Update long_mpc.py

# Conflicts:
#	selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
#	selfdrive/controls/lib/longitudinal_planner.py

CHANGELOGS.md

@@ -38,6 +38,9 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
 * UPDATED: Continued support for Mapbox navigation
   * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
+* NEW❗: Toyota - Automatic Brake Hold (AHB) thanks to AlexandreSato!
+  * When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold
+  * NOTE: Only for Toyota/Lexus vehicles with TSS2/LSS2
 * NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
   * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
   * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P

cereal/car.capnp

@@ -138,6 +138,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitConfirmed @140;
     torqueNNLoad @141;
     hyundaiRadarTracksAvailable @142;
+    spAutoBrakeHold @143;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;

cereal/custom.capnp

@@ -35,6 +35,11 @@ enum ModelGeneration {
   five @5;
 }
 
+enum MpcSource {
+  acc @0;
+  blended @1;
+}
+
 struct ControlsStateSP @0x81c2f05a394cf4af {
   lateralState @0 :Text;
   personality @8 :LongitudinalPersonalitySP;
@@ -92,8 +97,10 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
   desiredTF @13 :Float32;
   notSpeedLimit @14 :Int16;
   e2eX @15 :List(Float32);
-  e2eBlended @18 :Text;
+  e2eBlendedDEPRECATED @18 :Text;
   e2eStatus @22 :Bool;
+  mpcSource @23 :MpcSource;
+  dynamicExperimentalControl @24 :Bool;
 
   distToTurn @7 :Float32;
   turnSpeed @8 :Float32;

common/params.cc

@@ -255,6 +255,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"EndToEndLongToggle", PERSISTENT | BACKUP},
     {"EnforceTorqueLateral", PERSISTENT | BACKUP},
     {"EnhancedScc", PERSISTENT | BACKUP},
+    {"FastTakeOff", PERSISTENT | BACKUP},
     {"FeatureStatus", PERSISTENT | BACKUP},
     {"FleetManagerPin", PERSISTENT},
     {"ForceOffroad", CLEAR_ON_MANAGER_START},
@@ -330,6 +331,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TorqueLateralJerk", PERSISTENT | BACKUP},
     {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
     {"TorquedOverride", PERSISTENT | BACKUP},
+    {"ToyotaAutoHold", PERSISTENT | BACKUP},
     {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
     {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
     {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},

selfdrive/car/card.py

@@ -60,6 +60,7 @@ class Car:
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
+    self.sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -67,6 +68,8 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
     elif self.mads_ndlob:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
+    if self.sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False

selfdrive/car/hyundai/interface.py

@@ -126,7 +126,7 @@ class CarInterface(CarInterfaceBase):
 
       if 0x1fa in fingerprint[CAN.ECAN]:
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
-      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9", "11c1f1909ca37bca"):
+      if Params().get("DongleId", encoding='utf8') in ("012c95f06918eca4", "68d6a96e703c00c9"):
         ret.spFlags |= HyundaiFlagsSP.SP_UPSTREAM_TACO.value
     else:
       ret.enableBsm = 0x58b in fingerprint[0]

selfdrive/car/toyota/carcontroller.py

@@ -55,6 +55,13 @@ class CarController(CarControllerBase):
     self.last_blindspot_frame = 0
 
     self._auto_lock_speed = 0.0
+
+    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.brake_hold_active: bool = False
+      self._brake_hold_counter: int = 0
+      self._brake_hold_reset: bool = False
+      self._prev_brake_pressed: bool = False
+
     self._auto_lock_once = False
     self._gear_prev = GearShifter.park
 
@@ -168,6 +175,9 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
+
     # handle UI messages
     fcw_alert = hud_control.visualAlert == VisualAlert.fcw
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -286,3 +296,25 @@ class CarController(CarControllerBase):
         # print("bsm poll right")
 
     return can_sends
+
+  # auto brake hold (https://github.com/AlexandreSato/)
+  def create_auto_brake_hold_messages(self, CS: car.CarState, brake_hold_allowed_timer: int = 100):
+    can_sends = []
+    disallowed_gears = [GearShifter.park, GearShifter.reverse]
+    brake_hold_allowed = CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed and \
+                         not CS.out.cruiseState.enabled and (CS.out.gearShifter not in disallowed_gears)
+
+    if brake_hold_allowed:
+      self._brake_hold_counter += 1
+      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
+      self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
+    else:
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
+      self._brake_hold_reset = False
+    self._prev_brake_pressed = CS.out.brakePressed
+
+    if self.frame % 2 == 0:
+      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
+
+    return can_sends

selfdrive/car/toyota/carstate.py

@@ -79,6 +79,9 @@ class CarState(CarStateBase):
     self._right_blindspot_d2 = 0
     self._right_blindspot_counter = 0
 
+    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = {}
+
     self.frame = 0
 
   def update(self, cp, cp_cam):
@@ -260,6 +263,9 @@ class CarState(CarStateBase):
     if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199:
       ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp)
 
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
     self._update_traffic_signals(cp_cam)
     ret.cruiseState.speedLimit = self._calculate_speed_limit()
     self.frame += 1
@@ -463,4 +469,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
+      if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+        messages.append(("PRE_COLLISION_2", 33))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)

selfdrive/car/toyota/interface.py

@@ -162,29 +162,21 @@ class CarInterface(CarInterfaceBase):
 
     # hand tuned (August 12, 2024)
     def custom_tss2_longitudinal_tuning():
-      ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.0074
-
+      ret.vEgoStopping = 0.01
+      ret.vEgoStarting = 0.01
+      ret.stoppingDecelRate = 0.007
     def default_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-
     def default_longitudinal_tuning():
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]
-
     tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
       if sp_tss2_long_tune:
-        #tune.kiBP = [0., 0.1,  3.,  12.,   20.,  26.,  36.,  50]
-        #tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06]
-        #smooth
-        tune.kiBP = [0.,   12.,  20.,  27.,  36.,  50]
-        tune.kiV = [0.333, 0.203, 0.17, 0.12, 0.08, 0.06]
-        #tune.kiBP = [0.,  2.,   5.,  12.,  16,   20.,  27.,  36.,  50]
-        #tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06]
+        tune.kiBP = [ 0.,  5.,   12.,  20., 27., 40.]
+        tune.kiV =  [.35, .228,  .205, .195, .10, .01]
         custom_tss2_longitudinal_tuning()
       else:
         tune.kpV = [0.0]
@@ -200,6 +192,9 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.TOYOTA_PRIUS_TSS2:
       ret.spFlags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
 
+    if Params().get_bool("ToyotaAutoHold") and candidate in (TSS2_CAR - RADAR_ACC_CAR):
+      ret.spFlags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
+
     return ret
 
   @staticmethod
@@ -273,6 +268,11 @@ class CarInterface(CarInterfaceBase):
           # while in standstill, send a user alert
           events.add(EventName.manualRestart)
 
+    # auto brake hold
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      if self.CC.brake_hold_active and not ret.brakeHoldActive:
+        events.add(EventName.spAutoBrakeHold)
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/toyota/toyotacan.py

@@ -130,3 +130,37 @@ def create_set_bsm_debug_mode(lr_blindspot, enabled):
 
 def create_bsm_polling_status(lr_blindspot):
   return make_can_msg(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
+
+
+# auto brake hold
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  # forward PRE_COLLISION_2 when auto brake hold is not active
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ]}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)

selfdrive/car/toyota/values.py

@@ -16,7 +16,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 
 
 class CarControllerParams:
-  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MAX = 2.0  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_STEP = 1
@@ -64,6 +64,7 @@ class ToyotaFlagsSP(IntFlag):
   SP_ZSS = 1
   SP_ENHANCED_BSM = 2
   SP_NEED_DEBUG_BSM = 4
+  SP_AUTO_BRAKE_HOLD = 8
 
 
 class Footnote(Enum):

selfdrive/controls/lib/events.py

@@ -744,6 +744,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 
+  EventName.spAutoBrakeHold: {
+    ET.PERMANENT: Alert(
+      "sunnypilot Brake Hold Active",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.prompt, 0.),
+  },
+
   EventName.parkBrake: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -4,6 +4,7 @@ import time
 import numpy as np
 from cereal import custom
 from openpilot.common.numpy_fast import clip
+from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -63,9 +64,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.0
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    return 0.85
+    return 0.95
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 0.8
+    return 0.9
   elif personality==custom.LongitudinalPersonalitySP.overtake:
     return 0.1
   else:
@@ -92,22 +93,36 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
     x_vel =  [0,    5.,   5.01,  20.,   27.7]
     y_dist = [1.0,  1.0,  1.75,  1.75,  1.83]
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0,    4.,   4.01,  20.,   27.7]
-    y_dist = [1.0,  1.0,  1.75,  1.75,  1.80]
+    x_vel =  [0,    20.,   27.7]
+    y_dist = [1.70, 1.70,  1.70]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,    3.,   3.01,  20.,   27.7]
-    y_dist = [1.0,  1.0,  1.45,  1.45,  1.50]
+    x_vel =  [0,    27.69, 27.7]
+    y_dist = [1.40, 1.40,  1.45]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,    2.,   2.01,  20.,   27.7]
-    y_dist = [1.0,  1.0,  1.20,  1.20,  1.30]
+    x_vel =  [0,    5.,    20.0, 20.01, 27.69, 27.7]
+    y_dist = [0.80, 1.10, 1.10, 1.12,  1.12,  1.20]
   else:
     raise NotImplementedError("Dynamic personality not supported")
   return np.interp(v_ego, x_vel, y_dist)
 
-
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
+def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
+  # KRKeegan this offset rapidly decreases the following distance when the lead pulls
+  # away, resulting in an early demand for acceleration.
+  v_diff_offset = 0
+  v_diff_offset_max = 12
+  speed_to_reach_max_v_diff_offset = 26 # in kp/h
+  speed_to_reach_max_v_diff_offset = speed_to_reach_max_v_diff_offset * CV.KPH_TO_MS
+  delta_speed = v_lead - v_ego
+  if np.all(delta_speed > 0):
+    v_diff_offset = delta_speed * 2
+    v_diff_offset = np.clip(v_diff_offset, 0, v_diff_offset_max)
+    # increase in a linear behavior
+    v_diff_offset = np.maximum(v_diff_offset * ((speed_to_reach_max_v_diff_offset - v_ego)/speed_to_reach_max_v_diff_offset), 0)
+  return (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
+
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
@@ -302,15 +317,24 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard):
+  def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard, v_lead0=0, v_lead1=0):
     jerk_factor = get_jerk_factor(personality)
+    v_ego = self.x0[1]
+    v_ego_bps = [0, 10]
+    # KRKeegan adjustments to improve sluggish acceleration
+    # do not apply to deceleration
+    j_ego_v_ego = 1
+    a_change_v_ego = 1
+    if (v_lead0 - v_ego >= 0) and (v_lead1 - v_ego >= 0):
+      j_ego_v_ego = np.interp(v_ego, v_ego_bps, [.05, 1.])
+      a_change_v_ego = np.interp(v_ego, v_ego_bps, [.05, 1.])
     if self.mode == 'acc':
       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 * a_change_v_ego, jerk_factor * J_EGO_COST * j_ego_v_ego]
       constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
-      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
+      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost * a_change_v_ego, 1.0]
       constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
     else:
       raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
@@ -362,7 +386,7 @@ class LongitudinalMpc:
     self.max_a = max_a
 
   def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
-             dynamic_personality=False, overtaking_acceleration_assist=False):
+             dynamic_personality=False, overtaking_acceleration_assist=False, fast_take_off = False):
     v_ego = self.x0[1]
     t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality)
     t_follow = get_T_FOLLOW(custom.LongitudinalPersonalitySP.overtake) if overtaking_acceleration_assist else t_follow
@@ -374,8 +398,12 @@ class LongitudinalMpc:
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.
-    lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
-    lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
+    if fast_take_off:
+      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
+      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
+    else:
+      lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
+      lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     cruise_target_e2ex = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
     e2e_xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])

selfdrive/controls/lib/longitudinal_planner.py

@@ -36,6 +36,7 @@ _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
 
+MpcSource = custom.MpcSource
 EventName = car.CarEvent.EventName
 
 
@@ -102,6 +103,7 @@ class LongitudinalPlanner:
     self.turn_speed_controller = TurnSpeedController()
     self.dynamic_experimental_controller = DynamicExperimentalController()
     self.accel_controller = AccelController()
+    self.fast_take_off = False
 
   def read_param(self):
     try:
@@ -109,6 +111,7 @@ class LongitudinalPlanner:
     except AttributeError:
       self.dynamic_experimental_controller = DynamicExperimentalController()
       self.accel_controller = AccelController()
+      self.fast_take_off = self.params.get_bool("FastTakeOff")
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -131,10 +134,13 @@ class LongitudinalPlanner:
       self.read_param()
     self.param_read_counter += 1
     if self.dynamic_experimental_controller.is_enabled() and sm['controlsState'].experimentalMode:
-      self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
+      self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
+      self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm['carState'], sm['radarState'].leadOne, sm['modelV2'], sm['controlsState'], sm['navInstruction'].maneuverDistance)
+      self.mpc.mode = self.dynamic_experimental_controller.get_mpc_mode()
     else:
       self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
+
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -198,7 +204,7 @@ class LongitudinalPlanner:
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality,
-                    dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged)
+                    dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged, fast_take_off=self.fast_take_off)
 
     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)
@@ -267,7 +273,8 @@ class LongitudinalPlanner:
     longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state
     longitudinalPlanSP.turnSpeed = float(self.turn_speed_controller.v_target)
 
-    longitudinalPlanSP.e2eBlended = self.mpc.mode
+    longitudinalPlanSP.mpcSource = MpcSource.blended if self.mpc.mode == 'blended' else MpcSource.acc
+    longitudinalPlanSP.dynamicExperimentalControl = self.dynamic_experimental_controller.is_enabled()
 
     pm.send('longitudinalPlanSP', plan_sp_send)
 

selfdrive/controls/lib/sunnypilot/accel_controller.py

@@ -28,16 +28,17 @@ from openpilot.common.numpy_fast import interp
 
 AccelPersonality = custom.AccelerationPersonality
 
-# accel personality by @arne182 modified by cgw
-_DP_CRUISE_MIN_V =       [-0.05, -0.05, -0.088, -0.088, -0.25, -0.25, -0.39, -0.39,  -0.75]
-_DP_CRUISE_MIN_V_ECO =   [-0.04, -0.04, -0.087, -0.087, -0.24, -0.24, -0.38, -0.38,  -0.65]
-_DP_CRUISE_MIN_V_SPORT = [-0.06, -0.06, -0.089, -0.089, -0.26, -0.26, -0.40, -0.40,  -0.85]
-_DP_CRUISE_MIN_BP =      [0.,    5.0,   5.01,   11.1,   11.11, 20.,   20.01, 30.,    30.01]
+# accel personality by @arne182 modified by cgw and kumar
+_DP_CRUISE_MIN_V =       [-0.69, -0.69, -0.69, -0.69, -0.69, -0.69, -0.79, -0.79, -0.79, -0.79, -1.0,  -1.0]
+_DP_CRUISE_MIN_V_ECO =   [-0.68, -0.68, -0.68, -0.68, -0.68, -0.68, -0.78, -0.78, -0.88, -0.88, -1.0,  -1.0]
+_DP_CRUISE_MIN_V_SPORT = [-0.70, -0.70, -0.70, -0.70, -0.70, -0.70, -0.80, -0.80, -0.90, -0.90, -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,     3.0,    3.01,   10.,    10.01, 14.,   14.01, 18.,   18.01,  22.,  22.01, 30.]
+
+_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.11, .70,  .54,  .38,  .17]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.60, 0.90, .53,  .43,  .32,  .09]
+_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.40, .90,  .70,  .50,  .30]
+_DP_CRUISE_MAX_BP =      [0.,  4.,  6.,  8.,   11.,  20.,  25.,  30.,  40.]
 
-_DP_CRUISE_MAX_V =       [2.0, 2.0, 1.9, 1.60, 1.11, .75,  .55,  .42,  .2]
-_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 1.8, 1.35, 0.86, .53,  .42,  .31,  .085]
-_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.34, .96,  .78,  .60,  .4]
-_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  20.,  25.,  30.,  55.]
 
 
 class AccelController:

selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py

@@ -21,33 +21,39 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 #
-# Version = 2024-1-29
+# Version = 2024-7-11
 from common.numpy_fast import interp
-from openpilot.selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE
+import numpy as np
 
-LEAD_WINDOW_SIZE = 5
+# d-e2e, from modeldata.h
+TRAJECTORY_SIZE = 33
+
+LEAD_WINDOW_SIZE = 4
 LEAD_PROB = 0.6
 
 SLOW_DOWN_WINDOW_SIZE = 5
 SLOW_DOWN_PROB = 0.6
+
 SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
 SLOW_DOWN_DIST = [20, 30., 50., 70., 80., 90., 105., 120.]
 
-SLOWNESS_WINDOW_SIZE = 20
-SLOWNESS_PROB = 0.6
+SLOWNESS_WINDOW_SIZE = 12
+SLOWNESS_PROB = 0.5
 SLOWNESS_CRUISE_OFFSET = 1.05
 
-DANGEROUS_TTC_WINDOW_SIZE = 5
-DANGEROUS_TTC = 2.0
+DANGEROUS_TTC_WINDOW_SIZE = 3
+DANGEROUS_TTC = 2.3
 
-HIGHWAY_CRUISE_KPH = 75
+HIGHWAY_CRUISE_KPH = 70
 
 STOP_AND_GO_FRAME = 60
 
 SET_MODE_TIMEOUT = 10
 
-MPC_FCW_WINDOW_SIZE = 5
-MPC_FCW_PROB = 0.6
+MPC_FCW_WINDOW_SIZE = 10
+MPC_FCW_PROB = 0.5
+
+V_ACC_MIN = 9.72
 
 
 class SNG_State:
@@ -77,29 +83,51 @@ class GenericMovingAverageCalculator:
     self.data = []
     self.total = 0
 
+class WeightedMovingAverageCalculator:
+  def __init__(self, window_size):
+    self.window_size = window_size
+    self.data = []
+    self.weights = np.linspace(1, 2, window_size)  # Linear weights, adjust as needed
+
+  def add_data(self, value):
+    if len(self.data) == self.window_size:
+      self.data.pop(0)
+    self.data.append(value)
+
+  def get_weighted_average(self):
+    if len(self.data) == 0:
+      return None
+    weighted_sum = np.dot(self.data, self.weights[-len(self.data):])
+    weight_total = np.sum(self.weights[-len(self.data):])
+    return weighted_sum / weight_total
+
+  def reset_data(self):
+    self.data = []
 
 class DynamicExperimentalController:
   def __init__(self):
     self._is_enabled = False
     self._mode = 'acc'
     self._mode_prev = 'acc'
+    self._mode_changed = False
     self._frame = 0
 
-    self._lead_gmac = GenericMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
+    # Use weighted moving average for filtering leads
+    self._lead_gmac = WeightedMovingAverageCalculator(window_size=LEAD_WINDOW_SIZE)
     self._has_lead_filtered = False
     self._has_lead_filtered_prev = False
 
-    self._slow_down_gmac = GenericMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
+    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=SLOW_DOWN_WINDOW_SIZE)
     self._has_slow_down = False
 
     self._has_blinkers = False
 
-    self._slowness_gmac = GenericMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
+    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=SLOWNESS_WINDOW_SIZE)
     self._has_slowness = False
 
     self._has_nav_instruction = False
 
-    self._dangerous_ttc_gmac = GenericMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
+    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=DANGEROUS_TTC_WINDOW_SIZE)
     self._has_dangerous_ttc = False
 
     self._v_ego_kph = 0.
@@ -113,13 +141,46 @@ class DynamicExperimentalController:
     self._sng_transit_frame = 0
     self._sng_state = SNG_State.off
 
-    self._mpc_fcw_gmac = GenericMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
+    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=MPC_FCW_WINDOW_SIZE)
     self._has_mpc_fcw = False
     self._mpc_fcw_crash_cnt = 0
 
     self._set_mode_timeout = 0
     pass
 
+
+  def _adaptive_slowdown_threshold(self):
+    """
+    Adapts the slow down threshold based on vehicle speed and recent behavior.
+    """
+    return interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST) * (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+
+  def _anomaly_detection(self, recent_data, threshold=2.0):
+    """
+    Basic anomaly detection using standard deviation.
+    """
+    if len(recent_data) < 3:
+      return False
+    mean = np.mean(recent_data)
+    std_dev = np.std(recent_data)
+    anomaly = recent_data[-1] > mean + threshold * std_dev
+    return anomaly
+
+  def _smoothed_lead_detection(self, lead_prob, smoothing_factor=0.2):
+    """
+    Smoothing the lead detection to avoid erratic behavior.
+    """
+    self._has_lead_filtered = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
+    return self._has_lead_filtered > LEAD_PROB
+
+  def _adaptive_lead_prob_threshold(self):
+    """
+    Adapts lead probability threshold based on driving conditions.
+    """
+    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
+      return LEAD_PROB + 0.1  # Increase the threshold on highways
+    return LEAD_PROB
+
   def _update(self, car_state, lead_one, md, controls_state, maneuver_distance):
     self._v_ego_kph = car_state.vEgo * 3.6
     self._v_cruise_kph = controls_state.vCruise
@@ -128,18 +189,27 @@ class DynamicExperimentalController:
 
     # fcw detection
     self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB
+    self._has_mpc_fcw = self._mpc_fcw_gmac.get_weighted_average() > MPC_FCW_PROB
 
     # nav enable detection
     self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
 
-    # lead detection
+    # lead detection with smoothing
     self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = self._lead_gmac.get_moving_average() >= LEAD_PROB
+    self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
+    #lead_prob = self._lead_gmac.get_weighted_average() or 0
+    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
 
-    # slow down detection
-    self._slow_down_gmac.add_data(len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < interp(self._v_ego_kph, SLOW_DOWN_BP, SLOW_DOWN_DIST))
-    self._has_slow_down = self._slow_down_gmac.get_moving_average() >= SLOW_DOWN_PROB
+    # adaptive slow down detection
+    adaptive_threshold = self._adaptive_slowdown_threshold()
+    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
+    self._slow_down_gmac.add_data(slow_down_trigger)
+    self._has_slow_down = self._slow_down_gmac.get_weighted_average() > SLOW_DOWN_PROB
+
+    # anomaly detection for slow down events
+    if self._anomaly_detection(self._slow_down_gmac.data):
+      # Handle anomaly: potentially log it, adjust behavior, or issue a warning
+      self._has_slow_down = False  # Reset slow down if anomaly detected
 
     # blinker detection
     self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
@@ -161,7 +231,7 @@ class DynamicExperimentalController:
     # slowness detection
     if not self._has_standstill:
       self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph*SLOWNESS_CRUISE_OFFSET))
-      self._has_slowness = self._slowness_gmac.get_moving_average() >= SLOWNESS_PROB
+      self._has_slowness = self._slowness_gmac.get_weighted_average() > SLOWNESS_PROB
 
     # dangerous TTC detection
     if not self._has_lead_filtered and self._has_lead_filtered_prev:
@@ -171,14 +241,14 @@ class DynamicExperimentalController:
     if self._has_lead and car_state.vEgo >= 0.01:
       self._dangerous_ttc_gmac.add_data(lead_one.dRel/car_state.vEgo)
 
-    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_moving_average() is not None and self._dangerous_ttc_gmac.get_moving_average() <= DANGEROUS_TTC
+    self._has_dangerous_ttc = self._dangerous_ttc_gmac.get_weighted_average() is not None and self._dangerous_ttc_gmac.get_weighted_average() <= DANGEROUS_TTC
 
     # keep prev values
     self._has_standstill_prev = self._has_standstill
     self._has_lead_filtered_prev = self._has_lead_filtered
     self._frame += 1
 
-  def _blended_priority_mode(self):
+  def _radarless_mode(self):
     # when mpc fcw crash prob is high
     # use blended to slow down quickly
     if self._has_mpc_fcw:
@@ -190,21 +260,21 @@ class DynamicExperimentalController:
       self._set_mode('blended')
       return
 
-    # when blinker is on and speed is driving below highway cruise speed: blended
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
     # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
-      return
+    #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
 
     # when at highway cruise and SNG: blended
     # ensuring blended mode is used because acc is bad at catching SNG lead car
     # especially those who accel very fast and then brake very hard.
-    if self._sng_state == SNG_State.going and self._v_cruise_kph >= HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
-      return
+    #if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
 
     # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
     if self._has_standstill:
       self._set_mode('blended')
       return
@@ -226,9 +296,9 @@ class DynamicExperimentalController:
       self._set_mode('acc')
       return
 
-    self._set_mode('blended')
+    self._set_mode('acc')
 
-  def _acc_priority_mode(self):
+  def _radar_mode(self):
     # when mpc fcw crash prob is high
     # use blended to slow down quickly
     if self._has_mpc_fcw:
@@ -236,18 +306,18 @@ class DynamicExperimentalController:
       return
 
     # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    #if self._has_lead_filtered and not self._has_standstill:
-    #  self._set_mode('acc')
-    #  return
-
-    # when blinker is on and speed is driving below highway cruise speed: blended
-    # we dont want it to switch mode at higher speed, blended may trigger hard brake
-    if self._has_blinkers and self._v_ego_kph < HIGHWAY_CRUISE_KPH:
-      self._set_mode('blended')
+    if self._has_lead_filtered and not self._has_standstill:
+      self._set_mode('acc')
       return
 
+    # when blinker is on and speed is driving below V_ACC_MIN: blended
+    # we dont want it to switch mode at higher speed, blended may trigger hard brake
+    #if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
+    #  self._set_mode('blended')
+    #  return
+
     # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode wont brake at traffic light.
+    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
     if self._has_standstill:
       self._set_mode('blended')
       return
@@ -270,17 +340,22 @@ class DynamicExperimentalController:
 
     self._set_mode('acc')
 
-  def get_mpc_mode(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
+  def update(self, radar_unavailable, car_state, lead_one, md, controls_state, maneuver_distance):
     if self._is_enabled:
       self._update(car_state, lead_one, md, controls_state, maneuver_distance)
       if radar_unavailable:
-        self._blended_priority_mode()
+        self._radarless_mode()
       else:
-        self._acc_priority_mode()
-
+        self._radar_mode()
+    self._mode_changed = self._mode != self._mode_prev
     self._mode_prev = self._mode
+
+  def get_mpc_mode(self):
     return self._mode
 
+  def has_changed(self):
+    return self._mode_changed
+
   def set_enabled(self, enabled):
     self._is_enabled = enabled
 

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc

@@ -43,6 +43,12 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
       tr("Enable the beloved M.A.D.S. feature. Disable toggle to revert back to stock openpilot engagement/disengagement."),
       "../assets/offroad/icon_blank.png",
     },
+    {
+      "FastTakeOff",
+      tr("Very fast prius"),
+      tr("When prius goes faster then sunnys car :) vroom"),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "VisionCurveLaneless",
       tr("Laneless for Curves in \"Auto\" Mode"),

selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_settings.cc

@@ -159,6 +159,18 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   toyotaTss2LongTune->setConfirmation(true, false);
   addItem(toyotaTss2LongTune);
 
+  auto toyotaAbh = new ParamControlSP(
+    "ToyotaAutoHold",
+    tr("Enable Automatic Brake Hold (AHB)"),
+    QString("<b>%1</b><br><br>%2<br><br><b>%3</b>")
+    .arg(tr("WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK."))
+    .arg(tr("When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold."))
+    .arg(tr("Changing this setting takes effect when the car is powered off.")),
+    "../assets/offroad/icon_blank.png"
+  );
+  toyotaAbh->setConfirmation(true, false);
+  addItem(toyotaAbh);
+
   toyotaEnhancedBsm = new ParamControlSP(
     "ToyotaEnhancedBsm",
     tr("Enable Enhanced Blind Spot Monitor"),
@@ -207,6 +219,7 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
     hkgCustomLongTuning->setEnabled(offroad);
     hyundaiCruiseMainDefault->setEnabled(offroad);
     toyotaTss2LongTune->setEnabled(offroad);
+    toyotaAbh->setEnabled(offroad);
     toyotaEnhancedBsm->setEnabled(offroad);
     toyotaSngHack->setEnabled(offroad);
     volkswagenCCOnly->setEnabled(offroad);

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc

@@ -216,6 +216,7 @@ void AnnotatedCameraWidgetSP::updateState(const UIStateSP &s) {
   latAccelFactorFiltered = ltp.getLatAccelFactorFiltered();
   frictionCoefficientFiltered = ltp.getFrictionCoefficientFiltered();
   liveValid = ltp.getLiveValid();
+  ecoMode = vEgo > 0 && car_state.getEngineRpm() == 0;
   // ############################## DEV UI END ##############################
 
   btnPerc = s.scene.sleep_btn_opacity * 0.05;
@@ -320,8 +321,8 @@ void AnnotatedCameraWidgetSP::updateState(const UIStateSP &s) {
   // TODO: Add toggle variables to cereal, and parse from cereal
   longitudinalPersonality = s.scene.longitudinal_personality;
   dynamicLaneProfile = s.scene.dynamic_lane_profile;
-  mpcMode = QString::fromStdString(lp_sp.getE2eBlended());
-  mpcMode = (mpcMode == "blended") ? mpcMode.replace(0, 1, mpcMode[0].toUpper()) : mpcMode.toUpper();
+  const auto mpc_source = lp_sp.getMpcSource();
+  mpcSource = mpc_source == cereal::MpcSource::BLENDED ? QString(tr("blended")) : QString(tr("acc"));
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
@@ -523,10 +524,32 @@ void AnnotatedCameraWidgetSP::drawHud(QPainter &p) {
 
   // current speed
   if (!hideVEgoUi) {
+    // Set up the font for the speed text
     p.setFont(InterFont(176, QFont::Bold));
-    drawColoredText(p, rect().center().x(), 210, speedStr, brakeLights ? QColor(0xff, 0, 0, 255) : QColor(0xff, 0xff, 0xff, 255));
+
+    // Define text coordinates
+    int centerX = rect().center().x();
+    int centerY = 210;
+
+    // Draw a red border if brakeLights is active
+    if (brakeLights) {
+      for (int offsetX = -6; offsetX <= 6; offsetX++) {
+        for (int offsetY = -6; offsetY <= 6; offsetY++) {
+          // Avoid drawing at the original text position
+          if (offsetX != 0 || offsetY != 0) {
+            drawColoredText(p, centerX + offsetX, centerY + offsetY, speedStr, QColor(255, 0, 0, 255)); // Red border
+          }
+        }
+      }
+    }
+
+    // Draw the main speed text: green if ecoMode is on, otherwise white
+    QColor speedTextColor = ecoMode ? QColor(0, 245, 0) : QColor(255, 255, 255, 255);
+    drawColoredText(p, centerX, centerY, speedStr, speedTextColor);
+
+    // Draw the speed unit below the main text
     p.setFont(InterFont(66));
-    drawText(p, rect().center().x(), 290, speedUnit, 200);
+    drawText(p, centerX, 290, speedUnit, 200);
   }
 
   if (!reversing) {
@@ -1061,7 +1084,7 @@ void AnnotatedCameraWidgetSP::drawFeatureStatusText(QPainter &p, int x, int y) {
     p.setBrush(dec_color);
     p.drawEllipse(dec_btn);
     QString dec_status_text;
-    dec_status_text.sprintf("DEC: %s\n", dynamicExperimentalControlToggle ? (experimentalMode ? QString(mpcMode).toStdString().c_str() : QString("Inactive").toStdString().c_str()) : "OFF");
+    dec_status_text.sprintf("DEC: %s\n", dynamicExperimentalControlToggle ? (experimentalMode ? QString(mpcSource).toStdString().c_str() : QString("Inactive").toStdString().c_str()) : "OFF");
     p.setPen(QPen(shadow_color, 2));
     p.drawText(x + drop_shadow_size, y + drop_shadow_size, dec_status_text);
     p.setPen(QPen(text_color, 2));
@@ -1165,7 +1188,7 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *
   }
 
   // TODO: Fix empty spaces when curiving back on itself
-  painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.2));
+  painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));
   if (left_blindspot) painter.drawPolygon(scene.lane_barrier_vertices[0]);
   if (right_blindspot) painter.drawPolygon(scene.lane_barrier_vertices[1]);
 
@@ -1177,6 +1200,10 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *
 
   // paint path
   QLinearGradient bg(0, height(), 0, 0);
+  const auto long_plan_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
+  bool exp_mode_path = (long_plan_sp.getDynamicExperimentalControl() && long_plan_sp.getMpcSource() == cereal::MpcSource::BLENDED) ||
+                       (!long_plan_sp.getDynamicExperimentalControl() && sm["controlsState"].getControlsState().getExperimentalMode());
+
   if (madsEnabled || car_state.getCruiseState().getEnabled()) {
     if (steerOverride && latActive) {
       bg.setColorAt(0.0, QColor::fromHslF(20 / 360., 0.94, 0.51, 0.17));
@@ -1185,7 +1212,7 @@ void AnnotatedCameraWidgetSP::drawLaneLines(QPainter &painter, const UIStateSP *
     } else if (!(latActive || car_state.getCruiseState().getEnabled())) {
       bg.setColorAt(0, whiteColor());
       bg.setColorAt(1, whiteColor(0));
-    } else if (sm["controlsState"].getControlsState().getExperimentalMode()) {
+    } else if (exp_mode_path) {
       // The first half of track_vertices are the points for the right side of the path
       const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
       const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
@@ -1286,46 +1313,25 @@ void AnnotatedCameraWidgetSP::drawDriverState(QPainter &painter, const UIStateSP
 }
 
 void AnnotatedCameraWidgetSP::rocketFuel(QPainter &p) {
+  UIState *s = uiState();
+  float accel = (*s->sm)["carControl"].getCarControl().getActuators().getAccel();
+  int widgetHeight = rect().height();
+  float halfHeightAbs = std::abs(accel) * widgetHeight / 2.0f;
+  const float scannerWidth = 15;
+  QRect scannerRect;
 
-  static const int ct_n = 1;
-  static float ct;
-
-  int rect_w = rect().width();
-  int rect_h = rect().height();
-
-  const int n = 15 + 1; //Add one off screen due to timing issues
-  static float t[n];
-  int dim_n = (sin(ct / 5) + 1) * (n - 0.01);
-  t[dim_n] = 1.0;
-  t[(int)(ct/ct_n)] = 1.0;
-
-  UIStateSP *s = uiStateSP();
-  float vc_accel0 = (*s->sm)["carState"].getCarState().getAEgo();
-  static float vc_accel;
-  vc_accel = vc_accel + (vc_accel0 - vc_accel) / 5;
-  float hha = 0;
-  if (vc_accel > 0) {
-    hha = 0.85 - 0.1 / vc_accel;  // only extend up to 85%
+  if (accel > 0) {
     p.setBrush(QColor(0, 245, 0, 200));
-  }
-  if (vc_accel < 0) {
-    hha = 0.85 + 0.1 / vc_accel; // only extend up to 85%
-    p.setBrush(QColor(245, 0, 0, 200));
-  }
-  if (hha < 0) {
-    hha = 0;
-  }
-  hha = hha * rect_h;
-  float wp = 28;
-  if (vc_accel > 0) {
-    QRect ra = QRect(rect_w - wp, rect_h / 2 - hha / 2, wp, hha / 2);
-    p.drawRect(ra);
+    scannerRect = QRect(0, widgetHeight / 2 - halfHeightAbs, scannerWidth, halfHeightAbs);
   } else {
-    QRect ra = QRect(rect_w - wp, rect_h / 2, wp, hha / 2);
-    p.drawRect(ra);
+    p.setBrush(QColor(245, 0, 0, 200));
+    scannerRect = QRect(0, widgetHeight / 2, scannerWidth, halfHeightAbs);
   }
+
+  p.drawRect(scannerRect);
 }
 
+
 void AnnotatedCameraWidgetSP::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd,
                                      int num, const cereal::CarState::Reader &car_data, int chevron_data) {
   painter.save();

selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h

@@ -176,6 +176,7 @@ private:
   float latAccelFactorFiltered;
   float frictionCoefficientFiltered;
   bool liveValid;
+  bool ecoMode;
   // ############################## DEV UI END ##############################
 
   float btnPerc;
@@ -192,7 +193,7 @@ private:
   cereal::LongitudinalPlanSP::SpeedLimitControlState slcState;
   int longitudinalPersonality;
   int dynamicLaneProfile;
-  QString mpcMode;
+  QString mpcSource;
 
   int speed_limit_frame;
   bool slcShowSign = true;

selfdrive/ui/translations/main_ar.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">ميل/س</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1466,11 +1474,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1517,6 +1529,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1583,14 +1611,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2517,6 +2537,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2525,6 +2553,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2910,6 +2946,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">الوضع التجريبي</translation>
@@ -3277,6 +3317,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3305,14 +3353,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_de.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1448,11 +1456,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1499,6 +1511,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1565,14 +1593,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2501,6 +2521,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2509,6 +2537,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2896,6 +2932,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">Experimenteller Modus</translation>
@@ -3263,6 +3303,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3291,14 +3339,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_es.ts

@@ -207,6 +207,14 @@
         <source>LIMIT</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -1445,14 +1453,6 @@ Esto puede tardar un minuto.</translation>
         <source>Hyundai/Kia/Genesis</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Subaru</source>
         <translation type="unfinished"></translation>
@@ -1571,6 +1571,26 @@ Reboot Required.</source>
         <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2677,6 +2697,22 @@ Reboot Required.</source>
         <source>Default is Laneless. In Auto mode, sunnnypilot dynamically chooses between Laneline or Laneless model based on lane recognition confidence level on road and certain conditions.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TermsPage</name>
@@ -3042,6 +3078,10 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>TorqueFriction</name>

selfdrive/ui/translations/main_fr.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mi/h</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1450,11 +1458,15 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1501,6 +1513,22 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1567,14 +1595,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2501,6 +2521,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2509,6 +2537,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2894,6 +2930,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">Mode expérimental</translation>
@@ -3261,6 +3301,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3289,14 +3337,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_ja.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">最高速度</translation>
@@ -1444,11 +1452,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1495,6 +1507,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1561,14 +1589,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2495,6 +2515,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2503,6 +2531,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2888,6 +2924,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">実験モード</translation>
@@ -3255,6 +3295,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3283,14 +3331,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_ko.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1446,11 +1454,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1497,6 +1509,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1563,14 +1591,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2497,6 +2517,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2505,6 +2533,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2890,6 +2926,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">실험 모드</translation>
@@ -3257,6 +3297,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3285,14 +3333,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">LIMITE</translation>
@@ -1450,11 +1458,15 @@ Isso pode levar até um minuto.</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1501,6 +1513,22 @@ Isso pode levar até um minuto.</translation>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1567,14 +1595,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2501,6 +2521,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2509,6 +2537,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2894,6 +2930,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">Modo Experimental</translation>
@@ -3261,6 +3301,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3289,14 +3337,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_th.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">ไมล์/ชม.</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">สูงสุด</translation>
@@ -1446,11 +1454,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1497,6 +1509,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1563,14 +1591,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2497,6 +2517,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2505,6 +2533,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2890,6 +2926,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">โหมดทดลอง</translation>
@@ -3257,6 +3297,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3285,14 +3333,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_tr.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
@@ -1444,11 +1452,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1495,6 +1507,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1561,14 +1589,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2495,6 +2515,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2503,6 +2531,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2888,6 +2924,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished"></translation>
@@ -3255,6 +3295,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3283,14 +3331,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">最高定速</translation>
@@ -1446,11 +1454,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1497,6 +1509,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1563,14 +1591,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2497,6 +2517,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2505,6 +2533,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2890,6 +2926,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">测试模式</translation>
@@ -3257,6 +3297,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3285,14 +3333,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -203,6 +203,14 @@
         <source>mph</source>
         <translation type="unfinished">mph</translation>
     </message>
+    <message>
+        <source>blended</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>acc</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>MAX</source>
         <translation type="unfinished">最高</translation>
@@ -1446,11 +1454,15 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>HKG CAN: Smoother Stopping Performance (Beta)</source>
+        <source>HKG: Custom Tuning for New Longitudinal API</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Smoother stopping behind a stopped car or desired stopping event. This is only applicable to HKG CAN platforms using openpilot longitudinal control.</source>
+        <source>HKG CAN: Enable Cruise Main By Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1497,6 +1509,22 @@ This may take up to a minute.</source>
         <source>Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars. Big thanks to dragonpilot-community for this implementation.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable Automatic Brake Hold (AHB)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Changing this setting takes effect when the car is powered off.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Enhanced Blind Spot Monitor</source>
         <translation type="unfinished"></translation>
@@ -1563,14 +1591,6 @@ Reboot Required.</source>
         <source>Tested on RAV4 TSS1, Lexus LSS1, Toyota TSS1/1.5, and Prius TSS2.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>HKG CAN: Enable Cruise Main By Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enabling this toggle sets CRUISE MAIN to ON by default when the car starts, without engaging MADS. The user still needs to manually engage MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -2497,6 +2517,14 @@ Reboot Required.</source>
         <source>Neural Network Lateral Control (NNLC)</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>NNLC: Remove Lateral Jerk Response (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When NNLC is active, enable this to disables the use of lateral jerk in steering torque calculations, focusing solely on lateral acceleration for a simplified control response.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enforce Torque Lateral Control</source>
         <translation type="unfinished"></translation>
@@ -2505,6 +2533,14 @@ Reboot Required.</source>
         <source>Enable this to enforce sunnypilot to steer with Torque lateral control.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Lateral Jerk with Torque Lateral Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Utilizes limited lateral jerk control for improved steering response, leveraging stock torque lateral controller capabilities. Designed to mimic NNLC behavior without training models or data collection.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Enable Self-Tune</source>
         <translation type="unfinished"></translation>
@@ -2890,6 +2926,10 @@ Reboot Required.</source>
 This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Use Planner Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Experimental Mode</source>
         <translation type="unfinished">實驗模式</translation>
@@ -3257,6 +3297,14 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Speed</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Time</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>All</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Display Metrics Below Chevron</source>
         <translation type="unfinished"></translation>
@@ -3285,14 +3333,6 @@ This feature must be used along with SLC, and/or V-TSC, and/or M-TSC.</source>
         <source>Display Temperature on Sidebar</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Time</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>All</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>WiFiPromptWidget</name>

system/manager/manager.py

@@ -104,6 +104,7 @@ def manager_init() -> None:
     ("TorqueDeadzoneDeg", "0"),
     ("TorqueFriction", "10"),
     ("TorqueMaxLatAccel", "250"),
+    ("ToyotaAutoHold", "0"),
     ("ToyotaAutoLockBySpeed", "0"),
     ("ToyotaAutoUnlockByShifter", "0"),
     ("ToyotaEnhancedBsm", "0"),
@@ -123,6 +124,7 @@ def manager_init() -> None:
     ("LastSunnylinkPingTime", "0"),
     ("EnableGitlabRunner", "0"),
     ("EnableSunnylinkUploader", "0"),
+    ("FastTakeOff", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))