead_source_synchronizes_down_to_planner(self):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      restricted = update(controller, restrictive_radar())
+    planner_speed = restricted.target_speed - 2.0
+    synchronized = update(controller, previous_mpc_source=LongitudinalPlanSource.lead0, planner_speed=planner_speed)
+    assert restricted.target_speed - synchronized.target_speed == pytest.approx(MATCHED_PACE_DECEL_RATE * DT_MDL)
+    assert synchronized.state == AccelControllerState.hold
+
+  def test_matched_lead_dropout_synchronizes_down_to_planner(self):
+    controller = make_controller()
+    radar = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, radar, v_ego=10.0, planner_accel=-0.2)
+    for _ in range(20):
+      matched = update(controller, radar, v_ego=8.0, planner_accel=-0.2)
+    assert controller.live.matched_lead
+
+    planner_speed = matched.target_speed - 2.0
+    synchronized = update(controller, previous_mpc_source=LongitudinalPlanSource.lead0, planner_speed=planner_speed)
+    assert matched.target_speed - synchronized.target_speed == pytest.approx(MATCHED_PACE_DECEL_RATE * DT_MDL)
+    assert synchronized.state == AccelControllerState.hold
+
+  def test_reused_radar_holds_matched_lead_until_a_fresh_dropout(self):
+    controller = make_controller()
+    radar = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=8.0))
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, radar, v_ego=10.0, planner_accel=-0.2)
+    for _ in range(20):
+      matched = update(controller, radar, v_ego=8.0, planner_accel=-0.2)
+    assert controller.live.matched_lead
+
+    planner_speed = matched.target_speed - 2.0
+    held = update(controller, radar, previous_mpc_source=LongitudinalPlanSource.lead0,
+                  planner_speed=planner_speed, radar_fresh=False)
+    synchronized = update(controller, previous_mpc_source=LongitudinalPlanSource.lead0, planner_speed=planner_speed)
+
+    assert held.target_speed == pytest.approx(matched.target_speed)
+    assert held.state == matched.state
+    assert held.target_speed - synchronized.target_speed == pytest.approx(MATCHED_PACE_DECEL_RATE * DT_MDL)
+    assert synchronized.state == AccelControllerState.hold
+
+  def test_clear_road_launch_has_immediate_headroom_and_bounded_target_slew(self):
+    controller = make_controller()
+    initial = update(controller, base_speed=12.0, v_ego=0.0, profile=AccelProfile.normal)
+    rolling = update(controller, base_speed=12.0, v_ego=0.31, profile=AccelProfile.normal)
+
+    assert initial.active and initial.launching
+    assert LAUNCH_TARGET_HEADROOM <= initial.target_speed <= LAUNCH_TARGET_HEADROOM + LAUNCH_TARGET_SLEW * DT_MDL
+    assert rolling.launching
+    assert rolling.target_speed >= 0.31 + LAUNCH_TARGET_HEADROOM
+    assert rolling.target_speed - max(initial.target_speed, 0.31 + LAUNCH_TARGET_HEADROOM) <= LAUNCH_TARGET_SLEW * DT_MDL + 1e-9
+
+    finished = update(controller, base_speed=12.0, v_ego=LAUNCH_END_SPEED, profile=AccelProfile.normal)
+    assert not finished.launching
+
+  def test_far_stopped_lead_does_not_create_stop_hold(self):
+    controller = make_controller()
+    far_stopped = make_radar(make_lead(status=True, d_rel=60.0, v_lead_k=0.0))
+    results = [update(controller, far_stopped, base_speed=12.0, v_ego=0.0) for _ in range(4)]
+    assert all(result.state != AccelControllerState.stopHold for result in results)
+
+  def test_far_stopped_lead_does_not_use_sticky_braking_history_as_stop_evidence(self):
+    controller = make_controller()
+    far_stopped = make_radar(make_lead(status=True, d_rel=60.0, v_lead_k=0.0))
+    for _ in range(controller.lead_loss_hold_frames):
+      update(controller, far_stopped, base_speed=12.0, v_ego=10.0, planner_accel=-0.2)
+    assert controller.live.braking_limited
+
+    result = update(controller, far_stopped, base_speed=12.0, v_ego=0.2, planner_accel=-0.2)
+    assert result.state != AccelControllerState.stopHold
+    assert result.target_speed > 0.0
+
+  def test_near_stopped_lead_uses_braking_history_to_hold_completed_stop(self):
+    controller = make_controller()
+    stopped = make_radar(make_lead(status=True, d_rel=20.0, v_lead_k=0.0))
+    for _ in range(controller.lead_loss_hold_frames):
+      update(controller, stopped, base_speed=12.0, v_ego=10.0, planner_accel=-0.2)
+    assert controller.live.braking_limited
+
+    result = update(controller, stopped, base_speed=12.0, v_ego=0.2, planner_accel=-0.2)
+    assert result.state == AccelControllerState.stopHold
+    assert controller.live.pace == 0.0
+    assert result.target_speed == 0.0
+    assert math.isinf(result.effective_accel_max)
+    assert result.mpc_accel_max is None
+
+    stock_limited = update(controller, stopped, base_speed=12.0, v_ego=0.2, stock_accel_max=0.0)
+    assert math.isinf(stock_limited.effective_accel_max)
+    assert stock_limited.mpc_accel_max is None
+
+  def test_stop_hold_needs_four_confirmed_departure_frames(self):
+    controller = make_controller()
+    held = enter_stop_hold(controller)
+    assert controller.live.pace == 0.0
+    results = [update(controller, make_radar(make_lead(status=True, d_rel=6.0 + (frame + 1) * 0.1, v_lead_k=2.0)),
+                      base_speed=8.0, v_ego=0.1) for frame in range(CAP_FILTER_FRAMES + STOP_HOLD_EXIT_FRAMES)]
+    launch_index = next(index for index, result in enumerate(results) if result.launching)
+
+    assert held.state == AccelControllerState.stopHold
+    assert held.target_speed == 0.0 and math.isinf(held.effective_accel_max)
+    assert held.mpc_accel_max is None
+    assert all(result.state == AccelControllerState.stopHold and not result.launching for result in results[:launch_index])
+    assert launch_index == STOP_HOLD_EXIT_FRAMES - 1
+    assert results[launch_index].target_speed >= 0.1 + LAUNCH_TARGET_HEADROOM
+    assert results[launch_index].departure_launching
+    assert results[launch_index].effective_accel_max == pytest.approx(results[launch_index].positive_accel_max)
+
+  def test_stopped_governing_lead_rejects_route_51d_radar_speed_pulse_without_delaying_departure(self):
+    controller = make_controller()
+    enter_stop_hold(controller, v_ego=0.0)
+    speed_pulse = (0.1361, 0.1731, 0.2146, 0.2253, 0.2137, 0.1877)
+    distances = (6.0, 6.0, 6.0, 5.96, 6.04, 6.04)
+
+    for distance, speed in zip(distances, speed_pulse, strict=True):
+      radar = make_radar(make_lead(status=True, d_rel=distance, v_lead_k=speed, radar_track_id=4887),
+                         make_lead(status=True, d_rel=6.08, v_lead_k=0.0, radar_track_id=4905))
+      held = update(controller, radar, base_speed=8.0, v_ego=0.0)
+      assert held.state == AccelControllerState.stopHold
+      assert held.target_speed == 0.0 and not held.launching
+
+    results = [
+      update(controller, make_radar(make_lead(status=True, d_rel=6.04 + (frame + 1) * 0.1, v_lead_k=2.0, radar_track_id=4887),
+                                    make_lead(status=True, d_rel=6.12 + (frame + 1) * 0.1, v_lead_k=2.0, radar_track_id=4905)),
+             base_speed=8.0, v_ego=0.0)
+      for frame in range(STOP_HOLD_EXIT_FRAMES)
+    ]
+
+    assert all(result.state == AccelControllerState.stopHold for result in results[:-1])
+    assert results[-1].launching and results[-1].departure_launching
+
+  def test_route_520_slow_lead_pulse_cannot_release_stop_hold_but_real_departure_can(self):
+    controller = make_controller()
+    enter_stop_hold(controller, v_ego=0.0)
+    speeds = (0.01, 0.03, 0.07, 0.10, 0.14, 0.20, 0.26, 0.32, 0.34, 0.33, 0.31, 0.28, 0.24, 0.20, 0.15, 0.09, 0.05, 0.01)
+    offsets = (0.00, 0.00, 0.00, 0.01, 0.01, 0.02, 0.03, 0.04, 0.06, 0.07, 0.09, 0.11, 0.12, 0.13, 0.14, 0.15, 0.15, 0.16)
+
+    for offset, speed in zip(offsets, speeds, strict=True):
+      pulse = make_radar(make_lead(status=True, d_rel=6.0 + offset, v_lead_k=speed, radar_track_id=2133))
+      held = update(controller, pulse, base_speed=8.0, v_ego=0.0)
+      assert held.state == AccelControllerState.stopHold
+      assert held.target_speed == 0.0 and not held.launching
+
+    stopped = make_radar(make_lead(status=True, d_rel=6.2, v_lead_k=0.0, radar_track_id=2133))
+    assert update(controller, stopped, base_speed=8.0, v_ego=0.0).state == AccelControllerState.stopHold
+    results = [update(controller, make_radar(make_lead(status=True, d_rel=6.2 + (frame + 1) * 0.1, v_lead_k=2.0, radar_track_id=2133)),
+                      base_speed=8.0, v_ego=0.0) for frame in range(STOP_HOLD_EXIT_FRAMES)]
+
+    assert all(result.state == AccelControllerState.stopHold for result in results[:-1])
+    assert results[-1].launching and results[-1].departure_launching
+
+  def test_fast_speed_signal_that_slows_without_separating_never_releases_stop_hold(self):
+    controller = make_controller()
+    enter_stop_hold(controller, v_ego=0.0)
+    departing = make_radar(make_lead(status=True, d_rel=5.9, v_lead_k=2.0))
+    results = [update(controller, departing, base_speed=8.0, v_ego=0.0) for _ in range(STOP_HOLD_EXIT_FRAMES)]
+    slowed = update(controller, make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.2)), base_speed=8.0, v_ego=0.0)
+
+    assert all(result.state == AccelControllerState.stopHold and not result.launching for result in results)
+    assert slowed.state == AccelControllerState.stopHold
+    assert slowed.target_speed == 0.0 and not slowed.launching
+
+  def test_stop_hold_reseeds_departure_distance_when_radar_track_is_replaced(self):
+    controller = make_controller()
+    original = make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.0, radar_track_id=100))
+    update(controller, original, base_speed=8.0, v_ego=0.0, previous_should_stop=True)
+    replacement = make_radar(make_lead(status=True, d_rel=6.4, v_lead_k=0.2, radar_track_id=200))
+    results = [update(controller, replacement, base_speed=8.0, v_ego=0.0) for _ in range(CAP_FILTER_FRAMES + STOP_HOLD_EXIT_FRAMES)]
+
+    assert all(result.state == AccelControllerState.stopHold for result in results)
+    assert all(result.target_speed == 0.0 and not result.launching for result in results)
+
+  def test_stop_hold_rejects_persistent_same_track_distance_step(self):
+    controller = make_controller()
+    original = make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.0, radar_track_id=100))
+    update(controller, original, base_speed=8.0, v_ego=0.0, previous_should_stop=True)
+    stepped = make_radar(make_lead(status=True, d_rel=6.4, v_lead_k=0.2, radar_track_id=100))
+    results = [update(controller, stepped, base_speed=8.0, v_ego=0.0) for _ in range(CAP_FILTER_FRAMES + STOP_HOLD_EXIT_FRAMES)]
+
+    assert all(result.state == AccelControllerState.stopHold for result in results)
+    assert all(result.target_speed == 0.0 and not result.launching for result in results)
+
+  def test_stop_hold_reseeds_non_selected_departure_lead_when_its_track_is_replaced(self):
+    controller = make_controller()
+    original = make_radar(make_lead(status=True, d_rel=3.0, v_lead_k=0.2, radar_track_id=100),
+                          make_lead(status=True, d_rel=6.0, v_lead_k=0.1, radar_track_id=200))
+    update(controller, original, base_speed=8.0, v_ego=0.0, previous_should_stop=True)
+    replacement = make_radar(make_lead(status=True, d_rel=3.4, v_lead_k=0.2, radar_track_id=101),
+                             make_lead(status=True, d_rel=6.0, v_lead_k=0.1, radar_track_id=200))
+    envelope = controller.calculate_energy_envelope(replacement, 0.0, 0.0, AccelProfile.normal)
+    results = [update(controller, replacement, base_speed=8.0, v_ego=0.0) for _ in range(CAP_FILTER_FRAMES + STOP_HOLD_EXIT_FRAMES)]
+
+    assert envelope.selected_lead == 1 and envelope.departure_lead_index == 0
+    assert all(result.state == AccelControllerState.stopHold for result in results)
+    assert all(result.target_speed == 0.0 and not result.launching for result in results)
+
+  def test_genuine_departure_survives_lead_slot_and_track_flicker(self):
+    controller = make_controller()
+    enter_stop_hold(controller, v_ego=0.0)
+    results = []
+    for frame in range(STOP_HOLD_EXIT_FRAMES):
+      moving = make_lead(status=True, d_rel=6.0 + (frame + 1) * 0.1, v_lead_k=2.0, radar_track_id=100)
+      secondary = make_lead(status=True, d_rel=7.0, v_lead_k=2.0, radar_track_id=200)
+      results.append(update(controller, make_radar(moving, secondary) if frame % 2 == 0 else make_radar(secondary, moving),
+                            base_speed=8.0, v_ego=0.0))
+
+    assert all(result.state == AccelControllerState.stopHold for result in results[:-1])
+    assert results[-1].launching and results[-1].departure_launching
+
+  def test_fast_speed_glitch_without_distance_progress_stays_in_stop_hold(self):
+    controller = make_controller()
+    stopped = make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.0, radar_track_id=100))
+    update(controller, stopped, base_speed=8.0, v_ego=0.0, previous_should_stop=True)
+    glitch = make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.9, radar_track_id=100))
+    results = [update(controller, glitch, base_speed=8.0, v_ego=0.0) for _ in range(STOP_HOLD_EXIT_FRAMES)]
+    results.append(update(controller, stopped, base_speed=8.0, v_ego=0.0))
+
+    assert all(result.state == AccelControllerState.stopHold for result in results)
+    assert all(result.target_speed == 0.0 and not result.launching for result in results)
+
+  def test_moving_departure_does_not_reenter_stop_hold_when_speed_crosses_exit_threshold(self):
+    controller = make_controller()
+    stopped = make_radar(make_lead(status=True, d_rel=6.0, v_lead_k=0.0, radar_track_id=100))
+    update(controller, stopped, base_speed=8.0, v_ego=0.0, previous_should_stop=True)
+    distance = 6.0
+    results = []
+    for speed in (0.81, 0.82, 0.83, 0.84, 0.79, 0.76, 0.74, 0.72):
+      distance += speed * DT_MDL
+      radar = make_radar(make_lead(status=True, d_rel=distance, v_lead_k=speed, radar_track_id=100))
+      results.append(update(controller, radar, base_speed=8.0, v_ego=0.0))
+
+    launch_index = next(index for index, result in enumerate(results) if result.launching)
+    assert all(result.state != AccelControllerState.stopHold for result in results[launch_index:])
+    assert all(result.target_speed > 0.0 and result.departure_launching for result in results[launch_index:])
+
+  def test_reused_radar_does_not_pulse_stop_hold_or_departure_target(self):
+    controller = make_controller()
+    enter_stop_hold(controller)
+
+    for frame in range(STOP_HOLD_EXIT_FRAMES):
+      departing = make_radar(make_lead(status=True, d_rel=6.0 + (frame + 1) * 0.1, v_lead_k=2.0))
+      fresh = update(controller, departing, base_speed=8.0, v_ego=0.1)
+      held = update(controller, departing, base_speed=8.0, v_ego=0.1, radar_fresh=False,
+                    previous_mpc_source=LongitudinalPlanSource.lead0, planner_speed=0.01)
+      assert held.target_speed == pytest.approx(fresh.target_speed)
+      assert held.state == fresh.state
+      assert held.selected_lead == fresh.selected_lead == 0
+      assert held.effective_accel_max == pytest.approx(fresh.effective_accel_max)
+      if frame < STOP_HOLD_EXIT_FRAMES - 1:
+        assert fresh.state == AccelControllerState.stopHold
+        assert math.isinf(fresh.effective_accel_max)
+        assert fresh.mpc_accel_max is None
+
+    assert fresh.launching and held.launching
+    assert fresh.departure_launching and held.departure_launching
+    assert fresh.target_speed == held.target_speed == 8.0
+    assert fresh.effective_accel_max == pytest.approx(fresh.positive_accel_max)
+
+  def test_single_frame_departure_stays_at_zero_target_without_an_accel_ceiling(self):
+    controller = make_controller()
+    enter_stop_hold(controller)
+    departing = make_radar(make_lead(status=True, d_rel=8.0, v_lead_k=2.0))
+    stopped = make_radar(make_lead(status=True, d_rel=8.0, v_lead_k=0.0))
+
+    warm = update(controller, departing, base_speed=8.0, v_ego=0.0)
+    held = update(controller, stopped, base_speed=8.0, v_ego=0.0)
+
+    assert warm.state == held.state == AccelControllerState.stopHold
+    assert not warm.launching and not held.launching
+    assert math.isinf(warm.effective_accel_max) and warm.mpc_accel_max is None
+    assert math.isinf(held.effective_accel_max) and held.mpc_accel_max is None
+    assert held.target_speed == 0.0
+
+  def test_previous_stop_without_a_lead_does_not_latch_stop_hold(self):
+    result = update(
+      make_controller(), base_speed=8.0, v_ego=0.0, previous_should_stop=True,
+      previous_mpc_source=LongitudinalPlanSource.cruise,
+    )
+
+    assert result.state != AccelControllerState.stopHold
+    assert result.target_speed >= LAUNCH_TARGET_HEADROOM
+
+  def test_previous_lead_stop_survives_a_fresh_full_field_dropout(self):
+    result = update(
+      make_controller(), base_speed=8.0, v_ego=0.0, previous_should_stop=True,
+      previous_mpc_source=LongitudinalPlanSource.lead0,
+    )
+
+    assert result.state == AccelControllerState.stopHold
+    assert result.target_speed == 0.0
+    assert math.isinf(result.effective_accel_max)
+    assert result.mpc_accel_max is None
+
+  def test_stop_hold_without_usable_lead_stays_pinned_to_zero(self):
+    controller = make_controller()
+    enter_stop_hold(controller)
+    missing = update(controller, base_speed=8.0, v_ego=0.1)
+
+    assert missing.state == AccelControllerState.stopHold
+    assert missing.target_speed == 0.0
+    assert math.isinf(missing.effective_accel_max)
+    assert missing.mpc_accel_max is None
+
+  def test_confirmed_creep_departure_does_not_reenter_stop_hold(self):
+    controller = make_controller()
+    enter_stop_hold(controller, v_ego=0.0)
+    results = []
+    for frame in range(60):
+      creeping = make_radar(make_lead(status=True, d_rel=6.0 + frame * 0.01, v_lead_k=0.2))
+      results.append(update(controller, creeping, base_speed=8.0, v_ego=0.0))
+
+    launch_index = next(index for index, result in enumerate(results) if result.launching)
+    assert launch_index * DT_MDL <= 2.0
+    assert all(result.state != AccelControllerState.stopHold for result in results[launch_index:])
+    assert all(result.target_speed > 0.0 for result in results[launch_index:])
+
+  def test_departure_dropout_holds_without_resurrecting_stop_hold(self):
+    controller = make_controller()
+    enter_stop_hold(controller)
+    results = [update(controller, make_radar(make_lead(status=True, d_rel=6.0 + (frame + 1) * 0.1, v_lead_k=2.0)),
+                      base_speed=8.0, v_ego=0.1) for frame in range(CAP_FILTER_FRAMES + STOP_HOLD_EXIT_FRAMES)]
+    launched = next(result for result in results if result.launching)
+    before_dropout = results[-1]
+    dropout = [update(controller, base_speed=8.0, v_ego=0.1) for _ in range(controller.lead_loss_hold_frames + 1)]
+
+    assert launched.launching
+    assert all(result.state != AccelControllerState.stopHold for result in dropout)
+    assert all(result.target_speed <= before_dropout.target_speed + 1e-9 for result in dropout[:controller.lead_loss_hold_frames - 1])
+    assert dropout[controller.lead_loss_hold_frames - 1].target_speed > before_dropout.target_speed
+    assert dropout[-1].launching
+
+  def test_invalid_departure_geometry_returns_to_stop_hold(self):
+    controller = make_controller()
+    enter_stop_hold(controller)
+    for frame in range(CAP_FILTER_FRAMES + STOP_HOLD_EXIT_FRAMES):
+      departing = make_radar(make_lead(status=True, d_rel=6.0 + (frame + 1) * 0.1, v_lead_k=2.0))
+      launched = update(controller, departing, base_speed=8.0, v_ego=0.1)
+    invalid = make_radar(make_lead(status=True, d_rel=math.nan, v_lead_k=2.0))
+    guarded = update(controller, invalid, base_speed=8.0, v_ego=0.1)
+    assert launched.launching
+    assert guarded.state == AccelControllerState.stopHold
+    assert guarded.target_speed == 0.0
+
+  def test_stale_timeout_fully_resets_live_and_shadow(self):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      restricted = update(controller, restrictive_radar())
+    stale_frames = math.ceil(RADAR_STALE_TIMEOUT / DT_MDL)
+    held = [update(controller, radar_fresh=False) for _ in range(stale_frames - 1)]
+    timed_out = update(controller, radar_fresh=False)
+
+    assert all(result.active and result.target_speed == pytest.approx(restricted.target_speed) for result in held)
+    assert not timed_out.active and not timed_out.shadow_active
+    assert timed_out.target_speed == timed_out.base_speed
+    assert timed_out.mpc_accel_max is None
+    assert timed_out.selected_lead == -1 and math.isinf(timed_out.raw_energy_cap)
+    assert controller.live.pace is None and controller.shadow.pace is None
+
+  @pytest.mark.parametrize("override", [{"enabled": False}, {"acc_selected": False}, {"engaged": False}, {"cruise_initialized": False}, {"a_ego": math.inf}])
+  def test_bypass_or_invalid_context_resets_live_state(self, override):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, restrictive_radar())
+    result = update(controller, restrictive_radar(), **override)
+
+    assert not result.active
+    assert result.target_speed == result.base_speed
+    assert result.mpc_accel_max is None
+    assert controller.live.pace is None
+
+  def test_shadow_history_never_steps_into_live_actuation(self):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 20):
+      shadow = update(controller, restrictive_radar(), acc_selected=False)
+    live = update(controller)
+
+    assert shadow.shadow_active and not shadow.active
+    assert shadow.shadow_filtered_cap < math.inf
+    assert live.active and live.target_speed == live.base_speed
+    assert math.isinf(live.live_filtered_cap)
+
+  def test_explicit_reset_clears_every_path_field(self):
+    controller = make_controller()
+    for _ in range(CAP_FILTER_FRAMES + 10):
+      update(controller, restrictive_radar())
+    controller.reset()
+
+    assert controller._held_envelope is None
+    for path in (controller.live, controller.shadow):
+      assert path.pace is None and path.matched_accel_limit is None
+      assert path.state == AccelControllerState.inactive
+      assert path.departure_frames == path.active_frames == path.lead_loss_frames == path.stale_frames == 0
+      assert not path.departure_motion_samples
+      assert not path.launching and not path.departure_launch and not path.matched_lead
+      assert not path.braking_limited and not path.braking_handoff and not path.pace_reserve_armed
+      assert math.isinf(path.filtered_cap) and math.isinf(path.filtered_lead_speed) and path.filtered_lead_accel == 0.0

sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller_interfaces.py

@@ -0,0 +1,480 @@
+from collections import deque
+import inspect
+import math
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+
+from cereal import custom, log, messaging
+from opendbc.car.interfaces import ACCEL_MAX, ACCEL_MIN
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import N, LongitudinalMpc
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalPlanSource as MpcLongitudinalPlanSource
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality import AccelControllerState, AccelProfile
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import (
+  MPC_DECEL_JERK_COST_MULTIPLIER, MPC_DECEL_JERK_MAX_REQUIRED_DECEL, MPC_DECEL_JERK_MAX_TARGET_REDUCTION,
+)
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP, LongitudinalPlanSource
+
+
+def radar_state():
+  return messaging.new_message("radarState").radarState
+
+
+class PlannerSM(dict):
+  def __init__(self, radar_log_mono_time: int):
+    super().__init__(
+      radarState=radar_state(),
+      carState=SimpleNamespace(vEgo=10.0, aEgo=0.0),
+      selfdriveState=SimpleNamespace(personality=0),
+    )
+    self.valid = {"radarState": True}
+    self.alive = {"radarState": True}
+    self.logMonoTime = {"radarState": radar_log_mono_time}
+
+
+def planner_for_mpc_test(*, target_speed=15.0, active=True, is_e2e=False, mpc_accel_max=None,
+                         state=AccelControllerState.free, selected_lead=-1, launching=False,
+                         departure_launching=False, required_decel=0.0,
+                         mpc_source=MpcLongitudinalPlanSource.lead0):
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  is_e2e_calls = []
+  planner.is_e2e = lambda _sm: is_e2e_calls.append(True) or is_e2e
+  planner._accel_jerk_smoothing_blocked = False
+  planner._accel_required_decel_samples = deque(maxlen=4)
+  planner._accel_required_decel_lead = -1
+  planner._dt = DT_MDL
+  planner.mpc = SimpleNamespace(source=mpc_source, last_solution_status=0)
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(
+    planner, "accel_controller_result",
+    SimpleNamespace(
+      target_speed=target_speed, active=active, state=state, selected_lead=selected_lead,
+      launching=launching, departure_launching=departure_launching,
+      required_decel=required_decel, mpc_accel_max=mpc_accel_max,
+    ),
+  )
+  return planner, is_e2e_calls
+
+
+def run_controller_mpc(planner, *, mpc_v_cruise=20.0, force_decel=False):
+  calls = []
+  planner._run_mpc = lambda *args, **kwargs: calls.append((args, kwargs))
+  is_e2e = planner.update_accel_controller_mpc(
+    {}, 20.0, mpc_v_cruise, True, reset_state=False, cruise_initialized=True,
+    available_accel_max=ACCEL_MAX, previous_should_stop=False, force_decel=force_decel,
+  )
+  return is_e2e, calls
+
+
+def test_profile_enum_keeps_toyota_importable():
+  expected = {"eco": 0, "normal": 1, "sport": 2}
+  assert custom.LongitudinalPlanSP.AccelerationPersonality.schema.enumerants == expected
+  assert custom.LongitudinalPlanSP.AccelController.Profile.schema.enumerants == expected
+  from opendbc.car.toyota.carstate import AccelPersonality, CarState
+
+  assert AccelPersonality.schema.enumerants == expected
+  assert CarState.__module__ == "opendbc.car.toyota.carstate"
+  assert "Params()" not in inspect.getsource(CarState.update)
+
+
+def test_mpc_accepts_optional_acceleration_ceiling_without_changing_stock_bounds():
+  assert tuple(inspect.signature(LongitudinalMpc.update).parameters) == ("self", "radarstate", "v_cruise", "personality", "accel_max")
+  mpc = LongitudinalMpc()
+  radar = radar_state()
+  mpc.run = lambda: None
+
+  mpc.set_cur_state(10.0, 0.8)
+  mpc.update(radar, 30.0)
+  np.testing.assert_array_equal(mpc.params[:, 0], ACCEL_MIN)
+  np.testing.assert_array_equal(mpc.params[:, 1], ACCEL_MAX)
+
+  requested_ceiling = np.full(N + 1, 0.4)
+  mpc.update(radar, 30.0, accel_max=requested_ceiling)
+  np.testing.assert_array_equal(mpc.params[:, 0], ACCEL_MIN)
+  assert mpc.params[0, 1] == pytest.approx(0.8)
+  np.testing.assert_array_equal(mpc.params[1:, 1], requested_ceiling[1:])
+
+  for malformed_ceiling in ("bad", [0.4] * N, np.full(N + 1, math.nan), [10**10000] * (N + 1)):
+    mpc.update(radar, 30.0, accel_max=malformed_ceiling)
+    np.testing.assert_array_equal(mpc.params[:, 0], ACCEL_MIN)
+    np.testing.assert_array_equal(mpc.params[:, 1], ACCEL_MAX)
+
+
+def test_mpc_jerk_cost_multiplier_is_backward_compatible_and_does_not_change_other_costs():
+  mpc = LongitudinalMpc.__new__(LongitudinalMpc)
+  captured = []
+  mpc.set_cost_weights = lambda costs, constraints: captured.append((np.asarray(costs), np.asarray(constraints)))
+
+  mpc.set_weights(True, personality=log.LongitudinalPersonality.standard)
+  default_costs, default_constraints = captured[-1]
+  mpc.set_weights(True, personality=log.LongitudinalPersonality.standard, jerk_cost_multiplier=1.0)
+  explicit_costs, explicit_constraints = captured[-1]
+  mpc.set_weights(True, personality=log.LongitudinalPersonality.standard, jerk_cost_multiplier=1.2)
+  smoothed_costs, smoothed_constraints = captured[-1]
+
+  np.testing.assert_array_equal(explicit_costs, default_costs)
+  np.testing.assert_array_equal(explicit_constraints, default_constraints)
+  np.testing.assert_array_equal(smoothed_costs[:-1], default_costs[:-1])
+  assert smoothed_costs[-1] == pytest.approx(default_costs[-1] * 1.2)
+  np.testing.assert_array_equal(smoothed_constraints, default_constraints)
+
+  mpc.set_weights(False, personality=log.LongitudinalPersonality.standard, jerk_cost_multiplier=1.2)
+  assert captured[-1][0][-2] == 0.0
+  assert captured[-1][0][-1] == pytest.approx(default_costs[-1] * 1.2)
+
+
+def test_inherited_planner_uses_real_state_raw_radar_and_one_mpc_solve():
+  radar = radar_state()
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  planner.a_desired = -0.2
+  planner.v_desired_filter = SimpleNamespace(x=12.0)
+  calls = []
+
+  def update_mpc(radar_arg, target, *, personality, accel_max):
+    calls.append(("update", radar_arg, target, personality, accel_max))
+
+  planner.mpc = SimpleNamespace(
+    set_weights=lambda constraint, personality, jerk_cost_multiplier: calls.append(
+      ("weights", constraint, personality, jerk_cost_multiplier),
+    ),
+    set_cur_state=lambda speed, accel: calls.append(("state", speed, accel)),
+    update=update_mpc,
+  )
+  ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
+  sm = {"radarState": radar, "selfdriveState": SimpleNamespace(personality=2)}
+  planner._run_mpc(sm, 17.5, True, ceiling, jerk_cost_multiplier=1.2)
+
+  assert calls == [
+    ("weights", True, 2, 1.2),
+    ("state", 12.0, -0.2),
+    ("update", radar, 17.5, 2, ceiling),
+  ]
+  assert calls[-1][1] is radar
+
+
+def test_active_acc_uses_target_and_ceiling_in_exactly_one_solve():
+  ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
+  planner, mode_calls = planner_for_mpc_test(mpc_accel_max=ceiling)
+  is_e2e, calls = run_controller_mpc(planner)
+
+  assert not is_e2e
+  assert len(mode_calls) == 1
+  assert calls == [(({}, 15.0, True, ceiling), {"jerk_cost_multiplier": 1.0})]
+
+
+def test_valid_lead_stop_hold_preplans_from_raw_target_without_an_accel_ceiling():
+  planner, _ = planner_for_mpc_test(
+    target_speed=0.0, mpc_accel_max=None, state=AccelControllerState.stopHold, selected_lead=0,
+  )
+  _, calls = run_controller_mpc(planner)
+
+  assert calls == [(({}, 20.0, True, None), {"jerk_cost_multiplier": 1.0})]
+
+
+def test_missing_lead_stop_hold_keeps_zero_mpc_target_without_an_accel_ceiling():
+  planner, _ = planner_for_mpc_test(
+    target_speed=0.0, mpc_accel_max=None, state=AccelControllerState.stopHold, selected_lead=-1,
+  )
+  _, calls = run_controller_mpc(planner)
+
+  assert calls == [(({}, 0.0, True, None), {"jerk_cost_multiplier": 1.0})]
+
+
+@pytest.mark.parametrize(
+  ("active", "departure_launching", "is_e2e", "expected"),
+  [
+    (True, True, False, False),
+    (True, False, False, True),
+    (False, True, False, True),
+    (True, True, True, True),
+  ],
+)
+def test_only_confirmed_live_acc_departure_clears_should_stop(active, departure_launching, is_e2e, expected):
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  planner.accel_controller_result = SimpleNamespace(
+    active=active, departure_launching=departure_launching, state=AccelControllerState.stopHold,
+  )
+  assert planner.accel_controller_should_stop(True, is_e2e) is expected
+  expected_hold = active and not departure_launching and not is_e2e
+  assert planner.accel_controller_should_stop(False, is_e2e) is expected_hold
+
+
+@pytest.mark.parametrize(("active", "is_e2e"), [(False, False), (True, True)])
+def test_disabled_or_e2e_is_an_exact_mpc_bypass(active, is_e2e):
+  ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
+  planner, mode_calls = planner_for_mpc_test(active=active, is_e2e=is_e2e, mpc_accel_max=ceiling)
+  returned_e2e, calls = run_controller_mpc(planner)
+
+  assert returned_e2e is is_e2e
+  assert len(mode_calls) == 1
+  assert calls == [(({}, 20.0, True, None), {"jerk_cost_multiplier": 1.0})]
+
+
+def test_force_decel_target_remains_authoritative_and_disables_ceiling():
+  ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
+  planner, mode_calls = planner_for_mpc_test(mpc_accel_max=ceiling)
+  _, calls = run_controller_mpc(planner, mpc_v_cruise=0.0, force_decel=True)
+
+  assert len(mode_calls) == 1
+  assert calls == [(({}, 0.0, True, None), {"jerk_cost_multiplier": 1.0})]
+
+
+def test_previous_mpc_failure_gets_one_stock_recovery_cycle():
+  ceiling = tuple(np.linspace(0.8, 0.4, N + 1))
+  planner, mode_calls = planner_for_mpc_test(mpc_accel_max=ceiling)
+  resets = []
+  planner.accel_controller = SimpleNamespace(reset=lambda: resets.append(True))
+  planner.mpc = SimpleNamespace(last_solution_status=4)
+
+  _, failed_recovery_calls = run_controller_mpc(planner)
+  assert resets == [True]
+  assert len(mode_calls) == 1
+  assert failed_recovery_calls == [(({}, 20.0, True, None), {"jerk_cost_multiplier": 1.0})]
+
+  planner.mpc.last_solution_status = 0
+  _, recovered_calls = run_controller_mpc(planner)
+  assert resets == [True]
+  assert len(mode_calls) == 2
+  assert recovered_calls == [(({}, 15.0, True, ceiling), {"jerk_cost_multiplier": 1.0})]
+
+
+@pytest.mark.parametrize(
+  "mpc_source",
+  (MpcLongitudinalPlanSource.cruise, MpcLongitudinalPlanSource.lead0, MpcLongitudinalPlanSource.lead1),
+)
+def test_routine_governor_restriction_forwards_the_jerk_cost_multiplier(mpc_source):
+  planner, _ = planner_for_mpc_test(
+    state=AccelControllerState.restrict, selected_lead=0, required_decel=0.30,
+    mpc_source=mpc_source,
+  )
+  _, calls = run_controller_mpc(planner)
+
+  assert calls == [(({}, 15.0, True, None), {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER})]
+
+
+def test_ineligible_required_decel_blocks_smoothing_only_until_the_restriction_episode_ends():
+  planner, _ = planner_for_mpc_test(
+    state=AccelControllerState.restrict, selected_lead=0, required_decel=0.30,
+  )
+  _, initial_calls = run_controller_mpc(planner)
+  routine_result = planner.accel_controller_result
+  assert initial_calls[0][1] == {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER}
+
+  ineligible_result = SimpleNamespace(**(vars(routine_result) | {"required_decel": MPC_DECEL_JERK_MAX_REQUIRED_DECEL}))
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", ineligible_result)
+  _, ineligible_calls = run_controller_mpc(planner)
+  assert ineligible_calls[0][1] == {"jerk_cost_multiplier": 1.0}
+
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", routine_result)
+  _, flicker_calls = run_controller_mpc(planner)
+  assert flicker_calls[0][1] == {"jerk_cost_multiplier": 1.0}
+
+  free_result = SimpleNamespace(**(vars(routine_result) | {"state": AccelControllerState.free, "target_speed": 20.0}))
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", free_result)
+  run_controller_mpc(planner)
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", routine_result)
+  _, rearmed_calls = run_controller_mpc(planner)
+  assert rearmed_calls[0][1] == {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER}
+
+
+def test_consistently_tightening_lead_releases_smoothing_until_the_restriction_ends():
+  planner, _ = planner_for_mpc_test(
+    state=AccelControllerState.restrict, selected_lead=0, required_decel=0.18,
+  )
+  _, calls = run_controller_mpc(planner)
+  routine_result = planner.accel_controller_result
+  multipliers = [calls[0][1]["jerk_cost_multiplier"]]
+  for required_decel in (0.20, 0.23, 0.25):
+    result = SimpleNamespace(**(vars(routine_result) | {"required_decel": required_decel}))
+    planner.update_accel_controller = lambda *_args, result=result, **_kwargs: setattr(planner, "accel_controller_result", result)
+    _, calls = run_controller_mpc(planner)
+    multipliers.append(calls[0][1]["jerk_cost_multiplier"])
+
+  assert multipliers == [MPC_DECEL_JERK_COST_MULTIPLIER] * 3 + [1.0]
+
+  easing_result = SimpleNamespace(**(vars(routine_result) | {"required_decel": 0.20}))
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", easing_result)
+  _, calls = run_controller_mpc(planner)
+  assert calls[0][1] == {"jerk_cost_multiplier": 1.0}
+
+  free_result = SimpleNamespace(**(vars(routine_result) | {"state": AccelControllerState.free, "target_speed": 20.0}))
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", free_result)
+  run_controller_mpc(planner)
+  planner.update_accel_controller = lambda *_args, **_kwargs: setattr(planner, "accel_controller_result", routine_result)
+  _, calls = run_controller_mpc(planner)
+  assert calls[0][1] == {"jerk_cost_multiplier": MPC_DECEL_JERK_COST_MULTIPLIER}
+
+
+def test_one_frame_required_decel_noise_does_not_disable_routine_smoothing():
+  planner, _ = planner_for_mpc_test(
+    state=AccelControllerState.restrict, selected_lead=0, required_decel=0.18,
+  )
+  _, calls = run_controller_mpc(planner)
+  routine_result = planner.accel_controller_result
+  multipliers = [calls[0][1]["jerk_cost_multiplier"]]
+  for required_decel in (0.24, 0.19, 0.22):
+    result = SimpleNamespace(**(vars(routine_result) | {"required_decel": required_decel}))
+    planner.update_accel_controller = lambda *_args, result=result, **_kwargs: setattr(planner, "accel_controller_result", result)
+    _, calls = run_controller_mpc(planner)
+    multipliers.append(calls[0][1]["jerk_cost_multiplier"])
+
+  assert multipliers == [MPC_DECEL_JERK_COST_MULTIPLIER] * 4
+
+
+@pytest.mark.parametrize(
+  ("state", "selected_lead", "launching", "required_decel", "target_speed", "mpc_source"),
+  [
+    (AccelControllerState.free, 0, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.hold, 0, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.stopHold, 0, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, -1, False, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, True, 0.30, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, MPC_DECEL_JERK_MAX_REQUIRED_DECEL, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, math.inf, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, math.nan, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, 0.0, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, -0.01, 15.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, 0.30, 20.0 - MPC_DECEL_JERK_MAX_TARGET_REDUCTION, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, 0.30, 20.0, MpcLongitudinalPlanSource.cruise),
+    (AccelControllerState.restrict, 0, False, 0.30, 25.0, MpcLongitudinalPlanSource.cruise),
+  ],
+)
+def test_non_routine_or_stock_lead_states_keep_stock_jerk_cost(
+  state, selected_lead, launching, required_decel, target_speed, mpc_source,
+):
+  planner, _ = planner_for_mpc_test(
+    state=state, selected_lead=selected_lead, launching=launching,
+    required_decel=required_decel, target_speed=target_speed, mpc_source=mpc_source,
+  )
+  _, calls = run_controller_mpc(planner)
+
+  assert calls[0][1] == {"jerk_cost_multiplier": 1.0}
+
+
+def test_controller_receives_previous_mpc_state_and_cached_radar_freshness():
+  radar = radar_state()
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  planner.accel_personality = int(AccelProfile.normal)
+  planner.accel_personality_enabled = True
+  planner.accel_personality_available = True
+  planner._radar_fresh_this_cycle = True
+  planner.a_desired = -0.4
+  planner.v_desired_filter = SimpleNamespace(x=9.5)
+  planner.mpc = SimpleNamespace(source=log.LongitudinalPlan.LongitudinalPlanSource.lead0)
+  received = {}
+  planner.accel_controller = SimpleNamespace(
+    update=lambda *_args, **kwargs: received.update(kwargs) or SimpleNamespace(target_speed=12.0),
+  )
+  sm = {
+    "radarState": radar,
+    "carState": SimpleNamespace(vEgo=10.0, aEgo=-0.2),
+    "selfdriveState": SimpleNamespace(personality=0),
+  }
+  planner.update_accel_controller(sm, 20.0, True, True, True, ACCEL_MAX, False)
+
+  assert received["previous_mpc_source"] == log.LongitudinalPlan.LongitudinalPlanSource.lead0
+  assert received["planner_speed"] == 9.5
+  assert received["planner_accel"] == -0.4
+  assert received["radar_fresh"] is True
+
+
+def test_controller_is_disabled_when_openpilot_longitudinal_control_is_unavailable():
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  planner.accel_personality = int(AccelProfile.normal)
+  planner.accel_personality_enabled = True
+  planner.accel_personality_available = False
+  planner._radar_fresh_this_cycle = True
+  planner.accel_controller = SimpleNamespace(
+    update=lambda *_args, **kwargs: SimpleNamespace(target_speed=20.0, received_enabled=kwargs["enabled"]),
+  )
+  planner.a_desired = 0.0
+  planner.v_desired_filter = SimpleNamespace(x=10.0)
+  planner.mpc = SimpleNamespace(source=MpcLongitudinalPlanSource.cruise)
+  sm = {"radarState": radar_state(), "carState": SimpleNamespace(vEgo=10.0, aEgo=0.0), "selfdriveState": SimpleNamespace(personality=0)}
+
+  planner.update_accel_controller(sm, 20.0, True, True, True, ACCEL_MAX, False)
+
+  assert not planner.accel_controller_result.received_enabled
+
+
+def test_radar_freshness_is_computed_once_and_shared_with_dec_and_controller():
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  planner._radar_log_mono_time = None
+  planner._radar_fresh_this_cycle = True
+  planner._read_accel_controller_params = lambda: None
+  planner.events_sp = SimpleNamespace(clear=lambda: None)
+  dec_freshness = []
+  planner.dec = SimpleNamespace(update=lambda _sm, *, radar_fresh, planner_accel: dec_freshness.append(radar_fresh))
+  planner.e2e_alerts_helper = SimpleNamespace(update=lambda *_args: None)
+  planner.accel_personality = int(AccelProfile.normal)
+  planner.accel_personality_enabled = True
+  planner.accel_personality_available = True
+  planner.output_a_target = 0.0
+  planner.a_desired = 0.0
+  planner.v_desired_filter = SimpleNamespace(x=10.0)
+  planner.mpc = SimpleNamespace(source=log.LongitudinalPlan.LongitudinalPlanSource.cruise)
+  controller_freshness = []
+  planner.accel_controller = SimpleNamespace(
+    update=lambda *_args, **kwargs: controller_freshness.append(kwargs["radar_fresh"]) or SimpleNamespace(target_speed=20.0),
+  )
+
+  sm = PlannerSM(100)
+  for expected in (True, False):
+    planner.update(sm)
+    planner.update_accel_controller(sm, 20.0, True, True, True, ACCEL_MAX, False)
+    assert dec_freshness[-1] is expected and controller_freshness[-1] is expected
+
+  sm.logMonoTime["radarState"] = 101
+  planner.update(sm)
+  planner.update_accel_controller(sm, 20.0, True, True, True, ACCEL_MAX, False)
+  assert dec_freshness[-1] is True and controller_freshness[-1] is True
+
+
+def test_shadow_telemetry_publishes_controller_fields():
+  planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+  planner.source = LongitudinalPlanSource.cruise
+  planner.output_v_target = 20.0
+  planner.output_a_target = 0.0
+  planner.events_sp = SimpleNamespace(to_msg=list)
+  planner.dec = SimpleNamespace(mode=lambda: "acc", enabled=lambda: False, active=lambda: False)
+  planner.accel_controller_result = SimpleNamespace(
+    enabled=True, active=False, shadow_active=True, profile=AccelProfile.normal,
+    state=AccelControllerState.inactive, shadow_state=AccelControllerState.restrict,
+    base_speed=20.0, raw_energy_cap=15.0, live_filtered_cap=math.inf, shadow_filtered_cap=12.5,
+    selected_lead=1, usable_gap=30.0, closing_speed=5.0, required_decel=0.4,
+    profile_accel_max=math.inf, effective_accel_max=math.inf,
+  )
+  planner.scc = SimpleNamespace(
+    vision=SimpleNamespace(state=0, output_v_target=20.0, output_a_target=0.0, current_lat_acc=0.0, max_pred_lat_acc=0.0, is_enabled=False, is_active=False),
+    map=SimpleNamespace(state=0, output_v_target=20.0, output_a_target=0.0, is_enabled=False, is_active=False),
+  )
+  planner.resolver = SimpleNamespace(
+    speed_limit=0.0, speed_limit_last=0.0, speed_limit_final=0.0, speed_limit_final_last=0.0,
+    speed_limit_valid=False, speed_limit_last_valid=False, speed_limit_offset=0.0, distance=0.0,
+    source=custom.LongitudinalPlanSP.SpeedLimit.Source.none,
+  )
+  planner.sla = SimpleNamespace(
+    state=custom.LongitudinalPlanSP.SpeedLimit.AssistState.disabled, is_enabled=False, is_active=False,
+    output_v_target=20.0, output_a_target=0.0,
+  )
+  planner.e2e_alerts_helper = SimpleNamespace(green_light_alert=False, lead_depart_alert=False)
+  sent = {}
+  planner.publish_longitudinal_plan_sp(
+    SimpleNamespace(all_checks=lambda service_list: True),
+    SimpleNamespace(send=lambda service, message: sent.update({service: message})),
+  )
+
+  telemetry = sent["longitudinalPlanSP"].longitudinalPlanSP.accelController
+  assert telemetry.enabled and not telemetry.active and telemetry.shadowOnly
+  assert telemetry.profile == int(AccelProfile.normal)
+  assert telemetry.state == int(AccelControllerState.restrict)
+  assert telemetry.vTargetBase == pytest.approx(20.0)
+  assert telemetry.vTargetRaw == pytest.approx(15.0)
+  assert telemetry.vTargetShadow == pytest.approx(12.5)
+  assert telemetry.leadIndex == 1
+  assert telemetry.usableGap == pytest.approx(30.0)
+  assert telemetry.closingSpeed == pytest.approx(5.0)
+  assert telemetry.requiredDecel == pytest.approx(0.4)
+  assert telemetry.aMaxProfile == math.inf
+  assert telemetry.aMaxEffective == math.inf

sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_longcontrol_vehicle_interfaces.py

@@ -0,0 +1,83 @@
+import pytest
+
+from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.ford.values import CAR as FORD
+from opendbc.car.gm.values import CAR as GM
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
+
+
+VEHICLES = [
+  pytest.param(TOYOTA.TOYOTA_RAV4_TSS2, (True, False, 0.0, -2.0, 0.25, 0.25, 0.3), id="toyota-rav4-tss2"),
+  pytest.param(HONDA.HONDA_ACCORD, (True, False, 0.0, -2.0, 0.5, 0.5, 0.8), id="honda-accord"),
+  pytest.param(GM.CHEVROLET_BOLT_EUV, (True, False, 0.0, -2.0, 0.25, 0.25, 2.0), id="gm-bolt-euv"),
+  pytest.param(HYUNDAI.HYUNDAI_SONATA, (True, True, 1.0, -2.0, 0.1, 0.5, 0.8), id="hyundai-sonata"),
+  pytest.param(FORD.FORD_ESCAPE_MK4, (True, False, 0.0, -2.0, 0.5, 0.5, 0.8), id="ford-escape"),
+]
+
+
+def get_car_params(candidate):
+  fingerprint = gen_empty_fingerprint()
+  interface = interfaces[candidate]
+  CP = interface.get_params(candidate, fingerprint, [], True, False, False)
+  CP_SP = interface.get_params_sp(CP, candidate, fingerprint, [], True, False, False)
+  return CP, CP_SP
+
+
+@pytest.mark.parametrize(("candidate", "expected"), VEHICLES)
+def test_real_vehicle_longcontrol_stop_and_start(candidate, expected):
+  CP, CP_SP = get_car_params(candidate)
+  expected_long, expected_starting, *expected_tuning = expected
+
+  assert CP.openpilotLongitudinalControl is expected_long
+  assert CP.startingState is expected_starting
+  assert (CP.startAccel, CP.stopAccel, CP.vEgoStarting, CP.vEgoStopping, CP.stoppingDecelRate) == pytest.approx(expected_tuning)
+
+  stop_speeds = [CP.vEgoStopping - 0.01] * 2
+  drive_speeds = [CP.vEgoStopping + 0.01] * 2
+  _, should_stop = get_accel_from_plan(stop_speeds, [0.0, 0.0], [0.0, 1.0], vEgoStopping=CP.vEgoStopping)
+  _, should_drive = get_accel_from_plan(drive_speeds, [0.0, 0.0], [0.0, 1.0], vEgoStopping=CP.vEgoStopping)
+  assert should_stop
+  assert not should_drive
+
+  departure_state = long_control_state_trans(
+    CP,
+    CP_SP,
+    True,
+    LongCtrlState.stopping,
+    CP.vEgoStarting - 0.01,
+    should_drive,
+    brake_pressed=False,
+    cruise_standstill=False,
+  )
+  assert departure_state == (LongCtrlState.starting if CP.startingState else LongCtrlState.pid)
+  assert (
+    long_control_state_trans(
+      CP,
+      CP_SP,
+      True,
+      departure_state,
+      CP.vEgoStarting + 0.01,
+      should_drive,
+      brake_pressed=False,
+      cruise_standstill=False,
+    )
+    == LongCtrlState.pid
+  )
+
+  CS = structs.CarState()
+  CS.vEgo = 0.0
+  CS.aEgo = 0.0
+  control = LongControl(CP, CP_SP)
+
+  stopping_accel = control.update(True, CS, 0.0, should_stop, (-3.0, 2.0))
+  assert control.long_control_state == LongCtrlState.stopping
+  assert stopping_accel == pytest.approx(-CP.stoppingDecelRate * DT_CTRL)
+
+  departure_accel = control.update(True, CS, 0.0, should_drive, (-3.0, 2.0))
+  assert control.long_control_state == departure_state
+  assert departure_accel == pytest.approx(CP.startAccel)

sunnypilot/selfdrive/controls/lib/dec/constants.py

@@ -1,17 +1,48 @@
+from openpilot.common.realtime import DT_MDL
+
+
 class WMACConstants:
-  # Lead detection parameters
-  LEAD_WINDOW_SIZE = 6  # Stable detection window
-  LEAD_PROB = 0.45  # Balanced threshold for lead detection
+  TRAJECTORY_SIZE = 33
+  PARAM_READ_FRAMES = max(1, int(round(1.0 / DT_MDL)))
 
-  # Slow down detection parameters
-  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
-  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
+  EMERGENCY_HOLD_FRAMES = max(1, int(round(0.75 / DT_MDL)))
+  MIN_MODE_DURATION = {'acc': max(1, int(round(0.6 / DT_MDL))), 'blended': max(1, int(round(0.5 / DT_MDL)))}
+  ENTER_BLENDED_FRAMES = max(1, int(round(0.4 / DT_MDL)))
+  EXIT_BLENDED_FRAMES = max(1, int(round(0.35 / DT_MDL)))
+  STANDSTILL_FRAMES = max(1, int(round(0.2 / DT_MDL)))
 
-  # Optimized slow down distance curve - smooth and progressive
+  LEAD_PROB = 0.45
+  LEAD_EXIT_PROB = 0.25
+  LEAD_RISE_RATE = 1.0
+  LEAD_FALL_RATE = 0.35
+  RADAR_LEAD_CONTINUITY_FRAMES = max(1, int(round(1.0 / DT_MDL)))
+  RADAR_LEAD_DROPOUT_FRAMES = max(1, int(round(0.2 / DT_MDL)))
+  RADAR_STALE_FRAMES = max(1, int(round(0.5 / DT_MDL)))
+
+  SLOW_DOWN_PROB = 0.5
+  SLOW_DOWN_EXIT_PROB = 0.4
+  SLOW_DOWN_RISE_RATE = 0.65
+  SLOW_DOWN_FALL_RATE = 0.15
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
   SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
+  URGENT_SLOW_DOWN_PROB = 0.85
 
-  # Slowness detection parameters
-  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
-  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
-  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset
+  MODEL_DECEL_START = -0.5
+  MODEL_DECEL_RANGE = 2.0
+  MODEL_DECEL_TREND_FRAMES = 4
+  MODEL_DECEL_TREND_ACCEL = -0.075
+  MODEL_DECEL_TREND_RATE = 0.35
+  MODEL_DECEL_TREND_MAX_MPC_ACCEL = 0.075
+  MODEL_DECEL_TREND_MAX_COMMAND_STEP = 0.15
+  MODEL_DECEL_TREND_RELEASE_ACCEL = -0.02
+  ENDPOINT_URGENCY_GAIN = 1.3
+  CRITICAL_ENDPOINT_FACTOR = 0.3
+  CRITICAL_URGENCY_GAIN = 1.5
+  SPEED_URGENCY_MIN = 25.0
+  SPEED_URGENCY_RANGE = 80.0
+
+  SLOWNESS_PROB = 0.55
+  SLOWNESS_EXIT_PROB = 0.45
+  SLOWNESS_RISE_RATE = 0.35
+  SLOWNESS_FALL_RATE = 0.5
+  SLOWNESS_CRUISE_OFFSET = 1.025

sunnypilot/selfdrive/controls/lib/dec/dec.py

@@ -6,129 +6,119 @@ See the LICENSE.md file in the root directory for more details.
 """
 # Version = 2025-6-30
 
+from collections import deque
+import math
+from typing import Literal
+
 from cereal import messaging
-from opendbc.car import structs
 from numpy import interp
+from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
-from typing import Literal
 
-# d-e2e, from modeldata.h
-TRAJECTORY_SIZE = 33
-SET_MODE_TIMEOUT = 15
-
-# Define the valid mode types
 ModeType = Literal['acc', 'blended']
 
 
-class SmoothKalmanFilter:
-  """Enhanced Kalman filter with smoothing for stable decision making."""
+def clip01(value: float) -> float:
+  return max(0.0, min(1.0, float(value)))
 
-  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
-               alpha=1.0, smoothing_factor=0.85):
-    self.x = initial_value
-    self.P = 1.0
-    self.R = measurement_noise
-    self.Q = process_noise
-    self.alpha = alpha
-    self.smoothing_factor = smoothing_factor
-    self.initialized = False
-    self.history = []
-    self.max_history = 10
-    self.confidence = 0.0
 
-  def add_data(self, measurement):
-    if len(self.history) >= self.max_history:
-      self.history.pop(0)
-    self.history.append(measurement)
+class SmoothedSignal:
+  def __init__(self, rise_rate: float, fall_rate: float, initial_value: float = 0.0):
+    self.rise_rate = clip01(rise_rate)
+    self.fall_rate = clip01(fall_rate)
+    self.value = clip01(initial_value)
 
-    if not self.initialized:
-      self.x = measurement
-      self.initialized = True
-      self.confidence = 0.1
-      return
+  def update(self, measurement: float) -> float:
+    measurement = clip01(measurement)
+    rate = self.rise_rate if measurement > self.value else self.fall_rate
+    self.value += (measurement - self.value) * rate
+    return self.value
 
-    self.P = self.alpha * self.P + self.Q
+  def reset(self, value: float = 0.0) -> None:
+    self.value = clip01(value)
 
-    K = self.P / (self.P + self.R)
-    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
 
-    innovation = measurement - self.x
-    self.x = self.x + effective_K * innovation
-    self.P = (1 - effective_K) * self.P
+class HysteresisSignal:
+  def __init__(self, enter_threshold: float, exit_threshold: float, rise_rate: float, fall_rate: float):
+    self.enter_threshold = clip01(enter_threshold)
+    self.exit_threshold = clip01(exit_threshold)
+    self.filter = SmoothedSignal(rise_rate, fall_rate)
+    self.active = False
 
-    if abs(innovation) < 0.1:
-      self.confidence = min(1.0, self.confidence + 0.05)
-    else:
-      self.confidence = max(0.1, self.confidence - 0.02)
+  def update(self, measurement: float) -> bool:
+    value = self.filter.update(measurement)
+    threshold = self.exit_threshold if self.active else self.enter_threshold
+    self.active = value > threshold
+    return self.active
 
-  def get_value(self):
-    return self.x if self.initialized else None
+  def reset(self) -> None:
+    self.filter.reset()
+    self.active = False
 
-  def get_confidence(self):
-    return self.confidence
-
-  def reset_data(self):
-    self.initialized = False
-    self.history = []
-    self.confidence = 0.0
+  @property
+  def value(self) -> float:
+    return self.filter.value
 
 
 class ModeTransitionManager:
-  """Manages smooth transitions between driving modes with hysteresis."""
-
   def __init__(self):
     self.current_mode: ModeType = 'acc'
-    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
-    self.transition_timeout = 0
-    self.min_mode_duration = 10
     self.mode_duration = 0
-    self.emergency_override = False
+    self._pending_mode: ModeType = 'acc'
+    self._pending_count = 0
+    self._blended_hold_frames = 0
 
-  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
-    # Emergency override for critical situations (stops, collisions)
-    if emergency:
-      self.emergency_override = True
-      self.current_mode = mode
-      self.transition_timeout = SET_MODE_TIMEOUT
-      self.mode_duration = 0
+  def request_mode(self, mode: ModeType, immediate: bool = False, hold_frames: int = 0, cancel_hold: bool = False) -> None:
+    if immediate:
+      self._blended_hold_frames = max(self._blended_hold_frames, hold_frames) if mode == 'blended' else 0
+      self._pending_mode = mode
+      self._pending_count = 0
+      self._switch_mode(mode)
       return
 
-    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
-    for m in self.mode_confidence:
-      if m != mode:
-        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+    if cancel_hold and mode == 'acc':
+      self._blended_hold_frames = 0
 
-    # Require minimum duration in current mode (unless emergency)
-    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+    if self._blended_hold_frames > 0:
+      mode = 'blended'
+
+    if mode == self.current_mode:
+      self._pending_mode = mode
+      self._pending_count = 0
       return
 
-    # Hysteresis: higher threshold for mode changes
-    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+    if mode != self._pending_mode:
+      self._pending_mode = mode
+      self._pending_count = 1
+    else:
+      self._pending_count += 1
 
-    if self.mode_confidence[mode] > confidence_threshold:
-      if mode != self.current_mode and self.transition_timeout == 0:
-        self.transition_timeout = SET_MODE_TIMEOUT
-        self.current_mode = mode
-        self.mode_duration = 0
+    if self.mode_duration < WMACConstants.MIN_MODE_DURATION[self.current_mode]:
+      return
 
-  def update(self):
-    if self.transition_timeout > 0:
-      self.transition_timeout -= 1
+    required_count = WMACConstants.ENTER_BLENDED_FRAMES if mode == 'blended' else WMACConstants.EXIT_BLENDED_FRAMES
+    if self._pending_count >= required_count:
+      self._switch_mode(mode)
+
+  def update(self) -> None:
+    if self._blended_hold_frames > 0:
+      self._blended_hold_frames -= 1
     self.mode_duration += 1
 
-    # Reset emergency override after some time
-    if self.emergency_override and self.mode_duration > 20:
-      self.emergency_override = False
-
-    # Gradual confidence decay
-    for mode in self.mode_confidence:
-      self.mode_confidence[mode] *= 0.98
-
   def get_mode(self) -> ModeType:
     return self.current_mode
 
+  def _switch_mode(self, mode: ModeType) -> None:
+    if mode == self.current_mode:
+      return
+
+    self.current_mode = mode
+    self.mode_duration = 0
+    self._pending_mode = mode
+    self._pending_count = 0
+
 
 class DynamicExperimentalController:
   def __init__(self, CP: structs.CarParams, mpc, params=None):
@@ -142,35 +132,32 @@ class DynamicExperimentalController:
 
     self._mode_manager = ModeTransitionManager()
 
-    # Smooth filters for stable decision making with faster response for critical scenarios
-    self._lead_filter = SmoothKalmanFilter(
-      measurement_noise=0.15,
-      process_noise=0.05,
-      alpha=1.02,
-      smoothing_factor=0.8
+    self._lead_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.LEAD_PROB,
+      exit_threshold=WMACConstants.LEAD_EXIT_PROB,
+      rise_rate=WMACConstants.LEAD_RISE_RATE,
+      fall_rate=WMACConstants.LEAD_FALL_RATE,
+    )
+    self._slow_down_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.SLOW_DOWN_PROB,
+      exit_threshold=WMACConstants.SLOW_DOWN_EXIT_PROB,
+      rise_rate=WMACConstants.SLOW_DOWN_RISE_RATE,
+      fall_rate=WMACConstants.SLOW_DOWN_FALL_RATE,
+    )
+    self._slowness_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.SLOWNESS_PROB,
+      exit_threshold=WMACConstants.SLOWNESS_EXIT_PROB,
+      rise_rate=WMACConstants.SLOWNESS_RISE_RATE,
+      fall_rate=WMACConstants.SLOWNESS_FALL_RATE,
     )
 
-    self._slow_down_filter = SmoothKalmanFilter(
-      measurement_noise=0.1,
-      process_noise=0.1,
-      alpha=1.05,
-      smoothing_factor=0.7
-    )
-
-    self._slowness_filter = SmoothKalmanFilter(
-      measurement_noise=0.1,
-      process_noise=0.06,
-      alpha=1.015,
-      smoothing_factor=0.92
-    )
-
-    self._mpc_fcw_filter = SmoothKalmanFilter(
-      measurement_noise=0.2,
-      process_noise=0.1,
-      alpha=1.1,
-      smoothing_factor=0.5
-    )
     self._has_lead_filtered = False
+    self._has_any_lead = False
+    self._has_current_radar_acc_lead = False
+    self._has_radar_acc_lead = False
+    self._radar_acc_lead_frames = 0
+    self._radar_fresh = True
+    self._radar_stale_frames = 0
     self._has_slow_down = False
     self._has_slowness = False
     self._has_mpc_fcw = False
@@ -179,13 +166,18 @@ class DynamicExperimentalController:
     self._has_standstill = False
     self._mpc_fcw_crash_cnt = 0
     self._standstill_count = 0
-    # debug
+
     self._endpoint_x = float('inf')
     self._expected_distance = 0.0
     self._trajectory_valid = False
+    self._raw_urgency = 0.0
+    self._model_accel_samples = deque(maxlen=WMACConstants.MODEL_DECEL_TREND_FRAMES)
+    self._model_decel_trending = False
+    self._model_decel_latched = False
+    self._planner_accel = math.nan
 
   def _read_params(self) -> None:
-    if self._frame % int(1. / DT_MDL) == 0:
+    if self._frame % WMACConstants.PARAM_READ_FRAMES == 0:
       self._enabled = self._params.get_bool("DynamicExperimentalControl")
 
   def mode(self) -> str:
@@ -198,191 +190,202 @@ class DynamicExperimentalController:
     return self._active
 
   def set_mpc_fcw_crash_cnt(self) -> None:
-    """Set MPC FCW crash count"""
     self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
 
-  def _update_calculations(self, sm: messaging.SubMaster) -> None:
+  def _update_calculations(self, sm: messaging.SubMaster, radar_fresh: bool) -> None:
     car_state = sm['carState']
-    lead_one = sm['radarState'].leadOne
+    radar_state = sm['radarState']
+    lead_one = radar_state.leadOne
+    lead_two = radar_state.leadTwo
     md = sm['modelV2']
 
     self._v_ego_kph = car_state.vEgo * 3.6
     self._v_cruise_kph = car_state.vCruise
     self._has_standstill = car_state.standstill
 
-    # standstill detection
     if self._has_standstill:
-      self._standstill_count = min(20, self._standstill_count + 1)
+      self._standstill_count = min(WMACConstants.STANDSTILL_FRAMES * 3, self._standstill_count + 1)
     else:
       self._standstill_count = max(0, self._standstill_count - 1)
 
-    # Lead detection
-    self._lead_filter.add_data(float(lead_one.status))
-    lead_value = self._lead_filter.get_value() or 0.0
-    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
-
-    # MPC FCW detection
-    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
-    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
-    self._has_mpc_fcw = fcw_filtered_value > 0.5
-
-    # Slow down detection
+    self._radar_fresh = bool(radar_fresh)
+    if self._radar_fresh:
+      self._radar_stale_frames = 0
+      self._has_lead_filtered = self._lead_tracker.update(float(lead_one.status))
+      self._has_any_lead = bool(lead_one.status or lead_two.status)
+      self._has_current_radar_acc_lead = bool(max(self._radar_acc_lead_score(lead_one), self._radar_acc_lead_score(lead_two)))
+      self._update_radar_acc_lead()
+    else:
+      self._radar_stale_frames += 1
+      self._has_current_radar_acc_lead = False
+      if self._radar_stale_frames < WMACConstants.RADAR_STALE_FRAMES:
+        self._update_radar_acc_lead()
+      else:
+        self._lead_tracker.reset()
+        self._has_lead_filtered = False
+        self._has_any_lead = False
+        self._has_radar_acc_lead = False
+        self._radar_acc_lead_frames = 0
+    self._has_mpc_fcw = self._mpc_fcw_crash_cnt > 0
     self._calculate_slow_down(md)
 
-    # Slowness detection
-    if not (self._standstill_count > 5) and not self._has_slow_down:
+    if self._standstill_count > WMACConstants.STANDSTILL_FRAMES or self._has_slow_down:
+      self._slowness_tracker.reset()
+      self._has_slowness = False
+    else:
       current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      self._slowness_filter.add_data(current_slowness)
-      slowness_value = self._slowness_filter.get_value() or 0.0
+      self._has_slowness = self._slowness_tracker.update(current_slowness)
 
-      # Hysteresis for slowness
-      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
-      self._has_slowness = slowness_value > threshold
-
-  def _calculate_slow_down(self, md):
-    """Calculate urgency based on trajectory endpoint vs expected distance."""
-
-    # Reset to safe defaults
-    urgency = 0.0
+  def _calculate_slow_down(self, md) -> None:
     self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
     self._trajectory_valid = False
 
-    #Require exact trajectory size
-    position_valid = len(md.position.x) == TRAJECTORY_SIZE
-    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+    self._update_model_decel_trend(md)
+    urgency = self._model_action_urgency(md)
+    position_valid = len(md.position.x) == WMACConstants.TRAJECTORY_SIZE
 
-    if not (position_valid and orientation_valid):
-      # Invalid trajectory - this itself might indicate a stop scenario
-      # Apply moderate urgency for incomplete trajectories at speed
-      if self._v_ego_kph > 20.0:
-        urgency = 0.3
+    if position_valid:
+      self._trajectory_valid = True
+      self._endpoint_x = md.position.x[WMACConstants.TRAJECTORY_SIZE - 1]
+      self._expected_distance = interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST)
+      urgency = max(urgency, self._endpoint_urgency(self._endpoint_x, self._expected_distance))
 
-      self._slow_down_filter.add_data(urgency)
-      urgency_filtered = self._slow_down_filter.get_value() or 0.0
-      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
-      self._urgency = urgency_filtered
+    self._raw_urgency = clip01(urgency)
+    self._has_slow_down = self._slow_down_tracker.update(self._raw_urgency)
+    self._urgency = self._slow_down_tracker.value
+
+  def _update_model_decel_trend(self, md) -> None:
+    try:
+      desired_accel = float(md.action.desiredAcceleration)
+    except (AttributeError, OverflowError, TypeError, ValueError):
+      desired_accel = math.nan
+    if not math.isfinite(desired_accel):
+      self._reset_model_decel_trend()
+    else:
+      self._model_accel_samples.append(desired_accel)
+    history = tuple(self._model_accel_samples)
+    self._model_decel_trending = (len(history) == self._model_accel_samples.maxlen
+                                  and history[-1] <= WMACConstants.MODEL_DECEL_TREND_ACCEL
+                                  and (history[0] - history[-1]) / (DT_MDL * (len(history) - 1)) > WMACConstants.MODEL_DECEL_TREND_RATE
+                                  and all(after <= before for before, after in zip(history[:-1], history[1:], strict=True))
+                                  and sum(after < before for before, after in zip(history[:-1], history[1:], strict=True)) >= 2)
+    if len(history) == self._model_accel_samples.maxlen and all(
+      accel >= WMACConstants.MODEL_DECEL_TREND_RELEASE_ACCEL for accel in history
+    ):
+      self._model_decel_latched = False
+
+  def _reset_model_decel_trend(self) -> None:
+    self._model_accel_samples.clear()
+    self._model_decel_trending = False
+    self._model_decel_latched = False
+
+  def _radar_acc_lead_score(self, lead_one) -> float:
+    radar_track_id = int(getattr(lead_one, 'radarTrackId', -1))
+    return float(lead_one.status and (bool(getattr(lead_one, 'radar', False)) or radar_track_id >= 0))
+
+  def _update_radar_acc_lead(self) -> None:
+    if self._has_current_radar_acc_lead:
+      self._radar_acc_lead_frames = WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES
+      self._has_radar_acc_lead = True
       return
 
-    # We have a valid full trajectory
-    self._trajectory_valid = True
+    if not self._has_any_lead:
+      self._radar_acc_lead_frames = min(self._radar_acc_lead_frames, WMACConstants.RADAR_LEAD_DROPOUT_FRAMES)
 
-    # Use the exact endpoint (33rd point, index 32)
-    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
-    self._endpoint_x = endpoint_x
+    self._has_radar_acc_lead = self._radar_acc_lead_frames > 0
+    self._radar_acc_lead_frames = max(0, self._radar_acc_lead_frames - 1)
 
-    # Get expected distance based on current speed using tuned constants
-    expected_distance = interp(self._v_ego_kph,
-                               WMACConstants.SLOW_DOWN_BP,
-                               WMACConstants.SLOW_DOWN_DIST)
-    self._expected_distance = expected_distance
+  def _model_action_urgency(self, md) -> float:
+    action = getattr(md, 'action', None)
+    if action is None:
+      return 0.0
 
-    # Calculate urgency based on trajectory shortage
-    if endpoint_x < expected_distance:
-      shortage = expected_distance - endpoint_x
-      shortage_ratio = shortage / expected_distance
+    urgency = 1.0 if getattr(action, 'shouldStop', False) else 0.0
+    desired_accel = getattr(action, 'desiredAcceleration', 0.0)
+    if desired_accel < WMACConstants.MODEL_DECEL_START:
+      urgency = max(urgency, min(1.0, (WMACConstants.MODEL_DECEL_START - desired_accel) / WMACConstants.MODEL_DECEL_RANGE))
+    return urgency
 
-      # Base urgency on shortage ratio
-      urgency = min(1.0, shortage_ratio * 2.0)
+  def _endpoint_urgency(self, endpoint_x: float, expected_distance: float) -> float:
+    if endpoint_x >= expected_distance:
+      return 0.0
 
-      # Increase urgency for very short trajectories (imminent stops)
-      critical_distance = expected_distance * 0.3
-      if endpoint_x < critical_distance:
-        urgency = min(1.0, urgency * 2.0)
+    shortage_ratio = (expected_distance - endpoint_x) / expected_distance
+    urgency = min(1.0, shortage_ratio * WMACConstants.ENDPOINT_URGENCY_GAIN)
 
-      # Speed-based urgency adjustment
-      if self._v_ego_kph > 25.0:
-        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
-        urgency = min(1.0, urgency * speed_factor)
+    if endpoint_x < expected_distance * WMACConstants.CRITICAL_ENDPOINT_FACTOR:
+      urgency = min(1.0, urgency * WMACConstants.CRITICAL_URGENCY_GAIN)
 
-    # Apply filtering but with less smoothing for stops
-    self._slow_down_filter.add_data(urgency)
-    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+    if self._v_ego_kph > WMACConstants.SPEED_URGENCY_MIN:
+      speed_factor = 1.0 + (self._v_ego_kph - WMACConstants.SPEED_URGENCY_MIN) / WMACConstants.SPEED_URGENCY_RANGE
+      urgency = min(1.0, urgency * speed_factor)
 
-    # Update state with lower threshold for better stop detection
-    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
-    self._urgency = urgency_filtered
+    return urgency
 
-  def _radarless_mode(self) -> None:
-    """Radarless mode decision logic with emergency handling."""
+  def _model_decel_handoff_ready(self) -> bool:
+    try:
+      mpc_accel = float(self._mpc.a_solution[1])
+      return (math.isfinite(mpc_accel) and mpc_accel <= WMACConstants.MODEL_DECEL_TREND_MAX_MPC_ACCEL
+              and math.isfinite(self._planner_accel) and self._planner_accel <= WMACConstants.MODEL_DECEL_TREND_MAX_MPC_ACCEL
+              and self._planner_accel - self._model_accel_samples[-1] <= WMACConstants.MODEL_DECEL_TREND_MAX_COMMAND_STEP)
+    except (AttributeError, IndexError, OverflowError, TypeError, ValueError):
+      return False
+
+  def _desired_mode(self) -> tuple[ModeType, bool]:
+    standstill = self._standstill_count > WMACConstants.STANDSTILL_FRAMES
+    urgent_slow_down = self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB
+
+    if not self._CP.radarUnavailable and self._has_current_radar_acc_lead:
+      self._reset_model_decel_trend()
+      return 'acc', True
+
+    radar_stale = not self._radar_fresh if self._has_mpc_fcw else self._radar_stale_frames > 1
+    if (radar_stale or not self._has_any_lead) and (self._has_mpc_fcw or urgent_slow_down):
+      self._radar_acc_lead_frames = 0
+      self._has_radar_acc_lead = False
+      return 'blended', True
+
+    if not self._CP.radarUnavailable and self._has_radar_acc_lead:
+      self._reset_model_decel_trend()
+      return 'acc', True
+
+    entering_model_slowdown = self._model_decel_trending and self._model_decel_handoff_ready() and not self._model_decel_latched
+    self._model_decel_latched |= entering_model_slowdown
+    if self._model_decel_latched:
+      return 'blended', entering_model_slowdown
 
-    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      return
-
-    # Standstill: use blended
-    if self._standstill_count > 3:
-      self._mode_manager.request_mode('blended', confidence=0.9)
-      return
-
-    # Slow down scenarios: emergency for high urgency, normal for lower urgency
-    if self._has_slow_down:
-      if self._urgency > 0.7:
-        # Emergency: immediate blended mode for high urgency stops
-        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      else:
-        # Normal: blended with urgency-based confidence
-        confidence = min(1.0, self._urgency * 1.5)
-        self._mode_manager.request_mode('blended', confidence=confidence)
-      return
-
-    # Driving slow: use ACC (but not if actively slowing down)
-    if self._has_slowness and not self._has_slow_down:
-      self._mode_manager.request_mode('acc', confidence=0.8)
-      return
-
-    # Default: ACC
-    self._mode_manager.request_mode('acc', confidence=0.7)
-
-  def _radar_mode(self) -> None:
-    """Radar mode with emergency handling."""
-
-    # EMERGENCY: MPC FCW - immediate blended mode
-    if self._has_mpc_fcw:
-      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      return
-
-    # If lead detected and not in standstill: always use ACC
-    if self._has_lead_filtered and not (self._standstill_count > 3):
-      self._mode_manager.request_mode('acc', confidence=1.0)
-      return
-
-    # Slow down scenarios: emergency for high urgency, normal for lower urgency
-    if self._has_slow_down:
-      if self._urgency > 0.7:
-        # Emergency: immediate blended mode for high urgency stops
-        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      else:
-        # Normal: blended with urgency-based confidence
-        confidence = min(1.0, self._urgency * 1.3)
-        self._mode_manager.request_mode('blended', confidence=confidence)
-      return
-
-    # Standstill: use blended
-    if self._standstill_count > 3:
-      self._mode_manager.request_mode('blended', confidence=0.9)
-      return
-
-    # Driving slow: use ACC (but not if actively slowing down)
-    if self._has_slowness and not self._has_slow_down:
-      self._mode_manager.request_mode('acc', confidence=0.8)
-      return
-
-    # Default: ACC
-    self._mode_manager.request_mode('acc', confidence=0.7)
-
-  def update(self, sm: messaging.SubMaster) -> None:
-    self._read_params()
-
-    self.set_mpc_fcw_crash_cnt()
-
-    self._update_calculations(sm)
+      return 'blended', True
 
     if self._CP.radarUnavailable:
-      self._radarless_mode()
-    else:
-      self._radar_mode()
+      if standstill or self._has_slow_down:
+        return 'blended', urgent_slow_down
+      return 'acc', False
 
-    self._mode_manager.update()
+    if standstill or self._has_slow_down:
+      return 'blended', urgent_slow_down
+
+    return 'acc', False
+
+  def update(self, sm: messaging.SubMaster, *, radar_fresh: bool = True, planner_accel: float | None = None) -> None:
+    self._read_params()
+    self.set_mpc_fcw_crash_cnt()
+    try:
+      self._planner_accel = float(planner_accel)
+    except (OverflowError, TypeError, ValueError):
+      self._planner_accel = math.nan
+    self._update_calculations(sm, radar_fresh)
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
+    if not self._active:
+      model_decel_latched = self._model_decel_latched
+      self._reset_model_decel_trend()
+      if model_decel_latched:
+        self._mode_manager.request_mode('acc', immediate=True)
+
+    mode, immediate = self._desired_mode()
+    self._mode_manager.request_mode(mode, immediate=immediate, hold_frames=WMACConstants.EMERGENCY_HOLD_FRAMES,
+                                    cancel_hold=not self._CP.radarUnavailable and self._has_radar_acc_lead)
+    self._mode_manager.update()
+
     self._frame += 1

sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py

@@ -1,94 +0,0 @@
-import pytest
-
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
-class MockLeadOne:
-  def __init__(self, status=0.0):
-    self.status = status
-
-class MockRadarState:
-  def __init__(self, status=0.0):
-    self.leadOne = MockLeadOne(status=status)
-
-class MockCarState:
-  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
-    self.vEgo = vEgo
-    self.vCruise = vCruise
-    self.standstill = standstill
-
-class MockModelData:
-  def __init__(self, valid=True):
-    size = 33 if valid else 10  # incomplete if invalid
-    self.position = type("Pos", (), {"x": [0.0] * size})()
-    self.orientation = type("Ori", (), {"x": [0.0] * size})()
-
-class MockSelfDriveState:
-  def __init__(self, experimentalMode=False):
-    self.experimentalMode = experimentalMode
-
-class MockParams:
-  def get_bool(self, name):
-    return True
-
-@pytest.fixture
-def default_sm():
-  sm = {
-    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
-    'radarState': MockRadarState(status=1.0),
-    'modelV2': MockModelData(valid=True),
-    'selfdriveState': MockSelfDriveState(experimentalMode=True),
-  }
-  return sm
-
-@pytest.fixture
-def mock_cp():
-  class CP:
-    radarUnavailable = False
-  return CP()
-
-@pytest.fixture
-def mock_mpc():
-  class MPC:
-    crash_cnt = 0
-  return MPC()
-
-# Fake Kalman Filter that always returns a given value
-class FakeKalman:
-  def __init__(self, value=1.0):
-    self.value = value
-  def add_data(self, v): pass
-  def get_value(self): return self.value
-  def get_confidence(self): return 1.0
-  def reset_data(self): pass
-
-def test_initial_mode_is_acc(mock_cp, mock_mpc):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  assert controller.mode() == "acc"
-
-def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  default_sm['carState'].standstill = True
-  for _ in range(10):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  mock_mpc.crash_cnt = 1  # simulate FCW
-  for _ in range(2):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
-  mock_cp.radarUnavailable = True
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-
-  # Force conditions to simulate slowdown
-  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
-  controller._v_ego_kph = 35.0
-  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
-
-  for _ in range(3):
-    controller.update(default_sm)
-
-  assert controller.mode() == "blended"

sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py

@@ -0,0 +1,633 @@
+import pytest
+
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, HysteresisSignal
+
+
+class MockLeadOne:
+  def __init__(self, status=0.0, dRel=30.0, vRel=0.0, radar=False, radarTrackId=-1):
+    self.status = status
+    self.dRel = dRel
+    self.vRel = vRel
+    self.radar = radar
+    self.radarTrackId = radarTrackId
+
+
+class MockRadarState:
+  def __init__(self, status=0.0, dRel=30.0, vRel=0.0, radar=False, radarTrackId=-1, leadTwo=None):
+    self.leadOne = MockLeadOne(status=status, dRel=dRel, vRel=vRel, radar=radar, radarTrackId=radarTrackId)
+    self.leadTwo = leadTwo if leadTwo is not None else MockLeadOne()
+
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
+
+
+class MockAction:
+  def __init__(self, desiredAcceleration=0.0, shouldStop=False):
+    self.desiredAcceleration = desiredAcceleration
+    self.shouldStop = shouldStop
+
+
+class MockModelData:
+  def __init__(self, valid=True, endpoint_x=200.0, orientation_valid=None, desired_acceleration=0.0, should_stop=False):
+    position_size = 33 if valid else 10
+    orientation_size = position_size if orientation_valid is None else (33 if orientation_valid else 10)
+    position_x = [0.0] * position_size
+    if position_x:
+      position_x[-1] = endpoint_x
+    self.position = type("Pos", (), {"x": position_x})()
+    self.orientation = type("Ori", (), {"x": [0.0] * orientation_size})()
+    self.acceleration = type("Accel", (), {"x": [0.0] * position_size})()
+    self.action = MockAction(desired_acceleration, should_stop)
+
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+
+class MockParams:
+  def get_bool(self, name):
+    return True
+
+
+@pytest.fixture
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0, radar=True, radarTrackId=7),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
+
+
+@pytest.fixture
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
+
+
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+    a_solution = [0.0, 0.0]
+  return MPC()
+
+
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"
+
+
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['carState'].standstill = True
+  for _ in range(20):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  mock_mpc.crash_cnt = 1
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  controller.update(default_sm)
+
+  assert controller.mode() == "blended"
+
+
+def test_valid_position_with_missing_orientation_can_trigger_slowdown(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, orientation_valid=False)
+
+  controller.update(default_sm)
+
+  assert controller._trajectory_valid
+  assert controller.mode() == "blended"
+
+
+def test_incomplete_position_does_not_trigger_slowdown(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=False, endpoint_x=0.0)
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert not controller._trajectory_valid
+  assert not controller._has_slow_down
+  assert controller.mode() == "acc"
+
+
+def test_slowdown_hysteresis_prevents_threshold_chatter():
+  signal = HysteresisSignal(enter_threshold=0.5, exit_threshold=0.4, rise_rate=1.0, fall_rate=1.0)
+
+  assert signal.update(0.55)
+  assert signal.update(0.45)
+  assert not signal.update(0.35)
+
+
+def test_model_should_stop_triggers_blended_without_valid_trajectory(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
+
+  controller.update(default_sm)
+
+  assert not controller._trajectory_valid
+  assert controller.mode() == "blended"
+
+
+def test_confirmed_model_decel_trend_enters_blended_before_a_large_command(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+
+  for desired_acceleration in (-0.02, -0.05, -0.08):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.0)
+    assert controller.mode() == "acc"
+
+  default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=-0.12)
+  controller.update(default_sm, planner_accel=0.0)
+
+  assert controller._model_decel_trending
+  assert not controller._has_slow_down
+  assert controller.mode() == "blended"
+
+
+def test_confirmed_model_decel_handoff_stays_latched_through_a_plateau(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.0)
+
+  for _ in range(WMACConstants.EMERGENCY_HOLD_FRAMES + WMACConstants.EXIT_BLENDED_FRAMES + 1):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=-0.12)
+    controller.update(default_sm, planner_accel=0.0)
+
+  assert not controller._model_decel_trending
+  assert controller._model_decel_latched
+  assert controller.mode() == "blended"
+
+  for _ in range(WMACConstants.MODEL_DECEL_TREND_FRAMES + WMACConstants.EXIT_BLENDED_FRAMES):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=0.0)
+    controller.update(default_sm, planner_accel=0.0)
+
+  assert not controller._model_decel_latched
+  assert controller.mode() == "acc"
+
+
+def test_model_decel_trend_never_overrides_a_radar_lead(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm)
+
+  assert not controller._model_accel_samples
+  assert not controller._model_decel_latched
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_radar_acquisition_clears_a_latched_model_decel_handoff(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.0)
+  assert controller._model_decel_latched
+
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  controller.update(default_sm, planner_accel=0.0)
+
+  assert not controller._model_accel_samples
+  assert not controller._model_decel_latched
+  assert controller.mode() == "acc"
+
+
+def test_model_decel_trend_does_not_accumulate_while_dec_is_inactive(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['selfdriveState'].experimentalMode = False
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.0)
+
+  assert not controller._model_accel_samples
+  assert not controller._model_decel_latched
+
+  default_sm['selfdriveState'].experimentalMode = True
+  controller.update(default_sm, planner_accel=0.0)
+  assert not controller._model_decel_trending
+  assert controller.mode() == "acc"
+
+
+def test_disabling_dec_clears_a_latched_model_decel_mode(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.0)
+  assert controller._model_decel_latched
+  assert controller.mode() == "blended"
+
+  default_sm['selfdriveState'].experimentalMode = False
+  default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=0.0)
+  controller.update(default_sm, planner_accel=0.0)
+
+  assert not controller._model_decel_latched
+  assert controller.mode() == "acc"
+
+
+def test_model_decel_trend_waits_while_mpc_is_accelerating(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  mock_mpc.a_solution[1] = 0.5
+
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.0)
+
+  assert controller._model_decel_trending
+  assert controller.mode() == "acc"
+
+
+def test_steep_model_decel_trend_defers_to_the_existing_urgent_path(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+
+  for desired_acceleration in (0.0, -0.2, -0.4, -0.6):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.05)
+
+  assert controller._model_decel_trending
+  assert controller.mode() == "acc"
+
+
+def test_model_decel_trend_waits_while_the_planner_is_accelerating(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+
+  for desired_acceleration in (-0.02, -0.05, -0.08, -0.12):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm, planner_accel=0.2)
+
+  assert controller._model_decel_trending
+  assert controller.mode() == "acc"
+
+
+def test_alternating_model_accel_noise_does_not_trigger_an_early_handoff(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+
+  for desired_acceleration in (0.0, -0.2, 0.0, -0.2):
+    default_sm['modelV2'] = MockModelData(valid=False, desired_acceleration=desired_acceleration)
+    controller.update(default_sm)
+
+  assert not controller._model_decel_trending
+  assert controller.mode() == "acc"
+
+
+def test_radar_lead_keeps_acc_over_model_slowdown(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert controller._has_slow_down
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_far_radar_lead_always_uses_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0, radar=True)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_radar_acquisition_immediately_returns_blended_to_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, radar=True, radarTrackId=7)
+  controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True)
+  for _ in range(20):
+    controller.update(default_sm)
+  assert controller.mode() == "acc"
+
+
+def test_close_vision_only_lead_can_use_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=30.0, vRel=-5.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+
+def test_second_radar_lead_forces_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  lead_two = MockLeadOne(status=1.0, dRel=120.0, radar=True, radarTrackId=8)
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=30.0, vRel=-5.0, leadTwo=lead_two)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_second_vision_only_lead_does_not_force_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  lead_two = MockLeadOne(status=1.0, dRel=20.0, vRel=-10.0)
+  default_sm['radarState'] = MockRadarState(status=0.0, leadTwo=lead_two)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+
+def test_inactive_lead_with_radar_marker_does_not_force_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0, radar=True, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+
+def test_radarless_car_ignores_marked_radar_track(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+
+def test_closing_far_radar_lead_returns_to_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=-25.0, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for _ in range(20):
+    controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_radar_lead_keeps_acc_over_fcw_and_standstill(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  default_sm['carState'].standstill = True
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, should_stop=True)
+  mock_mpc.crash_cnt = 1
+
+  for _ in range(10):
+    controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller._has_mpc_fcw
+  assert controller.mode() == "acc"
+
+
+def test_lead_flicker_hold_prevents_one_frame_mode_flip(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=50.0)
+  for _ in range(2):
+    controller.update(default_sm)
+  assert controller._has_slow_down
+
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller.mode() == "acc"
+
+
+def test_radar_lead_continuity_with_vision_fallback_expires_into_confirmed_transition(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=50.0)
+  for _ in range(2):
+    controller.update(default_sm)
+  assert controller._has_slow_down
+
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  for _ in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES):
+    controller.update(default_sm)
+    assert controller._has_radar_acc_lead
+    assert controller.mode() == "acc"
+
+  controller.update(default_sm)
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+  for _ in range(WMACConstants.ENTER_BLENDED_FRAMES - 1):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_radar_lead_short_dropout_guard_expires_without_any_lead(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  controller.update(default_sm)
+
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  for _ in range(WMACConstants.RADAR_LEAD_DROPOUT_FRAMES):
+    controller.update(default_sm)
+    assert controller._has_radar_acc_lead
+
+  controller.update(default_sm)
+  assert not controller._has_radar_acc_lead
+
+
+def test_one_stale_radar_frame_does_not_drop_acc_authority(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  controller.update(default_sm)
+
+  controller.update(default_sm, radar_fresh=False)
+
+  assert not controller._has_current_radar_acc_lead
+  assert controller._has_radar_acc_lead
+  assert controller._radar_acc_lead_frames == WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES - 1
+  assert controller._radar_stale_frames == 1
+  assert controller.mode() == "acc"
+
+
+def test_one_stale_radar_frame_does_not_override_retained_lead_for_model_urgency(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  controller.update(default_sm)
+  default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
+
+  controller.update(default_sm, radar_fresh=False)
+  assert controller.mode() == "acc"
+
+  controller.update(default_sm, radar_fresh=False)
+  assert controller.mode() == "blended"
+
+
+def test_one_stale_radar_frame_does_not_delay_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  controller.update(default_sm)
+  mock_mpc.crash_cnt = 1
+
+  controller.update(default_sm, radar_fresh=False)
+
+  assert controller.mode() == "blended"
+
+
+def test_frozen_radar_marker_cannot_rearm_acc_authority(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  controller.update(default_sm)
+
+  for _ in range(WMACConstants.RADAR_STALE_FRAMES - 1):
+    controller.update(default_sm, radar_fresh=False)
+    assert controller._has_radar_acc_lead
+
+  controller.update(default_sm, radar_fresh=False)
+
+  assert not controller._has_current_radar_acc_lead
+  assert not controller._has_radar_acc_lead
+  assert not controller._has_any_lead
+  assert not controller._has_lead_filtered
+
+
+def test_fresh_radar_reacquisition_after_stale_timeout_is_immediate(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  controller.update(default_sm)
+  for _ in range(WMACConstants.RADAR_STALE_FRAMES):
+    controller.update(default_sm, radar_fresh=False)
+
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm, radar_fresh=False)
+  assert controller.mode() == "blended"
+
+  lead_two = MockLeadOne(status=1.0, radar=True, radarTrackId=8)
+  default_sm['radarState'] = MockRadarState(status=0.0, leadTwo=lead_two)
+  controller.update(default_sm, radar_fresh=True)
+
+  assert controller._radar_stale_frames == 0
+  assert controller._has_current_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+@pytest.mark.parametrize("urgent_source", ["fcw", "should_stop"])
+def test_no_lead_urgent_slowdown_bypasses_radar_dropout_guard(mock_cp, mock_mpc, default_sm, urgent_source):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  controller.update(default_sm)
+
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  if urgent_source == "fcw":
+    mock_mpc.crash_cnt = 1
+  else:
+    default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
+  controller.update(default_sm)
+
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+  mock_mpc.crash_cnt = 0
+  default_sm['modelV2'] = MockModelData(valid=True)
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_lead_two_radar_authority_continues_with_vision_lead_one(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  lead_two = MockLeadOne(status=1.0, radar=True, radarTrackId=8)
+  default_sm['radarState'] = MockRadarState(status=0.0, leadTwo=lead_two)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+  assert controller._has_current_radar_acc_lead
+  assert controller.mode() == "acc"
+
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  for _ in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES):
+    controller.update(default_sm)
+    assert controller._has_radar_acc_lead
+    assert controller.mode() == "acc"
+
+
+def test_alternating_radar_slots_keep_acc_authority(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for frame in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES * 2):
+    if frame % 2 == 0:
+      default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7, leadTwo=MockLeadOne(status=1.0))
+    else:
+      default_sm['radarState'] = MockRadarState(status=1.0, leadTwo=MockLeadOne(status=1.0, radar=True, radarTrackId=8))
+    controller.update(default_sm)
+
+    assert controller._has_current_radar_acc_lead
+    assert controller.mode() == "acc"
+
+
+def test_radar_reacquisition_immediately_restores_acc_after_continuity_expiry(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, radar=True, radarTrackId=7)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  for _ in range(WMACConstants.RADAR_LEAD_CONTINUITY_FRAMES + 1):
+    controller.update(default_sm)
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+  lead_two = MockLeadOne(status=1.0, radar=True, radarTrackId=8)
+  default_sm['radarState'] = MockRadarState(status=1.0, leadTwo=lead_two)
+  controller.update(default_sm)
+
+  assert controller._has_current_radar_acc_lead
+  assert controller.mode() == "acc"

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -5,10 +5,21 @@ 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 collections import deque
+import math
+
 from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
+from openpilot.sunnypilot import get_sanitize_int_param
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality import AccelController, AccelControllerState, AccelProfile
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import (
+  MPC_DECEL_JERK_COST_MULTIPLIER, MPC_DECEL_JERK_MAX_REQUIRED_DECEL, MPC_DECEL_JERK_MAX_REQUIRED_DECEL_RATE,
+  MPC_DECEL_JERK_MAX_TARGET_REDUCTION,
+)
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
@@ -22,7 +33,8 @@ LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 
 class LongitudinalPlannerSP:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc, dt: float = DT_MDL):
+    self.params = Params()
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
@@ -32,10 +44,33 @@ class LongitudinalPlannerSP:
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = LongitudinalPlanSource.cruise
     self.e2e_alerts_helper = E2EAlertsHelper()
+    self.accel_controller = AccelController(CP, dt=dt)
+    self.accel_controller_result = None
+    self.accel_personality_available = bool(CP.openpilotLongitudinalControl)
+    self._accel_jerk_smoothing_blocked = False
+    self._accel_required_decel_samples = deque(maxlen=4)
+    self._accel_required_decel_lead = -1
+    self._dt = dt
+    self._radar_log_mono_time = None
+    self._radar_fresh_this_cycle = True
+
+    self._param_read_frames = max(1, int(round(0.25 / dt)))
+    self._param_frame = 0
+    self.accel_personality_enabled = False
+    self.accel_personality = int(AccelProfile.normal)
 
     self.output_v_target = 0.
     self.output_a_target = 0.
 
+  def _read_accel_controller_params(self) -> None:
+    if self._param_frame % self._param_read_frames == 0:
+      self.accel_personality_enabled = self.params.get_bool("AccelPersonalityEnabled")
+      self.accel_personality = get_sanitize_int_param(
+        "AccelPersonality", int(AccelProfile.eco), int(AccelProfile.sport), self.params,
+      )
+
+    self._param_frame += 1
+
   def is_e2e(self, sm: messaging.SubMaster) -> bool:
     experimental_mode = sm['selfdriveState'].experimentalMode
     if not self.dec.active():
@@ -73,9 +108,103 @@ class LongitudinalPlannerSP:
     self.output_v_target, self.output_a_target = targets[self.source]
     return self.output_v_target, self.output_a_target
 
+  def _update_radar_freshness(self, sm: messaging.SubMaster) -> bool:
+    try:
+      radar_log_mono_time = int(sm.logMonoTime['radarState'])
+      radar_healthy = bool(sm.valid['radarState'] and sm.alive['radarState'])
+    except (AttributeError, KeyError, TypeError, ValueError):
+      return True
+
+    previous_log_mono_time = getattr(self, '_radar_log_mono_time', None)
+    radar_advanced = previous_log_mono_time is None or radar_log_mono_time > previous_log_mono_time
+    if radar_advanced:
+      self._radar_log_mono_time = radar_log_mono_time
+    return radar_healthy and radar_advanced
+
+  def update_accel_controller(self, sm: messaging.SubMaster, base_speed: float, engaged: bool, cruise_initialized: bool,
+                              acc_selected: bool, stock_accel_max: float, previous_should_stop: bool) -> float:
+    self.accel_controller_result = self.accel_controller.update(
+      sm['radarState'], base_speed=base_speed, v_ego=sm['carState'].vEgo, a_ego=sm['carState'].aEgo,
+      profile=self.accel_personality, follow_personality=sm['selfdriveState'].personality,
+      enabled=self.accel_personality_enabled and self.accel_personality_available,
+      acc_selected=acc_selected, engaged=engaged, cruise_initialized=cruise_initialized,
+      stock_accel_max=stock_accel_max, previous_should_stop=previous_should_stop,
+      radar_fresh=getattr(self, '_radar_fresh_this_cycle', True),
+      previous_mpc_source=getattr(getattr(self, 'mpc', None), 'source', None),
+      planner_speed=getattr(getattr(self, 'v_desired_filter', None), 'x', sm['carState'].vEgo),
+      planner_accel=getattr(self, 'a_desired', sm['carState'].aEgo),
+    )
+    return self.accel_controller_result.target_speed
+
+  def _run_mpc(self, sm: messaging.SubMaster, v_cruise: float, prev_accel_constraint: bool, accel_max=None,
+               *, jerk_cost_multiplier: float = 1.0) -> None:
+    self.mpc.set_weights(
+      prev_accel_constraint, personality=sm['selfdriveState'].personality, jerk_cost_multiplier=jerk_cost_multiplier,
+    )
+    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
+    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality, accel_max=accel_max)
+
+  def update_accel_controller_mpc(self, sm: messaging.SubMaster, base_v_cruise: float, mpc_v_cruise: float,
+                                  prev_accel_constraint: bool, *, reset_state: bool, cruise_initialized: bool,
+                                  available_accel_max: float, previous_should_stop: bool, force_decel: bool):
+    is_e2e = self.is_e2e(sm)
+    previous_mpc_failed = getattr(getattr(self, 'mpc', None), 'last_solution_status', 0) != 0
+    if previous_mpc_failed and hasattr(self, 'accel_controller'):
+      self.accel_controller.reset()
+
+    self.update_accel_controller(
+      sm, base_v_cruise, engaged=not reset_state and not force_decel, cruise_initialized=cruise_initialized,
+      acc_selected=not is_e2e and not previous_mpc_failed, stock_accel_max=available_accel_max, previous_should_stop=previous_should_stop,
+    )
+    result = self.accel_controller_result
+    actuating = result.active and not is_e2e and not force_decel and not previous_mpc_failed
+    valid_lead_stop_hold = (actuating and result.state == AccelControllerState.stopHold
+                            and result.selected_lead >= 0)
+    controller_v_cruise = mpc_v_cruise if valid_lead_stop_hold else min(mpc_v_cruise, result.target_speed) if actuating else mpc_v_cruise
+    accel_max = result.mpc_accel_max if actuating else None
+    target_reduction = mpc_v_cruise - controller_v_cruise
+    lead_restriction = (
+      actuating and prev_accel_constraint and result.state == AccelControllerState.restrict and result.selected_lead >= 0
+      and not result.launching and target_reduction > 1e-6
+    )
+    if not lead_restriction or result.selected_lead != self._accel_required_decel_lead or not math.isfinite(result.required_decel):
+      self._accel_required_decel_samples.clear()
+    if lead_restriction and math.isfinite(result.required_decel):
+      self._accel_required_decel_samples.append(result.required_decel)
+    self._accel_required_decel_lead = result.selected_lead if lead_restriction else -1
+    required_decel_history = tuple(self._accel_required_decel_samples)
+    tightening_lead = (len(required_decel_history) == self._accel_required_decel_samples.maxlen
+                       and (required_decel_history[-1] - required_decel_history[0]) /
+                       (self._dt * (len(required_decel_history) - 1)) > MPC_DECEL_JERK_MAX_REQUIRED_DECEL_RATE
+                       and sum(after > before for before, after in zip(required_decel_history[:-1], required_decel_history[1:], strict=True)) >= 2)
+    smoothing_eligible = (lead_restriction and target_reduction < MPC_DECEL_JERK_MAX_TARGET_REDUCTION
+                          and 0.0 < result.required_decel < MPC_DECEL_JERK_MAX_REQUIRED_DECEL and not tightening_lead)
+    smoothing_blocked = getattr(self, '_accel_jerk_smoothing_blocked', False)
+    if previous_mpc_failed:
+      smoothing_blocked = True
+    elif not lead_restriction:
+      smoothing_blocked = False
+    elif not smoothing_blocked and not smoothing_eligible:
+      smoothing_blocked = True
+    self._accel_jerk_smoothing_blocked = smoothing_blocked
+    jerk_cost_multiplier = MPC_DECEL_JERK_COST_MULTIPLIER if smoothing_eligible and not smoothing_blocked else 1.0
+    self._run_mpc(sm, controller_v_cruise, prev_accel_constraint, accel_max, jerk_cost_multiplier=jerk_cost_multiplier)
+
+    return is_e2e
+
+  def accel_controller_should_stop(self, should_stop: bool, is_e2e: bool) -> bool:
+    result = self.accel_controller_result
+    if result is None or not result.active or is_e2e:
+      return should_stop
+    if result.departure_launching:
+      return False
+    return should_stop or result.state == AccelControllerState.stopHold
+
   def update(self, sm: messaging.SubMaster) -> None:
+    self._radar_fresh_this_cycle = self._update_radar_freshness(sm)
+    self._read_accel_controller_params()
     self.events_sp.clear()
-    self.dec.update(sm)
+    self.dec.update(sm, radar_fresh=self._radar_fresh_this_cycle, planner_accel=self.output_a_target)
     self.e2e_alerts_helper.update(sm, self.events_sp)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
@@ -95,6 +224,25 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
+    if self.accel_controller_result is not None:
+      result = self.accel_controller_result
+      accel_controller = longitudinalPlanSP.accelController
+      accel_controller.enabled = result.enabled
+      accel_controller.active = result.active
+      accel_controller.shadowOnly = result.shadow_active and not result.active
+      accel_controller.profile = int(result.profile)
+      accel_controller.state = int(result.state if result.active else result.shadow_state)
+      accel_controller.vTargetBase = float(result.base_speed)
+      accel_controller.vTargetRaw = float(result.raw_energy_cap)
+      accel_controller.vTargetFiltered = float(result.live_filtered_cap)
+      accel_controller.vTargetShadow = float(result.shadow_filtered_cap)
+      accel_controller.leadIndex = result.selected_lead
+      accel_controller.usableGap = float(result.usable_gap)
+      accel_controller.closingSpeed = float(result.closing_speed)
+      accel_controller.requiredDecel = float(result.required_decel)
+      accel_controller.aMaxProfile = float(result.profile_accel_max)
+      accel_controller.aMaxEffective = float(result.effective_accel_max)
+
     # 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/smart_cruise_control/tests/test_vision_controller.py

@@ -4,6 +4,8 @@ Copyright (c) 2021-, 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 types import SimpleNamespace
+
 import numpy as np
 import pytest
 
@@ -13,8 +15,12 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP, LongitudinalPlanSource
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
-from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import (
+  _A_LAT_REG_MAX, _BELOW_EGO_TARGET_RELEASE_RATE, _ENTERING_PRED_LAT_ACC_TH, _MIN_ACTIVATION_SPEED,
+  _RELIEF_CONFIRMATION_FRAMES, _TARGET_RELEASE_RATE, SmartCruiseControlVision,
+)
 
 VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
 
@@ -118,6 +124,21 @@ class TestSmartCruiseControlVision:
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlVision", True, block=True)
 
+  def set_lat_accels(self, current: float, predicted: float, v_ego: float = 20., model_speed: float = 20.) -> None:
+    self.sm['controlsState'].curvature = current / v_ego**2
+    self.sm['modelV2'].velocity.x = [model_speed] * len(ModelConstants.T_IDXS)
+    self.sm['modelV2'].orientationRate.z = [predicted / model_speed] * len(ModelConstants.T_IDXS)
+
+  def update_lat_accels(self, current: float, predicted: float, cruise: float = 30., a_ego: float = 0.,
+                        v_ego: float = 20., model_speed: float = 20.) -> None:
+    self.set_lat_accels(current, predicted, v_ego, model_speed)
+    self.scc_v.update(self.sm, True, False, v_ego, a_ego, cruise)
+
+  def enter_curve(self, predicted: float = 2.2) -> None:
+    self.update_lat_accels(0.5, predicted)
+    self.update_lat_accels(0.5, predicted)
+    assert self.scc_v.state == VisionState.entering
+
   def test_initial_state(self):
     assert self.scc_v.state == VisionState.disabled
     assert not self.scc_v.is_active
@@ -143,6 +164,253 @@ class TestSmartCruiseControlVision:
       self.scc_v.update(self.sm, True, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.enabled
 
+  def test_unconfirmed_leaving_and_reentry_only_shape_speed(self):
+    self.enter_curve()
+    targets = [self.scc_v.output_v_target]
+
+    self.update_lat_accels(2., 2.2, a_ego=-0.8)
+    assert self.scc_v.state == VisionState.turning
+    assert self.scc_v.output_a_target == -0.8
+    targets.append(self.scc_v.output_v_target)
+
+    self.update_lat_accels(1.2, 1.2, a_ego=0.3)
+    assert self.scc_v.state == VisionState.leaving
+    assert self.scc_v.output_a_target == 0.3
+    targets.append(self.scc_v.output_v_target)
+
+    self.update_lat_accels(1., 3., a_ego=-1.2)
+    assert self.scc_v.state == VisionState.entering
+    assert self.scc_v.output_a_target == -1.2
+    targets.append(self.scc_v.output_v_target)
+
+    entering, turning, leaving, reentering = targets
+    assert turning == pytest.approx(entering)
+    assert 0. < leaving - turning <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+    assert reentering < leaving
+
+  def test_new_curve_interrupts_confirmed_release_immediately(self):
+    self.enter_curve()
+    for _ in range(_RELIEF_CONFIRMATION_FRAMES + 1):
+      self.update_lat_accels(0.8, 0.8)
+    releasing_v_target = self.scc_v.output_v_target
+    assert self.scc_v.state == VisionState.leaving
+
+    self.update_lat_accels(0.8, 3., a_ego=-0.7)
+    assert self.scc_v.state == VisionState.entering
+    assert self.scc_v.output_v_target < releasing_v_target
+    assert self.scc_v.output_a_target == -0.7
+
+  @pytest.mark.parametrize("planner_accel", (-2., -0.5, 0., 0.8))
+  def test_planner_acceleration_passes_through_exactly(self, planner_accel):
+    self.enter_curve()
+    self.update_lat_accels(0.5, 2.2, a_ego=planner_accel)
+    assert self.scc_v.output_a_target == planner_accel
+
+  def test_planner_acceleration_passes_through_all_states(self):
+    cases = (
+      (False, False, 0.5, 2.2, -0.2, VisionState.disabled),
+      (True, False, 0.5, 0.8, 0.1, VisionState.enabled),
+      (True, False, 0.5, 2.2, -0.4, VisionState.entering),
+      (True, False, 2., 2.2, -0.8, VisionState.turning),
+      (True, False, 1.2, 1.2, 0.3, VisionState.leaving),
+      (True, True, 1.2, 1.2, 0.6, VisionState.overriding),
+    )
+    for long_enabled, override, current, predicted, planner_accel, state in cases:
+      self.set_lat_accels(current, predicted)
+      self.scc_v.update(self.sm, long_enabled, override, 20., planner_accel, 30.)
+      assert self.scc_v.state == state
+      assert self.scc_v.output_a_target == planner_accel
+
+  def test_jitter_requires_confirmed_relief_then_releases_smoothly(self):
+    self.enter_curve()
+    previous_v_target = self.scc_v.output_v_target
+
+    for frame in range(_RELIEF_CONFIRMATION_FRAMES * 2):
+      self.update_lat_accels(1., 1.05 if frame % 2 == 0 else 1.15)
+      assert self.scc_v.state == VisionState.entering
+      assert self.scc_v.output_v_target >= previous_v_target
+      assert self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+      previous_v_target = self.scc_v.output_v_target
+
+    for _ in range(_RELIEF_CONFIRMATION_FRAMES):
+      self.update_lat_accels(1.15, 0.8)
+      assert self.scc_v.state == VisionState.entering
+      assert 0. <= self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+      previous_v_target = self.scc_v.output_v_target
+
+    release_cruise = 30.
+    for _ in range(_RELIEF_CONFIRMATION_FRAMES - 1):
+      self.update_lat_accels(0.8, 0.8, release_cruise)
+      assert self.scc_v.state == VisionState.entering
+      assert 0. <= self.scc_v.output_v_target - previous_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+      previous_v_target = self.scc_v.output_v_target
+
+    active_v_targets = [previous_v_target]
+    for _ in range(int((release_cruise - previous_v_target) / (_TARGET_RELEASE_RATE * DT_MDL)) + 10):
+      self.update_lat_accels(0.8, 0.8, release_cruise)
+      if not self.scc_v.is_active:
+        break
+      assert self.scc_v.state == VisionState.leaving
+      assert self.scc_v.output_v_target != V_CRUISE_UNSET
+      active_v_targets.append(self.scc_v.output_v_target)
+
+    assert self.scc_v.state == VisionState.enabled
+    assert self.scc_v.output_v_target == V_CRUISE_UNSET
+    assert active_v_targets[-1] == pytest.approx(release_cruise)
+    assert np.all((np.diff(active_v_targets) >= 0.) &
+                  (np.diff(active_v_targets) <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9))
+
+  def test_target_release_slows_after_reaching_ego_speed(self):
+    self.enter_curve()
+
+    for _ in range(100):
+      previous_v_target = self.scc_v.output_v_target
+      self.update_lat_accels(0.8, 0.8)
+      if previous_v_target >= self.scc_v.v_ego:
+        rise = self.scc_v.output_v_target - previous_v_target
+        assert 0. < rise <= _TARGET_RELEASE_RATE * DT_MDL + 1e-9
+        break
+    else:
+      pytest.fail("curve target did not release to ego speed")
+
+  def test_curve_target_is_independent_of_ego_speed(self):
+    model_speed = 24.
+    predicted_yaw_rate = 0.12
+    predicted_lat_accel = model_speed * predicted_yaw_rate
+    expected_v_target = (_A_LAT_REG_MAX / (predicted_yaw_rate / model_speed)) ** 0.5
+    targets = []
+
+    for v_ego in (18., 28.):
+      controller = SmartCruiseControlVision()
+      self.set_lat_accels(0.5, predicted_lat_accel, v_ego, model_speed)
+      controller.update(self.sm, True, False, v_ego, 0., 30.)
+      controller.update(self.sm, True, False, v_ego, 0., 30.)
+      assert controller.state == VisionState.entering
+      targets.append(controller.v_target)
+
+    assert targets[0] == pytest.approx(expected_v_target)
+    assert targets[1] == pytest.approx(expected_v_target)
+
+  def test_curve_target_respects_minimum_speed_floor(self):
+    model_speed = 10.
+    predicted_yaw_rate = 2.
+    self.set_lat_accels(0.5, model_speed * predicted_yaw_rate, model_speed=model_speed)
+    self.scc_v.update(self.sm, True, False, 20., 0., 30.)
+    self.scc_v.update(self.sm, True, False, 20., 0., 30.)
+
+    assert self.scc_v.state == VisionState.entering
+    assert self.scc_v.v_target < MIN_V
+    assert self.scc_v.output_v_target == pytest.approx(MIN_V)
+
+  @pytest.mark.parametrize(
+    ("velocities", "yaw_rates"),
+    [([], []), ([np.nan] * len(ModelConstants.T_IDXS), [np.nan] * len(ModelConstants.T_IDXS)), ([20.] * 5, [0.1] * 3)],
+    ids=("empty", "nonfinite", "mismatched"),
+  )
+  def test_model_vector_edges_remain_finite(self, velocities, yaw_rates):
+    self.sm['modelV2'].velocity.x = velocities
+    self.sm['modelV2'].orientationRate.z = yaw_rates
+    self.scc_v.update(self.sm, True, False, 20., 0., 30.)
+    self.scc_v.update(self.sm, True, False, 20., 0., 30.)
+
+    assert all(np.isfinite(value) for value in (
+      self.scc_v.current_lat_acc, self.scc_v.max_pred_lat_acc, self.scc_v.v_target,
+      self.scc_v.output_v_target, self.scc_v.output_a_target,
+    ))
+
+  @pytest.mark.parametrize("launch_speed", (5.75, 9.9, _MIN_ACTIVATION_SPEED))
+  def test_vision_control_does_not_steal_launch(self, launch_speed):
+    self.set_lat_accels(0.5, 3., launch_speed)
+    self.scc_v.update(self.sm, True, False, launch_speed, 0., 30.)
+    self.scc_v.update(self.sm, True, False, launch_speed, 0., 30.)
+
+    assert launch_speed <= _MIN_ACTIVATION_SPEED
+    assert self.scc_v.state == VisionState.enabled
+    assert not self.scc_v.is_active
+    assert self.scc_v.output_v_target == V_CRUISE_UNSET
+
+  def test_vision_control_can_activate_above_launch_range(self):
+    speed = _MIN_ACTIVATION_SPEED + 0.01
+    self.set_lat_accels(0.5, 3., speed)
+    self.scc_v.update(self.sm, True, False, speed, 0., 30.)
+    self.scc_v.update(self.sm, True, False, speed, 0., 30.)
+
+    assert self.scc_v.state == VisionState.entering
+    assert self.scc_v.is_active
+
+  def test_sequential_curve_tightens_immediately_and_releases_bounded(self):
+    self.enter_curve(3.)
+    for _ in range(20):
+      self.update_lat_accels(0.5, 3.)
+    restrictive_v_target = self.scc_v.output_v_target
+
+    self.update_lat_accels(0.5, 1.4, a_ego=0.4)
+    first_relief_v_target = self.scc_v.output_v_target
+    assert self.scc_v.state == VisionState.entering
+    assert 0. < first_relief_v_target - restrictive_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+    assert self.scc_v.output_a_target == 0.4
+
+    self.update_lat_accels(0.5, 1.4)
+    assert 0. <= self.scc_v.output_v_target - first_relief_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+
+    self.update_lat_accels(0.5, 3., a_ego=-0.6)
+    assert self.scc_v.state == VisionState.entering
+    assert self.scc_v.output_v_target == pytest.approx(restrictive_v_target)
+    assert self.scc_v.output_a_target == -0.6
+
+    for _ in range(4):
+      self.update_lat_accels(0.5, 1.4)
+      assert 0. < self.scc_v.output_v_target - restrictive_v_target <= _BELOW_EGO_TARGET_RELEASE_RATE * DT_MDL + 1e-9
+      self.update_lat_accels(0.5, 3.)
+      assert self.scc_v.output_v_target == pytest.approx(restrictive_v_target)
+
+  def test_acceleration_is_continuous_through_planner_arbitration(self):
+    car_control = messaging.new_message('carControl')
+    car_control.carControl.enabled = True
+    car_control.carControl.cruiseControl.override = False
+    self.sm['carControl'] = car_control.carControl
+    self.sm['carState'].vCruiseCluster = 108.
+
+    planner = LongitudinalPlannerSP.__new__(LongitudinalPlannerSP)
+    planner.scc = SimpleNamespace(
+      vision=self.scc_v,
+      map=SimpleNamespace(output_v_target=V_CRUISE_UNSET, output_a_target=0.),
+      update=lambda sm, enabled, override, v_ego, a_ego, v_cruise: self.scc_v.update(
+        sm, enabled, override, v_ego, a_ego, v_cruise),
+    )
+    planner.resolver = SimpleNamespace(
+      speed_limit_valid=False, speed_limit_last_valid=False, speed_limit=0., speed_limit_final_last=0., distance=0.,
+      update=lambda _v_ego, _sm: None,
+    )
+    planner.sla = SimpleNamespace(
+      output_v_target=V_CRUISE_UNSET, output_a_target=0., update=lambda *_args: None,
+    )
+    planner.events_sp = SimpleNamespace()
+
+    self.set_lat_accels(0.5, 2.2)
+    planner.update_targets(self.sm, 20., -0.8, 30.)
+    planner.update_targets(self.sm, 20., -0.8, 30.)
+    assert planner.source == LongitudinalPlanSource.sccVision
+    assert planner.output_a_target == -0.8
+
+    for planner_accel in (-2., 0.5, -0.2):
+      planner.update_targets(self.sm, 20., planner_accel, 30.)
+      assert planner.source == LongitudinalPlanSource.sccVision
+      assert planner.output_a_target == planner_accel
+
+    self.set_lat_accels(0.8, 0.8)
+    for _ in range(int(30. / (_TARGET_RELEASE_RATE * DT_MDL)) + 10):
+      planner.update_targets(self.sm, 20., 0.4, 30.)
+      assert planner.output_a_target == 0.4
+      if planner.source == LongitudinalPlanSource.cruise:
+        break
+    else:
+      pytest.fail("SCC Vision did not release to cruise")
+
+    planner.update_targets(self.sm, 20., 0.4, 30.)
+    assert self.scc_v.state == VisionState.enabled
+    assert planner.source == LongitudinalPlanSource.cruise
+
   @pytest.mark.parametrize(
     "case, should_enter",
     [

sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller_closed_loop.py

@@ -0,0 +1,82 @@
+"""
+Copyright (c) 2021-, 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 gc
+
+import numpy as np
+
+from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanSource
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import _A_LAT_REG_MAX
+
+
+def _run_constant_curve(*, scc_enabled: bool, cruise: float, duration: float = 70.) -> dict[str, np.ndarray]:
+  gc.collect()
+  curvature = 0.005
+  plant = Plant(lead_relevancy=False, speed=30., actuator_delay=0.15, actuator_lag=0.20)
+  planner = plant.planner
+  planner.accel_personality_enabled = False
+  planner._read_accel_controller_params = lambda: None
+  planner.dec._enabled = False
+  planner.dec._read_params = lambda: None
+  planner.scc.map.enabled = False
+  planner.scc.map.update_params = lambda: None
+  planner.scc.vision.enabled = scc_enabled
+  planner.scc.vision._update_params = lambda: None
+
+  if scc_enabled:
+    original_update_calculations = planner.scc.vision._update_calculations
+
+    def inject_constant_curvature(sm):
+      velocities = np.asarray(sm['modelV2'].velocity.x, dtype=float)
+      sm['modelV2'].orientationRate.z = (curvature * velocities).tolist()
+      sm['controlsState'].curvature = curvature
+      original_update_calculations(sm)
+
+    planner.scc.vision._update_calculations = inject_constant_curvature
+
+  original_update = planner.update
+
+  def enable_longitudinal(sm):
+    sm['carControl'].enabled = True
+    sm['carControl'].longActive = True
+    original_update(sm)
+
+  planner.update = enable_longitudinal
+  rows = []
+  while plant.current_time < duration:
+    output = plant.step(v_cruise=cruise)
+    rows.append((
+      plant.current_time, output['speed'], planner.mpc.last_solution_status, output['should_stop'],
+      planner.scc.vision.is_active, planner.source == LongitudinalPlanSource.sccVision,
+      planner.scc.vision.output_v_target,
+    ))
+
+  data = np.asarray(rows, dtype=float)
+  gc.collect()
+  return {
+    'time': data[:, 0], 'speed': data[:, 1], 'solver_status': data[:, 2], 'should_stop': data[:, 3],
+    'active': data[:, 4], 'scc_source': data[:, 5], 'target': data[:, 6],
+  }
+
+
+def test_constant_curve_recovers_like_stock_speed_cap():
+  target = (_A_LAT_REG_MAX / 0.005) ** 0.5
+  scc = _run_constant_curve(scc_enabled=True, cruise=30.)
+  stock = _run_constant_curve(scc_enabled=False, cruise=target)
+  scc_final = scc['speed'][scc['time'] >= 60.]
+  stock_final = stock['speed'][stock['time'] >= 60.]
+
+  assert not scc['solver_status'].any()
+  assert not stock['solver_status'].any()
+  assert not scc['should_stop'].any()
+  assert np.all(scc['active'][scc['time'] >= 60.])
+  assert np.all(scc['scc_source'][scc['time'] >= 60.])
+  assert np.allclose(scc['target'][scc['time'] >= 60.], target)
+  assert scc_final.min() >= target - 1.
+  assert abs(scc_final.mean() - stock_final.mean()) < 0.5
+  assert abs(scc_final.min() - stock_final.min()) < 1.
+  assert abs(scc_final.max() - stock_final.max()) < 1.

sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py

@@ -29,19 +29,11 @@ _FINISH_LAT_ACC_TH = 1.1  # Lat Acc threshold to trigger the end of the turn cyc
 
 _A_LAT_REG_MAX = 2.  # Maximum lateral acceleration
 
-_NO_OVERSHOOT_TIME_HORIZON = 4.  # s. Time to use for velocity desired based on a_target when not overshooting.
-
-# Lookup table for the minimum smooth deceleration during the ENTERING state
-# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
-_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.]  # min decel value allowed on ENTERING state
-_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.]  # absolute value of lat acc ahead
-
-# Lookup table for the acceleration for the TURNING state
-# depending on the current lateral acceleration of the vehicle.
-_TURNING_ACC_V = [0.5, 0., -0.4]  # acc value
-_TURNING_ACC_BP = [1.5, 2.3, 3.]  # absolute value of current lat acc
-
-_LEAVING_ACC = 0.5  # Conformable acceleration to regain speed while leaving a turn.
+_RELIEF_CONFIRMATION_FRAMES = max(1, int(round(0.5 / DT_MDL)))
+_TARGET_RELEASE_RATE = 1.  # m/s^2
+_BELOW_EGO_TARGET_RELEASE_RATE = 3.  # m/s^2
+_MIN_PRED_SPEED = 1.  # m/s
+_MIN_ACTIVATION_SPEED = 10.  # m/s
 
 
 class SmartCruiseControlVision:
@@ -65,13 +57,26 @@ class SmartCruiseControlVision:
     self.state = VisionState.disabled
     self.current_lat_acc = 0.
     self.max_pred_lat_acc = 0.
+    self.relief_frames = 0
+
+  def _v_demand(self) -> float:
+    return max(MIN_V, min(self.v_target, self.v_cruise_setpoint))
+
+  def _released_v_target(self) -> float:
+    demand = self._v_demand()
+    if demand < self.output_v_target:
+      return demand
+    release_rate = _BELOW_EGO_TARGET_RELEASE_RATE if self.output_v_target < min(self.v_ego, demand) else _TARGET_RELEASE_RATE
+    return min(demand, self.output_v_target + release_rate * DT_MDL)
 
   def get_a_target_from_control(self) -> float:
-    return self.a_target
+    return self.a_ego
 
   def get_v_target_from_control(self) -> float:
     if self.is_active:
-      return max(self.v_target, MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
+      if self.output_v_target == V_CRUISE_UNSET:
+        return self._v_demand()
+      return self._released_v_target()
 
     return V_CRUISE_UNSET
 
@@ -82,25 +87,27 @@ class SmartCruiseControlVision:
   def _update_calculations(self, sm: messaging.SubMaster) -> None:
     if not self.long_enabled:
       return
-    else:
-      rate_plan = np.array(np.abs(sm['modelV2'].orientationRate.z))
-      vel_plan = np.array(sm['modelV2'].velocity.x)
 
-      self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
+    rate_plan = np.asarray(np.abs(sm['modelV2'].orientationRate.z), dtype=float)
+    vel_plan = np.asarray(sm['modelV2'].velocity.x, dtype=float)
+    size = min(len(rate_plan), len(vel_plan))
+    rate_plan, vel_plan = rate_plan[:size], vel_plan[:size]
+    valid = np.isfinite(rate_plan) & np.isfinite(vel_plan) & (vel_plan >= _MIN_PRED_SPEED)
 
-      # get the maximum lat accel from the model
-      predicted_lat_accels = rate_plan * vel_plan
-      self.max_pred_lat_acc = np.percentile(predicted_lat_accels, 97)
-
-      # get the maximum curve based on the current velocity
-      v_ego = max(self.v_ego, 0.1)  # ensure a value greater than 0 for calculations
-      max_curve = self.max_pred_lat_acc / (v_ego**2)
-
-      # Get the target velocity for the maximum curve
-      self.v_target = (_A_LAT_REG_MAX / max_curve) ** 0.5
+    self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
+    self.max_pred_lat_acc = 0.
+    self.v_target = V_CRUISE_UNSET
+    if np.any(valid):
+      self.max_pred_lat_acc = float(np.percentile(rate_plan[valid] * vel_plan[valid], 97))
+      max_pred_curvature = float(np.percentile(rate_plan[valid] / vel_plan[valid], 97))
+      if max_pred_curvature > 0.:
+        self.v_target = min(float((_A_LAT_REG_MAX / max_pred_curvature) ** 0.5), V_CRUISE_UNSET)
 
   def _update_state_machine(self) -> tuple[bool, bool]:
     # ENABLED, ENTERING, TURNING, LEAVING, OVERRIDING
+    relief = self.current_lat_acc < _FINISH_LAT_ACC_TH and self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH
+    self.relief_frames = self.relief_frames + 1 if self.state in ACTIVE_STATES and relief else 0
+
     if self.state != VisionState.disabled:
       # longitudinal and feature disable always have priority in a non-disabled state
       if not self.long_enabled or not self.enabled:
@@ -112,7 +119,7 @@ class SmartCruiseControlVision:
         # ENABLED
         if self.state == VisionState.enabled:
           # Do not enter a turn control cycle if the speed is low.
-          if self.v_ego <= MIN_V:
+          if self.v_ego <= _MIN_ACTIVATION_SPEED:
             pass
           # If significant lateral acceleration is predicted ahead, then move to Entering turn state.
           elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
@@ -128,23 +135,26 @@ class SmartCruiseControlVision:
           # Transition to Turning if current lateral acceleration is over the threshold.
           if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
             self.state = VisionState.turning
-          # Abort if the predicted lateral acceleration drops
-          elif self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH:
-            self.state = VisionState.enabled
+          # Begin releasing only after both current and predicted lateral acceleration stay clear.
+          elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES:
+            self.state = VisionState.leaving
 
         # TURNING
         elif self.state == VisionState.turning:
-          # Transition to Leaving if current lateral acceleration drops below a threshold.
+          # Transition out of Turning if current lateral acceleration drops below a threshold.
           if self.current_lat_acc <= _LEAVING_LAT_ACC_TH:
-            self.state = VisionState.leaving
+            self.state = VisionState.entering if self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH else VisionState.leaving
 
         # LEAVING
         elif self.state == VisionState.leaving:
           # Transition back to Turning if current lateral acceleration goes back over the threshold.
           if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
             self.state = VisionState.turning
-          # Finish if current lateral acceleration goes below a threshold.
-          elif self.current_lat_acc < _FINISH_LAT_ACC_TH:
+          # Start a new turn cycle immediately if another curve is predicted.
+          elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
+            self.state = VisionState.entering
+          # Finish after confirmed relief and a gradual release to the cruise setpoint.
+          elif self.relief_frames >= _RELIEF_CONFIRMATION_FRAMES and self.output_v_target >= self.v_cruise_setpoint:
             self.state = VisionState.enabled
 
     # DISABLED
@@ -157,32 +167,11 @@ class SmartCruiseControlVision:
 
     enabled = self.state in ENABLED_STATES
     active = self.state in ACTIVE_STATES
+    if not active:
+      self.relief_frames = 0
 
     return enabled, active
 
-  def _update_solution(self) -> float:
-    # DISABLED, ENABLED, OVERRIDING
-    if self.state not in ACTIVE_STATES:
-      # when not overshooting, calculate v_turn as the speed at the prediction horizon when following
-      # the smooth deceleration.
-      a_target = self.a_ego
-    # ENTERING
-    elif self.state == VisionState.entering:
-      # when not overshooting, target a smooth deceleration in preparation for a sharp turn to come.
-      a_target = np.interp(self.max_pred_lat_acc, _ENTERING_SMOOTH_DECEL_BP, _ENTERING_SMOOTH_DECEL_V)
-    # TURNING
-    elif self.state == VisionState.turning:
-      # When turning, we provide a target acceleration that is comfortable for the lateral acceleration felt.
-      a_target = np.interp(self.current_lat_acc, _TURNING_ACC_BP, _TURNING_ACC_V)
-    # LEAVING
-    elif self.state == VisionState.leaving:
-      # When leaving, we provide a comfortable acceleration to regain speed.
-      a_target = _LEAVING_ACC
-    else:
-      raise NotImplementedError(f"SCC-V state not supported: {self.state}")
-
-    return a_target
-
   def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float,
              v_cruise_setpoint: float) -> None:
     self.long_enabled = long_enabled
@@ -195,7 +184,7 @@ class SmartCruiseControlVision:
     self._update_calculations(sm)
 
     self.is_enabled, self.is_active = self._update_state_machine()
-    self.a_target = self._update_solution()
+    self.a_target = self.a_ego
 
     self.output_v_target = self.get_v_target_from_control()
     self.output_a_target = self.get_a_target_from_control()

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/athena/sunnylinkd.py

@@ -41,6 +41,7 @@ LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
+METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
 
@@ -169,6 +170,39 @@ def getParamsAllKeys() -> list[str]:
   return keys
 
 
+@dispatcher.add_method
+def getParamsAllKeysV1() -> dict[str, str]:
+  try:
+    with open(METADATA_PATH) as f:
+      metadata = json.load(f)
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
+    metadata = {}
+
+  try:
+    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+    params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
+    for key in available_keys:
+      value = get_param_as_byte(key, get_default=True)
+
+      param_entry = {
+        "key": key,
+        "type": int(params.get_type(key).value),
+        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+      }
+
+      if key in metadata:
+        meta_copy = metadata[key].copy()
+        param_entry["_extra"] = meta_copy
+
+      params_dict["params"].append(param_entry)
+    return {"keys": json.dumps(params_dict.get("params", []))}
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
+    raise
+
+
 @dispatcher.add_method
 def getParamsMetadata() -> str:
   """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.

sunnypilot/sunnylink/docs/README.md

@@ -97,11 +97,12 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe
 
 ```
 1. common/params_keys.h               — add/remove the C++ param key
-2. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
-3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
-4. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
-5. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
-6. commit
+2. params_metadata.json               — automated via update_params_metadata.py
+3. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
+4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
+5. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
+6. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
+7. commit
 ```
 
 CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.

sunnypilot/sunnylink/settings_ui.json

@@ -620,6 +620,58 @@
                 }
               ]
             },
+            {
+              "key": "AccelPersonalityEnabled",
+              "widget": "toggle",
+              "title": "Enable Accel Controller",
+              "description": "Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking and stopping authority.",
+              "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": "Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts and recovers more quickly.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Eco"
+                },
+                {
+                  "value": 1,
+                  "label": "Normal"
+                },
+                {
+                  "value": 2,
+                  "label": "Sport"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "AccelPersonalityEnabled",
+                  "equals": true
+                }
+              ]
+            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -2001,6 +2053,22 @@
                   "equals": true
                 }
               ]
+            },
+            {
+              "key": "PlanplusControl",
+              "widget": "option",
+              "title": "Plan Plus Controls",
+              "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lane center; too high and it will ping-pong.",
+              "min": 0.0,
+              "max": 2.0,
+              "step": 0.1,
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
             }
           ]
         },
@@ -2168,6 +2236,50 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
+        {
+          "key": "ToyotaAutoHold",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaEnhancedBsm",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Prius TSS2 BSM and some tssp",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaTSS2Long",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: custom longitudinal for TSS2",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaDriveMode",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Enable drive mode btn link",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
         {
           "key": "ToyotaEnforceStockLongitudinal",
           "widget": "toggle",

sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -43,6 +43,32 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
+  - key: AccelPersonalityEnabled
+    widget: toggle
+    title: Enable Accel Controller
+    description: Begin slowing early and smoothly behind lead vehicles. Stock longitudinal control retains braking
+      and stopping authority.
+    visibility:
+    - $ref: '#/macros/longitudinal'
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: AccelPersonality
+    widget: multiple_button
+    title: Acceleration Profile
+    description: Eco slows earliest and recovers gently, Normal balances comfort and response, and Sport reacts
+      and recovers more quickly.
+    options:
+    - value: 0
+      label: Eco
+    - value: 1
+      label: Normal
+    - value: 2
+      label: Sport
+    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/models.yaml

@@ -51,6 +51,16 @@ sections:
         key: LagdToggle
         equals: true
     - $ref: '#/macros/advanced_only'
+  - key: PlanplusControl
+    widget: option
+    title: Plan Plus Controls
+    description: Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover
+      to lane center; too high and it will ping-pong.
+    min: 0.0
+    max: 2.0
+    step: 0.1
+    enablement:
+    - $ref: '#/macros/advanced_only'
 - id: lateral_control
   title: Lateral Control
   description: Neural network lateral control for supported models

sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -60,6 +60,30 @@ sections:
   title: Toyota / Lexus Settings
   description: ''
   items:
+  - key: ToyotaAutoHold
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS'
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaEnhancedBsm
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: Prius TSS2 BSM and some tssp'
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaTSS2Long
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: custom longitudinal for TSS2'
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaDriveMode
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enable drive mode btn link
+    enablement:
+    - $ref: '#/macros/not_engaged'
   - key: ToyotaEnforceStockLongitudinal
     widget: toggle
     needs_onroad_cycle: true

sunnypilot/sunnylink/tests/test_params_metadata.py

@@ -0,0 +1,86 @@
+"""
+Copyright (c) 2021-, 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 json
+
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
+
+
+def test_get_params_all_keys_v1():
+  """
+  Test the getParamsAllKeysV1 API endpoint.
+
+  Why:
+  This endpoint is used by the UI (and potentially external tools) to fetch the list of
+  available parameters along with their metadata (titles, descriptions, options, constraints).
+  We need to ensure it returns the correct structure and that the metadata from
+  params_metadata.json is correctly merged into the response.
+
+  Expected:
+  - The response should contain a "keys" field which is a JSON string of a list of parameters.
+  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
+  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
+    the source of truth (params_metadata.json).
+  """
+  response = getParamsAllKeysV1()
+  assert "keys" in response
+
+  keys_json = response["keys"]
+  params_list = json.loads(keys_json)
+
+  assert isinstance(params_list, list)
+  assert len(params_list) > 0
+
+  # Check structure of first item
+  first_param = params_list[0]
+  assert "key" in first_param
+  assert "type" in first_param
+  assert "default_value" in first_param
+
+  if "_extra" in first_param:
+    assert isinstance(first_param["_extra"], dict)
+    assert "default" not in first_param["_extra"]
+    assert "type" not in first_param["_extra"]
+
+  # Load the source of truth
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Verify that the API response matches the metadata file for a few sample keys
+  # This ensures the plumbing is working without being brittle to content changes
+
+  # 1. Check a key that should have metadata
+  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
+  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
+
+  for param in keys_with_metadata[:5]:  # Check first 5 matches
+    key = param["key"]
+    expected_meta = metadata[key]
+
+    assert "_extra" in param, f"Parameter {key} should have _extra field"
+    actual_meta = param["_extra"]
+
+    # Verify all fields in JSON are present in the API response
+    for meta_key, meta_val in expected_meta.items():
+      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
+      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
+
+  # 2. Check that we are correctly serving options if they exist
+  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
+  if params_with_options:
+    param = params_with_options[0]
+    key = param["key"]
+    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
+    assert param["_extra"]["options"] == metadata[key]["options"]
+
+  # 3. Check that we are correctly serving numeric constraints if they exist
+  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
+  if params_with_constraints:
+    param = params_with_constraints[0]
+    key = param["key"]
+    assert param["_extra"]["min"] == metadata[key]["min"]
+    assert param["_extra"]["max"] == metadata[key]["max"]
+    assert param["_extra"]["step"] == metadata[key]["step"]

sunnypilot/sunnylink/tests/test_params_sync.py

@@ -0,0 +1,284 @@
+"""
+Copyright (c) 2021-, 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 json
+import os
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
+
+
+def test_metadata_json_exists():
+  """
+  Test that the params_metadata.json file exists at the expected path.
+
+  Why:
+  The metadata file is the source of truth for parameter descriptions, options, and constraints.
+  If it's missing, the UI will not be able to display rich information for parameters.
+
+  Expected:
+  The file should exist at sunnypilot/sunnylink/params_metadata.json.
+  """
+  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
+
+
+def test_metadata_json_valid():
+  """
+  Test that the params_metadata.json file contains valid JSON.
+
+  Why:
+  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
+  resulting in missing metadata.
+
+  Expected:
+  The file content should be parseable as a JSON object (dictionary).
+  """
+  with open(METADATA_PATH) as f:
+    try:
+      data = json.load(f)
+    except json.JSONDecodeError:
+      pytest.fail("Metadata file is not valid JSON")
+
+    assert isinstance(data, dict), "Metadata root must be a dictionary"
+
+
+def test_all_params_have_metadata():
+  """
+  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
+
+  Why:
+  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
+  should also be documented in the metadata file.
+
+  Expected:
+  There should be no parameters in Params() that are missing from the metadata file.
+  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
+  """
+  params = Params()
+  all_keys = [k.decode('utf-8') for k in params.all_keys()]
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  missing_keys = [key for key in all_keys if key not in metadata]
+
+  if missing_keys:
+    pytest.fail(
+      f"The following parameters are missing from metadata: {missing_keys}. "
+      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
+    )
+
+
+def test_metadata_keys_exist_in_params():
+  """
+  Test that all keys in params_metadata.json actually exist in the codebase.
+
+  Why:
+  We want to avoid stale metadata for parameters that have been removed or renamed.
+  This keeps the metadata file clean and relevant.
+
+  Expected:
+  There should be no keys in the metadata file that are not present in Params().
+  This prints a warning rather than failing, as it's less critical than missing metadata.
+  """
+  params = Params()
+  all_keys = {k.decode('utf-8') for k in params.all_keys()}
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  extra_keys = [key for key in metadata.keys() if key not in all_keys]
+
+  if extra_keys:
+    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
+
+
+def test_no_default_titles():
+  """
+  Test that no parameter has a title that is identical to its key.
+
+  Why:
+  The default behavior of the update script is to set the title equal to the key.
+  We want to force developers to provide human-readable, descriptive titles for all parameters.
+
+  Expected:
+  No parameter metadata should have 'title' == 'key'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
+
+  if default_title_keys:
+    pytest.fail(
+      f"The following parameters have default titles (title == key): {default_title_keys}. "
+      + "Please update 'params_metadata.json' with descriptive titles."
+    )
+
+
+def test_options_structure():
+  """
+  Test that the 'options' field in metadata follows the correct structure.
+
+  Why:
+  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
+  Incorrect structure will break the UI rendering for dropdowns/toggles.
+
+  Expected:
+  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "options" in meta:
+      options = meta["options"]
+      assert isinstance(options, list), f"Options for {key} must be a list"
+      for option in options:
+        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
+        assert "value" in option, f"Option in {key} must have a 'value' key"
+        assert "label" in option, f"Option in {key} must have a 'label' key"
+
+
+def test_numeric_constraints():
+  """
+  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
+
+  Why:
+  The UI uses these constraints to validate user input and render sliders/steppers.
+  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
+
+  Expected:
+  If any of min/max/step is present, ALL of them must be present.
+  They must be numbers (int/float), and min must be less than max.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "min" in meta or "max" in meta or "step" in meta:
+      assert "min" in meta, f"Numeric param {key} must have 'min'"
+      assert "max" in meta, f"Numeric param {key} must have 'max'"
+      assert "step" in meta, f"Numeric param {key} must have 'step'"
+
+      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
+      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
+      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
+      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
+
+
+def test_known_params_metadata():
+  """
+  Test specific known parameters to ensure they have the expected rich metadata.
+
+  Why:
+  This acts as a spot check to ensure that our rich metadata population logic is working correctly
+  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
+
+  Expected:
+  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
+  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Check an enum-like param
+  lp = metadata.get("LongitudinalPersonality")
+  assert lp is not None
+  assert "options" in lp
+  assert len(lp["options"]) == 3
+  assert lp["options"][0]["label"] == "Aggressive"
+  assert lp["options"][0]["value"] == 0
+
+  # Check a numeric param
+  acc_long = metadata.get("CustomAccLongPressIncrement")
+  assert acc_long is not None
+  assert acc_long["min"] == 1
+  assert acc_long["max"] == 10
+  assert acc_long["step"] == 1
+
+
+def test_torque_control_tune_versions_in_sync():
+  """
+  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
+
+  Why:
+  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
+  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
+
+  Expected:
+  - TorqueControlTune should have a 'Default' option with empty string value
+  - All versions from latcontrol_torque_versions.json should be present in the options
+  - The version values and labels should match between both files
+  """
+  from openpilot.common.basedir import BASEDIR
+
+  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
+
+  # Load both files
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  with open(versions_json_path) as f:
+    versions = json.load(f)
+
+  # Get TorqueControlTune metadata
+  torque_tune = metadata.get("TorqueControlTune")
+  if torque_tune is None:
+    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
+
+  if "options" not in torque_tune:
+    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
+
+  options = torque_tune["options"]
+  if not isinstance(options, list):
+    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
+
+  if len(options) == 0:
+    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
+
+  # Check that Default option exists
+  default_option = next((opt for opt in options if opt.get("value") == ""), None)
+  if default_option is None:
+    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
+
+  if default_option.get("label") != "Default":
+    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
+
+  # Build expected options from versions.json
+  expected_version_keys = set(versions.keys())
+  actual_version_keys = set()
+
+  for option in options:
+    if option.get("value") == "":
+      continue  # Skip the default option
+
+    label = option.get("label")
+    value = option.get("value")
+
+    # Check that this option corresponds to a version
+    if label not in versions:
+      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
+
+    # Check that the value matches the version number
+    expected_value = float(versions[label]["version"])
+    if value != expected_value:
+      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
+
+    actual_version_keys.add(label)
+
+  # Check that all versions are represented
+  missing_versions = expected_version_keys - actual_version_keys
+  if missing_versions:
+    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
+                f"Please run '{sync_script_path}' to sync.")
+
+  extra_versions = actual_version_keys - expected_version_keys
+  if extra_versions:
+    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
+                f"{extra_versions}. Please run '{sync_script_path}' to sync.")

sunnypilot/sunnylink/tests/test_settings_schema.py

@@ -272,6 +272,22 @@ class TestKnownPanels:
     nnlc_enable_keys = {r.get("key") for r in nnlc.get("enablement", []) if r.get("type") == "param"}
     assert "EnforceTorqueControl" in nnlc_enable_keys
 
+  def test_accel_controller_profile_mapping_and_enablement(self, schema):
+    cruise = next(p for p in schema["panels"] if p["id"] == "cruise")
+    items = {item["key"]: item for item in _iter_panel_items(cruise)}
+
+    assert items["AccelPersonalityEnabled"]["widget"] == "toggle"
+    assert items["AccelPersonality"]["options"] == [
+      {"value": 0, "label": "Eco"},
+      {"value": 1, "label": "Normal"},
+      {"value": 2, "label": "Sport"},
+    ]
+    assert {
+      "type": "param",
+      "key": "AccelPersonalityEnabled",
+      "equals": True,
+    } in items["AccelPersonality"]["enablement"]
+
 
 class TestKnownVehicleSettings:
   def test_hyundai_has_longitudinal_tuning(self, schema):

sunnypilot/sunnylink/tools/update_params_metadata.py

@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, 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 json
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
+
+METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
+TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+
+
+def main():
+  params = Params()
+  all_keys = params.all_keys()
+
+  if os.path.exists(METADATA_PATH):
+    with open(METADATA_PATH) as f:
+      try:
+        data = json.load(f)
+      except json.JSONDecodeError:
+        data = {}
+  else:
+    data = {}
+
+  # Add new keys
+  for key in all_keys:
+    key_str = key.decode("utf-8")
+    if key_str not in data:
+      print(f"Adding new key: {key_str}")
+      data[key_str] = {
+        "title": key_str,
+        "description": "",
+      }
+
+  # Remove deleted keys
+  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
+  # for k in keys_to_remove:
+  #   print(f"Removing deleted key: {k}")
+  #   del data[k]
+
+  # Sort keys
+  sorted_data = dict(sorted(data.items()))
+
+  with open(METADATA_PATH, "w") as f:
+    json.dump(sorted_data, f, indent=2)
+    f.write("\n")
+
+  print(f"Updated {METADATA_PATH}")
+
+  # update onroad screen brightness params
+  update_onroad_brightness_param()
+
+  # update onroad screen brightness timer params
+  update_onroad_brightness_timer_param()
+
+  # update torque versions param
+  update_torque_versions_param()
+
+
+def update_onroad_brightness_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffBrightness" in params_metadata:
+      options = [
+        {"value": 0, "label": "Auto (Default)"},
+        {"value": 1, "label": "Auto (Dark)"},
+        {"value": 2, "label": "Screen Off"},
+      ]
+      for i in range(3, 23):
+        options.append({"value": i, "label": f"{(i - 2) * 5} %"})
+      params_metadata["OnroadScreenOffBrightness"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
+
+
+def update_onroad_brightness_timer_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffTimer" in params_metadata:
+      options = []
+      for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
+        label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
+        options.append({"value": seconds, "label": label})
+      params_metadata["OnroadScreenOffTimer"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
+
+
+def update_torque_versions_param():
+  with open(TORQUE_VERSIONS_JSON) as f:
+    current_versions = json.load(f)
+
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+
+    options = [{"value": "", "label": "Default"}]
+    for version_key, version_data in current_versions.items():
+      version_value = float(version_data["version"])
+      options.append({"value": version_value, "label": str(version_key)})
+
+    if "TorqueControlTune" in params_metadata:
+      params_metadata["TorqueControlTune"]["options"] = options
+
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+
+      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
+
+  except Exception as e:
+    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
+
+
+if __name__ == "__main__":
+  main()

system/ui/lib/scroll_panel2.py

@@ -45,8 +45,9 @@ class ScrollState(Enum):
 
 
 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True) -> None:
+  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
     self._horizontal = horizontal
+    self._handle_out_of_bounds = handle_out_of_bounds
     self._state = ScrollState.STEADY
     self._offset: rl.Vector2 = rl.Vector2(0, 0)
     self._initial_click_event: MouseEvent | None = None
@@ -98,7 +99,7 @@ class GuiScrollPanel2:
       # simple exponential return if out of bounds
       # out of bounds is handled by snapping, so skip if set
       out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
-      if out_of_bounds and snap_target is None:
+      if out_of_bounds and snap_target is None and self._handle_out_of_bounds:
         target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6

system/ui/widgets/scroller.py

@@ -75,7 +75,6 @@ class _Scroller(Widget):
     self._items: list[Widget] = []
     self._horizontal = horizontal
     self._snap_items = snap_items
-    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
     self._spacing = spacing
     self._pad = pad
 
@@ -191,8 +190,12 @@ class _Scroller(Widget):
     snap_target: float | None = None
     if self._snap_items and visible_items and self._scrolling_to[0] is None:
       # TODO: this doesn't handle two small buttons at the edges well
-      center_pos = self._rect.x + self._rect.width / 2
-      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      if self._horizontal:
+        center_pos = self._rect.x + self._rect.width / 2
+        closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      else:
+        center_pos = self._rect.y + self._rect.height / 2
+        closest_delta_pos = min((((item.rect.y + item.rect.height / 2) - center_pos) for item in visible_items), key=abs)
       snap_target = self.scroll_panel.get_offset() - closest_delta_pos
 
     return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)

uv.lock

@@ -21,7 +21,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.14.1"
+version = "3.13.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,29 +30,27 @@ dependencies = [
     { name = "frozenlist" },
     { name = "multidict" },
     { name = "propcache" },
-    { name = "typing-extensions" },
     { name = "yarl" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
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 [[package]]
@@ -479,11 +477,11 @@ wheels = [
 
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