ref

.gitmodules

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

RELEASES.md

@@ -1,6 +1,6 @@
 Version 0.11.2 (2026-06-15)
 ========================
-
+* Acceleration Profile: select Eco, Normal, or Sport personality to shape acceleration briskness and gentle (ACC) deceleration
 
 Version 0.11.1 (2026-05-18)
 ========================

cereal/custom.capnp

@@ -194,6 +194,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   aTarget @5 :Float32;
   events @6 :List(OnroadEventSP.Event);
   e2eAlerts @7 :E2eAlerts;
+  acceleration @8 :Acceleration;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -296,6 +297,20 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     greenLightAlert @0 :Bool;
     leadDepartAlert @1 :Bool;
   }
+
+  struct Acceleration {
+    personality @0 :AccelerationPersonality;
+    enabled @1 :Bool;
+    maxAccel @2 :Float32;
+    tFollowOffset @3 :Float32;
+    jerkFactorScale @4 :Float32;
+  }
+
+  enum AccelerationPersonality {
+    eco @0;
+    normal @1;
+    sport @2;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -342,6 +357,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
   }
 }
 
@@ -448,6 +464,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;

common/params_keys.h

@@ -179,12 +179,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
+    // toyota specific params
+    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+
     // MADS params
     {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -226,6 +233,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
+    {"RadarDistance", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmoothBraking", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnypilot model params

selfdrive/car/card.py

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

selfdrive/controls/lib/desire_helper.py

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

selfdrive/controls/lib/longcontrol.py

@@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.brake_smoother import BrakeOnsetSmoother
 
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
@@ -56,6 +57,7 @@ class LongControl:
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
+    self.brake_smoother = BrakeOnsetSmoother()
 
   def reset(self):
     self.pid.reset()
@@ -87,6 +89,8 @@ class LongControl:
       error = a_target - CS.aEgo
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
+      # Ease the brake-onset command (comfort); bypassed for hard braking. See BrakeOnsetSmoother.
+      output_accel = self.brake_smoother.apply(output_accel, self.last_output_accel, a_target)
 
     self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -70,6 +70,9 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
     raise NotImplementedError("Longitudinal personality not supported")
 
 
+T_FOLLOW_MIN = 0.9  # safety floor for follow time after any sunnypilot tier offset
+
+
 def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
     return 1.75
@@ -267,8 +270,9 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
-    jerk_factor = get_jerk_factor(personality)
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard, jerk_factor_scale=1.0):
+    # jerk_factor_scale (sunnypilot Acceleration Personality): >1 smooths decel/accel, <1 crisps it.
+    jerk_factor = get_jerk_factor(personality) * jerk_factor_scale
     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]
     constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
@@ -313,8 +317,10 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
-    t_follow = get_T_FOLLOW(personality)
+  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, t_follow_offset=0.0):
+    # t_follow_offset (sunnypilot Acceleration Personality): + = earlier/gentler decel (bigger gap).
+    # Clamped to a safe minimum so a tier offset can never produce an unsafe follow distance.
+    t_follow = max(T_FOLLOW_MIN, get_T_FOLLOW(personality) + t_follow_offset)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -110,7 +110,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+    accel_clip = [ACCEL_MIN, self.accel.get_max_accel(v_ego)]
     steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
     accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
 
@@ -136,9 +136,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     if force_slow_decel:
       v_cruise = 0.0
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
+    # Acceleration Personality decel shaping (ACC path only; stock when disabled or e2e/blended).
+    jerk_factor_scale, t_follow_offset = self.accel.decel_mod(self.is_e2e(sm))
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality, jerk_factor_scale=jerk_factor_scale)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
+    radarstate = self.smooth_radarstate(sm['radarState'])
+    self.mpc.update(radarstate, v_cruise, personality=sm['selfdriveState'].personality, t_follow_offset=t_follow_offset)
 
     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)
@@ -169,8 +172,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
 
-    for idx in range(2):
-      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
+    # Lower (braking) bound and the ceiling's downward slew stay at the stock rate; only the ceiling's
+    # upward slew is tier-dependent (Acceleration Personality).
+    accel_clip[0] = np.clip(accel_clip[0], self.prev_accel_clip[0] - 0.05, self.prev_accel_clip[0] + 0.05)
+    accel_clip[1] = np.clip(accel_clip[1], self.prev_accel_clip[1] - 0.05, self.prev_accel_clip[1] + self.accel.get_rise_rate())
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
     self.prev_accel_clip = accel_clip
 

selfdrive/selfdrived/selfdrived.py

@@ -321,9 +321,16 @@ class SelfdriveD(CruiseHelper):
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+            (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
       else:
         if direction == LaneChangeDirection.left:
           self.events.add(EventName.preLaneChangeLeft)

selfdrive/ui/layouts/settings/toggles.py

@@ -35,6 +35,13 @@ DESCRIPTIONS = {
   'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
   "IsMetric": tr_noop("Display speed in km/h instead of mph."),
   "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+  "AccelPersonalityEnabled": tr_noop(
+    "Enable the Acceleration Profile selector below. When off, sunnypilot uses its default (Normal) acceleration behavior."
+  ),
+  "AccelPersonality": tr_noop(
+    "Sets how briskly sunnypilot accelerates. Eco is gentle with a soft launch, Normal matches the default behavior, " +
+    "and Sport accelerates more briskly. Braking behavior is unaffected."
+  ),
 }
 
 
@@ -64,6 +71,12 @@ class TogglesLayout(Widget):
         "disengage_on_accelerator.png",
         False,
       ),
+      "AccelPersonalityEnabled": (
+        lambda: tr("Enable Acceleration Profile"),
+        DESCRIPTIONS["AccelPersonalityEnabled"],
+        "speed_limit.png",
+        False,
+      ),
       "IsLdwEnabled": (
         lambda: tr("Enable Lane Departure Warnings"),
         DESCRIPTIONS["IsLdwEnabled"],
@@ -106,6 +119,16 @@ class TogglesLayout(Widget):
       icon="speed_limit.png"
     )
 
+    self._accel_personality_setting = multiple_button_item(
+      lambda: tr("Acceleration Profile"),
+      lambda: tr(DESCRIPTIONS["AccelPersonality"]),
+      buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
+      button_width=300,
+      callback=self._set_accel_personality,
+      selected_index=self._params.get("AccelPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
     self._toggles = {}
     self._locked_toggles = set()
     for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
@@ -139,6 +162,10 @@ class TogglesLayout(Widget):
       if param == "DisengageOnAccelerator":
         self._toggles["LongitudinalPersonality"] = self._long_personality_setting
 
+      # insert acceleration profile selector after its enable toggle
+      if param == "AccelPersonalityEnabled":
+        self._toggles["AccelPersonality"] = self._accel_personality_setting
+
     self._update_experimental_mode_icon()
     self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
 
@@ -176,11 +203,13 @@ class TogglesLayout(Widget):
         self._toggles["ExperimentalMode"].action_item.set_enabled(True)
         self._toggles["ExperimentalMode"].set_description(e2e_description)
         self._long_personality_setting.action_item.set_enabled(True)
+        self._accel_personality_setting.action_item.set_enabled(True)
       else:
         # no long for now
         self._toggles["ExperimentalMode"].action_item.set_enabled(False)
         self._toggles["ExperimentalMode"].action_item.set_state(False)
         self._long_personality_setting.action_item.set_enabled(False)
+        self._accel_personality_setting.action_item.set_enabled(False)
         self._params.remove("ExperimentalMode")
 
         unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
@@ -247,3 +276,6 @@ class TogglesLayout(Widget):
 
   def _set_longitudinal_personality(self, button_index: int):
     self._params.put("LongitudinalPersonality", button_index, block=True)
+
+  def _set_accel_personality(self, button_index: int):
+    self._params.put("AccelPersonality", button_index, block=True)

selfdrive/ui/mici/layouts/main.py

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

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

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

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

@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+
+class MiciMainLayoutSP(MiciMainLayout):
+  def _should_auto_scroll_to_onroad(self) -> bool:
+    return not self._onroad_layout.is_on_info_panel()

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

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

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

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

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

@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+
+
+class _SuppressedConfidenceBall:
+  def render(self, *_):
+    pass
+
+
+class AugmentedRoadViewSP(AugmentedRoadView):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    self._show_confidence_ball: bool = True
+    self._real_confidence_ball = self._confidence_ball
+    self._confidence_ball = _SuppressedConfidenceBall()
+
+  def set_show_confidence_ball(self, show: bool) -> None:
+    self._show_confidence_ball = show
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    if self._show_confidence_ball:
+      self._real_confidence_ball.render(self.rect)

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

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

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

@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class ScrollerSP(Scroller):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    inner = self._scroller
+    inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)

selfdrive/ui/ui.py

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

sunnypilot/modeld_v2/modeld.py

@@ -40,6 +40,7 @@ from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelp
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
 
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
@@ -329,6 +330,7 @@ def main(demo=False):
   prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
   meta_constants = load_meta_constants()
 
   while True:
@@ -433,7 +435,10 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction

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

@@ -0,0 +1,81 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import numpy as np
+
+from cereal import messaging
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import get_sanitize_int_param
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
+  NORMAL, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, A_CRUISE_MAX_V, RISE_RATE, T_FOLLOW_OFFSET, JERK_FACTOR_SCALE
+
+
+class AccelController:
+  def __init__(self, CP: structs.CarParams, mpc, params=None):
+    self._CP = CP
+    self._mpc = mpc
+    self._params = params or Params()
+    self._frame = 0
+    self._enabled: bool = self._params.get_bool("AccelPersonalityEnabled")
+    self._personality = NORMAL  # cereal AccelerationPersonality ordinal
+    self._v_ego = 0.0
+    self._jerk_scale = 1.0
+    self._t_follow_offset = 0.0
+    self._read_params()
+
+  def _read_params(self) -> None:
+    self._enabled = self._params.get_bool("AccelPersonalityEnabled")
+    # When disabled, resolve to normal so the disabled path and the normal tier share one numeric path
+    # that is identical to stock openpilot.
+    if not self._enabled:
+      self._personality = NORMAL
+      return
+
+    self._personality = get_sanitize_int_param("AccelPersonality", PERSONALITY_MIN, PERSONALITY_MAX, self._params)
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._read_params()
+    self._v_ego = sm['carState'].vEgo
+    self._frame += 1
+
+  def get_max_accel(self, v_ego: float) -> float:
+    return float(np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_V[self._personality]))
+
+  def get_rise_rate(self) -> float:
+    return RISE_RATE[self._personality]
+
+  def decel_mod(self, is_e2e: bool) -> tuple[float, float]:
+    # Decel-side comfort shaping applies only to the comfort MPC (ACC) path. When disabled or when the
+    # plan is e2e/blended, fall back to stock (no offset/scale) so e2e and blended braking are untouched.
+    # The MPC's ACCEL_MIN floor and FCW crash detection do not depend on these comfort weights, so
+    # emergency braking authority is preserved regardless of tier.
+    if not self._enabled or is_e2e:
+      self._jerk_scale = 1.0
+      self._t_follow_offset = 0.0
+    else:
+      self._jerk_scale = JERK_FACTOR_SCALE[self._personality]
+      self._t_follow_offset = T_FOLLOW_OFFSET[self._personality]
+    return self._jerk_scale, self._t_follow_offset
+
+  def jerk_factor_scale(self) -> float:
+    return self._jerk_scale
+
+  def t_follow_offset(self) -> float:
+    return self._t_follow_offset
+
+  def enabled(self) -> bool:
+    return self._enabled
+
+  def personality(self):
+    return self._personality  # cereal AccelerationPersonality ordinal
+
+  def max_accel(self) -> float:
+    # Cached value for publishing; publish_longitudinal_plan_sp has no v_ego in scope.
+    return self.get_max_accel(self._v_ego)

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

@@ -0,0 +1,60 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from cereal import custom
+
+# Single source of truth for the tiers: the cereal enum (eco @0, normal @1, sport @2).
+AccelerationPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+ECO = AccelerationPersonality.eco
+NORMAL = AccelerationPersonality.normal
+SPORT = AccelerationPersonality.sport
+
+# Valid range for the AccelPersonality int param (used for clamping).
+PERSONALITY_MIN = min(AccelerationPersonality.schema.enumerants.values())
+PERSONALITY_MAX = max(AccelerationPersonality.schema.enumerants.values())
+
+# Speed-dependent max acceleration ceiling (m/s^2), interpolated over A_CRUISE_MAX_BP (m/s).
+A_CRUISE_MAX_BP = [0., 10., 25., 40.]
+
+# Stock openpilot values (selfdrive/controls/lib/longitudinal_planner.py). Single source of truth so the
+# normal tier (and the disabled path, which resolves to normal) is identical to stock by construction.
+STOCK_A_CRUISE_MAX_V = [1.6, 1.2, 0.8, 0.6]
+STOCK_RISE_RATE = 0.05  # m/s^2 per planner cycle (DT_MDL=0.05s -> 1.0 m/s^2/s); stock accel_clip upper-bound slew
+
+# Eco launch (v<=10) is kept ~stock so departing a stop/green light is not sluggish (no getting honked at);
+# the eco character is in the cruise/highway roll-on (>=25 m/s), not off-the-line.
+A_CRUISE_MAX_V = {
+  ECO:    [1.6, 1.10, 0.45, 0.30],
+  NORMAL: STOCK_A_CRUISE_MAX_V,
+  SPORT:  [1.8, 1.40, 1.00, 0.75],
+}
+
+# How fast the max-accel ceiling is allowed to rise, in m/s^2 per planner cycle (only the upward slew;
+# the downward/braking slew stays at the stock rate for safety).
+RISE_RATE = {
+  ECO:    0.025,
+  NORMAL: STOCK_RISE_RATE,
+  SPORT:  0.10,
+}
+
+# --- Decel-side comfort, applied to the comfort MPC (non-e2e ACC) path only ---
+# e2e/blended keep stock braking, and the MPC's ACCEL_MIN floor + FCW crash detection are unaffected
+# by these comfort weights (they only shape gentle decel onset/smoothness when following/cruising).
+
+# Offset (s) added to the Driving Personality's T_FOLLOW: + = earlier and gentler decel (bigger gap).
+T_FOLLOW_OFFSET = {
+  ECO:    0.15,
+  NORMAL: 0.0,
+  SPORT:  -0.10,
+}
+
+# Multiplies the Driving Personality's jerk factor: >1 = smoother decel/accel (more jerk cost), <1 = crisper.
+JERK_FACTOR_SCALE = {
+  ECO:    1.2,
+  NORMAL: 1.0,
+  SPORT:  0.85,
+}

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

@@ -0,0 +1,130 @@
+import numpy as np
+import pytest
+
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
+  AccelerationPersonality, ECO, NORMAL, SPORT, STOCK_RISE_RATE
+
+# Stock openpilot accel ceiling, duplicated independently here so the test fails if the normal tier ever drifts.
+STOCK_BP = [0., 10., 25., 40.]
+STOCK_V = [1.6, 1.2, 0.8, 0.6]
+V_EGO_GRID = [0.0, 5.0, 10.0, 17.0, 25.0, 33.0, 40.0, 50.0]
+
+
+class MockParams:
+  def __init__(self, enabled=False, personality=NORMAL):
+    self._vals = {"AccelPersonalityEnabled": enabled, "AccelPersonality": int(personality)}
+
+  def get_bool(self, key):
+    return bool(self._vals.get(key, False))
+
+  def get(self, key, return_default=False):
+    return self._vals.get(key, 0)
+
+  def put(self, key, val, block=False):
+    self._vals[key] = int(val)
+
+
+class MockCarState:
+  def __init__(self, vEgo=0.0):
+    self.vEgo = vEgo
+
+
+def make_sm(v_ego=0.0):
+  return {'carState': MockCarState(vEgo=v_ego)}
+
+
+@pytest.fixture
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
+
+
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
+
+
+def stock_max_accel(v_ego):
+  return float(np.interp(v_ego, STOCK_BP, STOCK_V))
+
+
+def test_disabled_matches_stock(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=False, personality=SPORT))
+  for v in V_EGO_GRID:
+    assert c.get_max_accel(v) == pytest.approx(stock_max_accel(v))
+  assert c.get_rise_rate() == STOCK_RISE_RATE
+  assert c.personality() == AccelerationPersonality.normal
+  assert not c.enabled()
+
+
+def test_normal_matches_stock(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
+  for v in V_EGO_GRID:
+    assert c.get_max_accel(v) == pytest.approx(stock_max_accel(v))
+  assert c.get_rise_rate() == STOCK_RISE_RATE
+  assert c.personality() == AccelerationPersonality.normal
+
+
+def test_eco_is_gentler(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
+  for v in V_EGO_GRID:
+    assert c.get_max_accel(v) <= stock_max_accel(v) + 1e-6
+  assert c.get_rise_rate() < STOCK_RISE_RATE
+  assert c.personality() == AccelerationPersonality.eco
+
+
+def test_sport_is_brisker(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=SPORT))
+  for v in V_EGO_GRID:
+    assert c.get_max_accel(v) >= stock_max_accel(v) - 1e-6
+  assert c.get_rise_rate() > STOCK_RISE_RATE
+  assert c.personality() == AccelerationPersonality.sport
+
+
+def test_param_clamp(mock_cp, mock_mpc):
+  # Out-of-range int must clamp to the max tier (sport), not raise.
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=9))
+  assert c.personality() == AccelerationPersonality.sport
+
+
+def test_decel_mod_disabled_is_stock(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=False, personality=SPORT))
+  assert c.decel_mod(is_e2e=False) == (1.0, 0.0)
+  assert c.jerk_factor_scale() == 1.0
+  assert c.t_follow_offset() == 0.0
+
+
+def test_decel_mod_e2e_bypass_is_stock(mock_cp, mock_mpc):
+  # Even enabled + sport, an e2e/blended plan must keep stock braking.
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=SPORT))
+  assert c.decel_mod(is_e2e=True) == (1.0, 0.0)
+
+
+def test_decel_mod_eco_gentler(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
+  jerk_scale, t_follow_offset = c.decel_mod(is_e2e=False)
+  assert jerk_scale > 1.0          # smoother decel jerk
+  assert t_follow_offset > 0.0     # earlier / gentler decel (bigger gap)
+
+
+def test_decel_mod_sport_crisper(mock_cp, mock_mpc):
+  c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=SPORT))
+  jerk_scale, t_follow_offset = c.decel_mod(is_e2e=False)
+  assert jerk_scale < 1.0          # crisper decel jerk
+  assert t_follow_offset < 0.0     # firmer / later decel
+
+
+def test_frame_gated_read(mock_cp, mock_mpc):
+  params = MockParams(enabled=True, personality=NORMAL)
+  c = AccelController(mock_cp, mock_mpc, params=params)
+  c.update(make_sm())  # frame 0 -> reads, picks up normal
+  params._vals["AccelPersonality"] = int(SPORT)
+  for _ in range(19):  # frames 1..19, none on the 20-frame gate boundary
+    c.update(make_sm())
+  assert c.personality() == AccelerationPersonality.normal
+  c.update(make_sm())  # frame 20 -> reads, picks up sport
+  assert c.personality() == AccelerationPersonality.sport

sunnypilot/selfdrive/controls/lib/brake_smoother.py

@@ -0,0 +1,40 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
+
+_PARAM_REFRESH_FRAMES = max(1, int(1.0 / DT_CTRL))
+
+# Cap how fast the longitudinal command may DEEPEN a brake at onset, so braking eases in gradually
+# instead of biting sharply (the planner aTarget is already smooth; the PID proportional term reacting
+# to the aEgo lag at onset is what makes the command jerk). Comfort only:
+#  - applied solely while the brake command is getting more negative (onset / deepening),
+#  - bypassed entirely when aTarget demands a real hard brake, so emergencies are never delayed.
+BRAKE_ONSET_JERK = 2.5      # m/s^3, max rate the brake command may deepen at onset
+HARD_BRAKE_THRESH = -1.8    # m/s^2, aTarget at/below this = real hard brake -> pass through unmodified
+
+
+class BrakeOnsetSmoother:
+  def __init__(self, params=None):
+    self._params = params or Params()
+    self._enabled = self._params.get_bool("SmoothBraking")
+    self._frame = 0
+
+  def apply(self, output_accel: float, last_output_accel: float, a_target: float) -> float:
+    if self._frame % _PARAM_REFRESH_FRAMES == 0:
+      self._enabled = self._params.get_bool("SmoothBraking")
+    self._frame += 1
+
+    if not self._enabled:
+      return output_accel
+
+    # Only ease the onset of a comfort brake: command deepening AND the plan isn't asking for a hard brake.
+    if output_accel < last_output_accel and a_target > HARD_BRAKE_THRESH:
+      return max(output_accel, last_output_accel - BRAKE_ONSET_JERK * DT_CTRL)
+
+    return output_accel

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

@@ -1,17 +1,46 @@
+from openpilot.common.realtime import DT_MDL
+
+
 class WMACConstants:
-  # Lead detection parameters
-  LEAD_WINDOW_SIZE = 6  # Stable detection window
-  LEAD_PROB = 0.45  # Balanced threshold for lead detection
+  TRAJECTORY_SIZE = 33
+  PARAM_READ_FRAMES = max(1, int(round(1.0 / DT_MDL)))
 
-  # Slow down detection parameters
-  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
-  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
+  EMERGENCY_HOLD_FRAMES = max(1, int(round(0.75 / DT_MDL)))
+  MIN_MODE_DURATION = {'acc': max(1, int(round(0.6 / DT_MDL))), 'blended': max(1, int(round(0.5 / DT_MDL)))}
+  ENTER_BLENDED_FRAMES = max(1, int(round(0.4 / DT_MDL)))
+  EXIT_BLENDED_FRAMES = max(1, int(round(0.35 / DT_MDL)))
+  STANDSTILL_FRAMES = max(1, int(round(0.2 / DT_MDL)))
 
-  # Optimized slow down distance curve - smooth and progressive
+  LEAD_PROB = 0.45
+  LEAD_EXIT_PROB = 0.25
+  LEAD_RISE_RATE = 1.0
+  LEAD_FALL_RATE = 0.35
+  RADAR_LEAD_ACC_PROB = 0.5
+  RADAR_LEAD_ACC_EXIT_PROB = 0.4
+  RADAR_LEAD_ACC_RISE_RATE = 1.0
+  RADAR_LEAD_ACC_FALL_RATE = 0.25
+  RADAR_LEAD_ACC_MAX_DREL = 80.0
+  RADAR_LEAD_ACC_MAX_TTC = 6.0
+  RADAR_LEAD_ACC_MIN_CLOSING_SPEED = -0.5
+
+  SLOW_DOWN_PROB = 0.5
+  SLOW_DOWN_EXIT_PROB = 0.4
+  SLOW_DOWN_RISE_RATE = 0.65
+  SLOW_DOWN_FALL_RATE = 0.15
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
   SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
+  URGENT_SLOW_DOWN_PROB = 0.85
 
-  # Slowness detection parameters
-  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
-  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
-  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset
+  MODEL_DECEL_START = -0.5
+  MODEL_DECEL_RANGE = 2.0
+  ENDPOINT_URGENCY_GAIN = 1.3
+  CRITICAL_ENDPOINT_FACTOR = 0.3
+  CRITICAL_URGENCY_GAIN = 1.5
+  SPEED_URGENCY_MIN = 25.0
+  SPEED_URGENCY_RANGE = 80.0
+
+  SLOWNESS_PROB = 0.55
+  SLOWNESS_EXIT_PROB = 0.45
+  SLOWNESS_RISE_RATE = 0.35
+  SLOWNESS_FALL_RATE = 0.5
+  SLOWNESS_CRUISE_OFFSET = 1.025

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

@@ -6,129 +6,116 @@ See the LICENSE.md file in the root directory for more details.
 """
 # Version = 2025-6-30
 
-from cereal import messaging
-from opendbc.car import structs
-from numpy import interp
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
 from typing import Literal
 
-# d-e2e, from modeldata.h
-TRAJECTORY_SIZE = 33
-SET_MODE_TIMEOUT = 15
+from cereal import messaging
+from numpy import interp
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
 
-# Define the valid mode types
 ModeType = Literal['acc', 'blended']
 
 
-class SmoothKalmanFilter:
-  """Enhanced Kalman filter with smoothing for stable decision making."""
+def clip01(value: float) -> float:
+  return max(0.0, min(1.0, float(value)))
 
-  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
-               alpha=1.0, smoothing_factor=0.85):
-    self.x = initial_value
-    self.P = 1.0
-    self.R = measurement_noise
-    self.Q = process_noise
-    self.alpha = alpha
-    self.smoothing_factor = smoothing_factor
-    self.initialized = False
-    self.history = []
-    self.max_history = 10
-    self.confidence = 0.0
 
-  def add_data(self, measurement):
-    if len(self.history) >= self.max_history:
-      self.history.pop(0)
-    self.history.append(measurement)
+class SmoothedSignal:
+  def __init__(self, rise_rate: float, fall_rate: float, initial_value: float = 0.0):
+    self.rise_rate = clip01(rise_rate)
+    self.fall_rate = clip01(fall_rate)
+    self.value = clip01(initial_value)
 
-    if not self.initialized:
-      self.x = measurement
-      self.initialized = True
-      self.confidence = 0.1
-      return
+  def update(self, measurement: float) -> float:
+    measurement = clip01(measurement)
+    rate = self.rise_rate if measurement > self.value else self.fall_rate
+    self.value += (measurement - self.value) * rate
+    return self.value
 
-    self.P = self.alpha * self.P + self.Q
+  def reset(self, value: float = 0.0) -> None:
+    self.value = clip01(value)
 
-    K = self.P / (self.P + self.R)
-    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
 
-    innovation = measurement - self.x
-    self.x = self.x + effective_K * innovation
-    self.P = (1 - effective_K) * self.P
+class HysteresisSignal:
+  def __init__(self, enter_threshold: float, exit_threshold: float, rise_rate: float, fall_rate: float):
+    self.enter_threshold = clip01(enter_threshold)
+    self.exit_threshold = clip01(exit_threshold)
+    self.filter = SmoothedSignal(rise_rate, fall_rate)
+    self.active = False
 
-    if abs(innovation) < 0.1:
-      self.confidence = min(1.0, self.confidence + 0.05)
-    else:
-      self.confidence = max(0.1, self.confidence - 0.02)
+  def update(self, measurement: float) -> bool:
+    value = self.filter.update(measurement)
+    threshold = self.exit_threshold if self.active else self.enter_threshold
+    self.active = value > threshold
+    return self.active
 
-  def get_value(self):
-    return self.x if self.initialized else None
+  def reset(self) -> None:
+    self.filter.reset()
+    self.active = False
 
-  def get_confidence(self):
-    return self.confidence
-
-  def reset_data(self):
-    self.initialized = False
-    self.history = []
-    self.confidence = 0.0
+  @property
+  def value(self) -> float:
+    return self.filter.value
 
 
 class ModeTransitionManager:
-  """Manages smooth transitions between driving modes with hysteresis."""
-
   def __init__(self):
     self.current_mode: ModeType = 'acc'
-    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
-    self.transition_timeout = 0
-    self.min_mode_duration = 10
     self.mode_duration = 0
-    self.emergency_override = False
+    self._pending_mode: ModeType = 'acc'
+    self._pending_count = 0
+    self._blended_hold_frames = 0
 
-  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
-    # Emergency override for critical situations (stops, collisions)
-    if emergency:
-      self.emergency_override = True
-      self.current_mode = mode
-      self.transition_timeout = SET_MODE_TIMEOUT
-      self.mode_duration = 0
+  def request_mode(self, mode: ModeType, immediate: bool = False, hold_frames: int = 0, cancel_hold: bool = False) -> None:
+    if immediate:
+      self._blended_hold_frames = max(self._blended_hold_frames, hold_frames)
+      self._pending_mode = mode
+      self._pending_count = 0
+      self._switch_mode(mode)
       return
 
-    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
-    for m in self.mode_confidence:
-      if m != mode:
-        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+    if cancel_hold and mode == 'acc':
+      self._blended_hold_frames = 0
 
-    # Require minimum duration in current mode (unless emergency)
-    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+    if self._blended_hold_frames > 0:
+      mode = 'blended'
+
+    if mode == self.current_mode:
+      self._pending_mode = mode
+      self._pending_count = 0
       return
 
-    # Hysteresis: higher threshold for mode changes
-    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+    if mode != self._pending_mode:
+      self._pending_mode = mode
+      self._pending_count = 1
+    else:
+      self._pending_count += 1
 
-    if self.mode_confidence[mode] > confidence_threshold:
-      if mode != self.current_mode and self.transition_timeout == 0:
-        self.transition_timeout = SET_MODE_TIMEOUT
-        self.current_mode = mode
-        self.mode_duration = 0
+    if self.mode_duration < WMACConstants.MIN_MODE_DURATION[self.current_mode]:
+      return
 
-  def update(self):
-    if self.transition_timeout > 0:
-      self.transition_timeout -= 1
+    required_count = WMACConstants.ENTER_BLENDED_FRAMES if mode == 'blended' else WMACConstants.EXIT_BLENDED_FRAMES
+    if self._pending_count >= required_count:
+      self._switch_mode(mode)
+
+  def update(self) -> None:
+    if self._blended_hold_frames > 0:
+      self._blended_hold_frames -= 1
     self.mode_duration += 1
 
-    # Reset emergency override after some time
-    if self.emergency_override and self.mode_duration > 20:
-      self.emergency_override = False
-
-    # Gradual confidence decay
-    for mode in self.mode_confidence:
-      self.mode_confidence[mode] *= 0.98
-
   def get_mode(self) -> ModeType:
     return self.current_mode
 
+  def _switch_mode(self, mode: ModeType) -> None:
+    if mode == self.current_mode:
+      return
+
+    self.current_mode = mode
+    self.mode_duration = 0
+    self._pending_mode = mode
+    self._pending_count = 0
+
 
 class DynamicExperimentalController:
   def __init__(self, CP: structs.CarParams, mpc, params=None):
@@ -142,35 +129,33 @@ class DynamicExperimentalController:
 
     self._mode_manager = ModeTransitionManager()
 
-    # Smooth filters for stable decision making with faster response for critical scenarios
-    self._lead_filter = SmoothKalmanFilter(
-      measurement_noise=0.15,
-      process_noise=0.05,
-      alpha=1.02,
-      smoothing_factor=0.8
+    self._lead_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.LEAD_PROB,
+      exit_threshold=WMACConstants.LEAD_EXIT_PROB,
+      rise_rate=WMACConstants.LEAD_RISE_RATE,
+      fall_rate=WMACConstants.LEAD_FALL_RATE,
+    )
+    self._radar_acc_lead_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.RADAR_LEAD_ACC_PROB,
+      exit_threshold=WMACConstants.RADAR_LEAD_ACC_EXIT_PROB,
+      rise_rate=WMACConstants.RADAR_LEAD_ACC_RISE_RATE,
+      fall_rate=WMACConstants.RADAR_LEAD_ACC_FALL_RATE,
+    )
+    self._slow_down_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.SLOW_DOWN_PROB,
+      exit_threshold=WMACConstants.SLOW_DOWN_EXIT_PROB,
+      rise_rate=WMACConstants.SLOW_DOWN_RISE_RATE,
+      fall_rate=WMACConstants.SLOW_DOWN_FALL_RATE,
+    )
+    self._slowness_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.SLOWNESS_PROB,
+      exit_threshold=WMACConstants.SLOWNESS_EXIT_PROB,
+      rise_rate=WMACConstants.SLOWNESS_RISE_RATE,
+      fall_rate=WMACConstants.SLOWNESS_FALL_RATE,
     )
 
-    self._slow_down_filter = SmoothKalmanFilter(
-      measurement_noise=0.1,
-      process_noise=0.1,
-      alpha=1.05,
-      smoothing_factor=0.7
-    )
-
-    self._slowness_filter = SmoothKalmanFilter(
-      measurement_noise=0.1,
-      process_noise=0.06,
-      alpha=1.015,
-      smoothing_factor=0.92
-    )
-
-    self._mpc_fcw_filter = SmoothKalmanFilter(
-      measurement_noise=0.2,
-      process_noise=0.1,
-      alpha=1.1,
-      smoothing_factor=0.5
-    )
     self._has_lead_filtered = False
+    self._has_radar_acc_lead = False
     self._has_slow_down = False
     self._has_slowness = False
     self._has_mpc_fcw = False
@@ -179,13 +164,14 @@ class DynamicExperimentalController:
     self._has_standstill = False
     self._mpc_fcw_crash_cnt = 0
     self._standstill_count = 0
-    # debug
+
     self._endpoint_x = float('inf')
     self._expected_distance = 0.0
     self._trajectory_valid = False
+    self._raw_urgency = 0.0
 
   def _read_params(self) -> None:
-    if self._frame % int(1. / DT_MDL) == 0:
+    if self._frame % WMACConstants.PARAM_READ_FRAMES == 0:
       self._enabled = self._params.get_bool("DynamicExperimentalControl")
 
   def mode(self) -> str:
@@ -198,7 +184,6 @@ class DynamicExperimentalController:
     return self._active
 
   def set_mpc_fcw_crash_cnt(self) -> None:
-    """Set MPC FCW crash count"""
     self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
 
   def _update_calculations(self, sm: messaging.SubMaster) -> None:
@@ -210,179 +195,109 @@ class DynamicExperimentalController:
     self._v_cruise_kph = car_state.vCruise
     self._has_standstill = car_state.standstill
 
-    # standstill detection
     if self._has_standstill:
-      self._standstill_count = min(20, self._standstill_count + 1)
+      self._standstill_count = min(WMACConstants.STANDSTILL_FRAMES * 3, self._standstill_count + 1)
     else:
       self._standstill_count = max(0, self._standstill_count - 1)
 
-    # Lead detection
-    self._lead_filter.add_data(float(lead_one.status))
-    lead_value = self._lead_filter.get_value() or 0.0
-    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
-
-    # MPC FCW detection
-    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
-    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
-    self._has_mpc_fcw = fcw_filtered_value > 0.5
-
-    # Slow down detection
+    self._has_lead_filtered = self._lead_tracker.update(float(lead_one.status))
+    self._has_radar_acc_lead = self._radar_acc_lead_tracker.update(self._radar_acc_lead_score(lead_one))
+    self._has_mpc_fcw = self._mpc_fcw_crash_cnt > 0
     self._calculate_slow_down(md)
 
-    # Slowness detection
-    if not (self._standstill_count > 5) and not self._has_slow_down:
+    if self._standstill_count > WMACConstants.STANDSTILL_FRAMES or self._has_slow_down:
+      self._slowness_tracker.reset()
+      self._has_slowness = False
+    else:
       current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      self._slowness_filter.add_data(current_slowness)
-      slowness_value = self._slowness_filter.get_value() or 0.0
+      self._has_slowness = self._slowness_tracker.update(current_slowness)
 
-      # Hysteresis for slowness
-      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
-      self._has_slowness = slowness_value > threshold
-
-  def _calculate_slow_down(self, md):
-    """Calculate urgency based on trajectory endpoint vs expected distance."""
-
-    # Reset to safe defaults
-    urgency = 0.0
+  def _calculate_slow_down(self, md) -> None:
     self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
     self._trajectory_valid = False
 
-    #Require exact trajectory size
-    position_valid = len(md.position.x) == TRAJECTORY_SIZE
-    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+    urgency = self._model_action_urgency(md)
+    position_valid = len(md.position.x) == WMACConstants.TRAJECTORY_SIZE
 
-    if not (position_valid and orientation_valid):
-      # Invalid trajectory - this itself might indicate a stop scenario
-      # Apply moderate urgency for incomplete trajectories at speed
-      if self._v_ego_kph > 20.0:
-        urgency = 0.3
+    if position_valid:
+      self._trajectory_valid = True
+      self._endpoint_x = md.position.x[WMACConstants.TRAJECTORY_SIZE - 1]
+      self._expected_distance = interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST)
+      urgency = max(urgency, self._endpoint_urgency(self._endpoint_x, self._expected_distance))
 
-      self._slow_down_filter.add_data(urgency)
-      urgency_filtered = self._slow_down_filter.get_value() or 0.0
-      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
-      self._urgency = urgency_filtered
-      return
+    self._raw_urgency = clip01(urgency)
+    self._has_slow_down = self._slow_down_tracker.update(self._raw_urgency)
+    self._urgency = self._slow_down_tracker.value
 
-    # We have a valid full trajectory
-    self._trajectory_valid = True
+  def _radar_acc_lead_score(self, lead_one) -> float:
+    if not lead_one.status:
+      return 0.0
 
-    # Use the exact endpoint (33rd point, index 32)
-    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
-    self._endpoint_x = endpoint_x
+    d_rel = float(getattr(lead_one, 'dRel', float('inf')))
+    v_rel = float(getattr(lead_one, 'vRel', 0.0))
+    if d_rel <= WMACConstants.RADAR_LEAD_ACC_MAX_DREL:
+      return 1.0
+    if v_rel <= WMACConstants.RADAR_LEAD_ACC_MIN_CLOSING_SPEED and d_rel / max(-v_rel, 0.1) <= WMACConstants.RADAR_LEAD_ACC_MAX_TTC:
+      return 1.0
+    return 0.0
 
-    # Get expected distance based on current speed using tuned constants
-    expected_distance = interp(self._v_ego_kph,
-                               WMACConstants.SLOW_DOWN_BP,
-                               WMACConstants.SLOW_DOWN_DIST)
-    self._expected_distance = expected_distance
+  def _model_action_urgency(self, md) -> float:
+    action = getattr(md, 'action', None)
+    if action is None:
+      return 0.0
 
-    # Calculate urgency based on trajectory shortage
-    if endpoint_x < expected_distance:
-      shortage = expected_distance - endpoint_x
-      shortage_ratio = shortage / expected_distance
+    urgency = 1.0 if getattr(action, 'shouldStop', False) else 0.0
+    desired_accel = getattr(action, 'desiredAcceleration', 0.0)
+    if desired_accel < WMACConstants.MODEL_DECEL_START:
+      urgency = max(urgency, min(1.0, (WMACConstants.MODEL_DECEL_START - desired_accel) / WMACConstants.MODEL_DECEL_RANGE))
+    return urgency
 
-      # Base urgency on shortage ratio
-      urgency = min(1.0, shortage_ratio * 2.0)
+  def _endpoint_urgency(self, endpoint_x: float, expected_distance: float) -> float:
+    if endpoint_x >= expected_distance:
+      return 0.0
 
-      # Increase urgency for very short trajectories (imminent stops)
-      critical_distance = expected_distance * 0.3
-      if endpoint_x < critical_distance:
-        urgency = min(1.0, urgency * 2.0)
+    shortage_ratio = (expected_distance - endpoint_x) / expected_distance
+    urgency = min(1.0, shortage_ratio * WMACConstants.ENDPOINT_URGENCY_GAIN)
 
-      # Speed-based urgency adjustment
-      if self._v_ego_kph > 25.0:
-        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
-        urgency = min(1.0, urgency * speed_factor)
+    if endpoint_x < expected_distance * WMACConstants.CRITICAL_ENDPOINT_FACTOR:
+      urgency = min(1.0, urgency * WMACConstants.CRITICAL_URGENCY_GAIN)
 
-    # Apply filtering but with less smoothing for stops
-    self._slow_down_filter.add_data(urgency)
-    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+    if self._v_ego_kph > WMACConstants.SPEED_URGENCY_MIN:
+      speed_factor = 1.0 + (self._v_ego_kph - WMACConstants.SPEED_URGENCY_MIN) / WMACConstants.SPEED_URGENCY_RANGE
+      urgency = min(1.0, urgency * speed_factor)
 
-    # Update state with lower threshold for better stop detection
-    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
-    self._urgency = urgency_filtered
+    return urgency
 
-  def _radarless_mode(self) -> None:
-    """Radarless mode decision logic with emergency handling."""
+  def _desired_mode(self) -> tuple[ModeType, bool]:
+    if not self._CP.radarUnavailable and self._has_radar_acc_lead:
+      return 'acc', False
 
-    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      return
+      return 'blended', True
 
-    # Standstill: use blended
-    if self._standstill_count > 3:
-      self._mode_manager.request_mode('blended', confidence=0.9)
-      return
+    standstill = self._standstill_count > WMACConstants.STANDSTILL_FRAMES
+    urgent_slow_down = self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB
 
-    # Slow down scenarios: emergency for high urgency, normal for lower urgency
-    if self._has_slow_down:
-      if self._urgency > 0.7:
-        # Emergency: immediate blended mode for high urgency stops
-        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      else:
-        # Normal: blended with urgency-based confidence
-        confidence = min(1.0, self._urgency * 1.5)
-        self._mode_manager.request_mode('blended', confidence=confidence)
-      return
+    if self._CP.radarUnavailable:
+      if standstill or self._has_slow_down:
+        return 'blended', urgent_slow_down
+      return 'acc', False
 
-    # Driving slow: use ACC (but not if actively slowing down)
-    if self._has_slowness and not self._has_slow_down:
-      self._mode_manager.request_mode('acc', confidence=0.8)
-      return
+    if standstill or self._has_slow_down:
+      return 'blended', urgent_slow_down
 
-    # Default: ACC
-    self._mode_manager.request_mode('acc', confidence=0.7)
-
-  def _radar_mode(self) -> None:
-    """Radar mode with emergency handling."""
-
-    # EMERGENCY: MPC FCW - immediate blended mode
-    if self._has_mpc_fcw:
-      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      return
-
-    # If lead detected and not in standstill: always use ACC
-    if self._has_lead_filtered and not (self._standstill_count > 3):
-      self._mode_manager.request_mode('acc', confidence=1.0)
-      return
-
-    # Slow down scenarios: emergency for high urgency, normal for lower urgency
-    if self._has_slow_down:
-      if self._urgency > 0.7:
-        # Emergency: immediate blended mode for high urgency stops
-        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      else:
-        # Normal: blended with urgency-based confidence
-        confidence = min(1.0, self._urgency * 1.3)
-        self._mode_manager.request_mode('blended', confidence=confidence)
-      return
-
-    # Standstill: use blended
-    if self._standstill_count > 3:
-      self._mode_manager.request_mode('blended', confidence=0.9)
-      return
-
-    # Driving slow: use ACC (but not if actively slowing down)
-    if self._has_slowness and not self._has_slow_down:
-      self._mode_manager.request_mode('acc', confidence=0.8)
-      return
-
-    # Default: ACC
-    self._mode_manager.request_mode('acc', confidence=0.7)
+    return 'acc', False
 
   def update(self, sm: messaging.SubMaster) -> None:
     self._read_params()
-
     self.set_mpc_fcw_crash_cnt()
-
     self._update_calculations(sm)
 
-    if self._CP.radarUnavailable:
-      self._radarless_mode()
-    else:
-      self._radar_mode()
-
+    mode, immediate = self._desired_mode()
+    self._mode_manager.request_mode(mode, immediate=immediate, hold_frames=WMACConstants.EMERGENCY_HOLD_FRAMES,
+                                    cancel_hold=self._has_radar_acc_lead)
     self._mode_manager.update()
+
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
     self._frame += 1

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

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

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

@@ -0,0 +1,235 @@
+import pytest
+
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, HysteresisSignal
+
+
+class MockLeadOne:
+  def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
+    self.status = status
+    self.dRel = dRel
+    self.vRel = vRel
+
+
+class MockRadarState:
+  def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
+    self.leadOne = MockLeadOne(status=status, dRel=dRel, vRel=vRel)
+
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
+
+
+class MockAction:
+  def __init__(self, desiredAcceleration=0.0, shouldStop=False):
+    self.desiredAcceleration = desiredAcceleration
+    self.shouldStop = shouldStop
+
+
+class MockModelData:
+  def __init__(self, valid=True, endpoint_x=200.0, orientation_valid=None, desired_acceleration=0.0, should_stop=False):
+    position_size = 33 if valid else 10
+    orientation_size = position_size if orientation_valid is None else (33 if orientation_valid else 10)
+    position_x = [0.0] * position_size
+    if position_x:
+      position_x[-1] = endpoint_x
+    self.position = type("Pos", (), {"x": position_x})()
+    self.orientation = type("Ori", (), {"x": [0.0] * orientation_size})()
+    self.acceleration = type("Accel", (), {"x": [0.0] * position_size})()
+    self.action = MockAction(desired_acceleration, should_stop)
+
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+
+class MockParams:
+  def get_bool(self, name):
+    return True
+
+
+@pytest.fixture
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
+
+
+@pytest.fixture
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
+
+
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
+
+
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"
+
+
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['carState'].standstill = True
+  for _ in range(20):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  mock_mpc.crash_cnt = 1
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  controller.update(default_sm)
+
+  assert controller.mode() == "blended"
+
+
+def test_valid_position_with_missing_orientation_can_trigger_slowdown(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, orientation_valid=False)
+
+  controller.update(default_sm)
+
+  assert controller._trajectory_valid
+  assert controller.mode() == "blended"
+
+
+def test_incomplete_position_does_not_trigger_slowdown(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=False, endpoint_x=0.0)
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert not controller._trajectory_valid
+  assert not controller._has_slow_down
+  assert controller.mode() == "acc"
+
+
+def test_slowdown_hysteresis_prevents_threshold_chatter():
+  signal = HysteresisSignal(enter_threshold=0.5, exit_threshold=0.4, rise_rate=1.0, fall_rate=1.0)
+
+  assert signal.update(0.55)
+  assert signal.update(0.45)
+  assert not signal.update(0.35)
+
+
+def test_model_should_stop_triggers_blended_without_valid_trajectory(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
+
+  controller.update(default_sm)
+
+  assert not controller._trajectory_valid
+  assert controller.mode() == "blended"
+
+
+def test_radar_lead_keeps_acc_over_model_slowdown(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert controller._has_slow_down
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_far_radar_lead_allows_blended_until_acc_relevant(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+
+def test_relevant_radar_lead_smoothly_returns_to_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=45.0, vRel=0.0)
+  for _ in range(20):
+    controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_closing_far_radar_lead_returns_to_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=-25.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for _ in range(20):
+    controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_radar_lead_keeps_acc_over_fcw_and_standstill(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  default_sm['carState'].standstill = True
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, should_stop=True)
+  mock_mpc.crash_cnt = 1
+
+  for _ in range(10):
+    controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller._has_mpc_fcw
+  assert controller.mode() == "acc"
+
+
+def test_lead_flicker_hold_prevents_one_frame_mode_flip(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  controller.update(default_sm)
+
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller.mode() == "acc"

sunnypilot/selfdrive/controls/lib/lead_persistence/lead_persistence.py

@@ -0,0 +1,259 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from collections import deque
+from dataclasses import dataclass
+
+from openpilot.common.realtime import DT_MDL
+
+
+_HOLD_FRAMES = 16
+_STATUS_WINDOW = 20
+_STABILITY_FLIPS_FULL = 6.0
+
+# Lead target-switch slew: on a sudden closer dRel jump, lag reported dRel and decay to
+# truth (true vRel/vLead/aLeadK pass through); urgent switches pass through.
+_SWITCH_STEP_THRESH = 5.0        # m, single-frame closer jump = switch
+_SWITCH_TTC_MIN = 4.0            # s, below this = urgent, no masking
+_SWITCH_PASSTHROUGH_VREL = -8.0  # m/s, faster closing = no masking
+_SLEW_DECAY = 0.88               # per-frame offset decay
+_SLEW_OFFSET_MAX = 25.0          # m
+_SLEW_OFFSET_EPS = 0.5           # m, snap to zero below this
+
+# Phantom-lead mask: a fresh low-modelProb close lead is usually a radar ghost; mask it
+# so the MPC ignores it. Established/held leads are never masked (see smooth()).
+_PHANTOM_MODELPROB_MAX = 0.5
+_PHANTOM_DREL_MAX = 5.0
+
+
+@dataclass
+class _LeadSnap:
+  dRel: float = 0.0
+  yRel: float = 0.0
+  vRel: float = 0.0
+  vLead: float = 0.0
+  aLeadK: float = 0.0
+  aLeadTau: float = 0.0
+  modelProb: float = 0.0
+  aRel: float = 0.0
+  fcw: bool = False
+
+
+class _LeadProxy:
+  __slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'aLeadK', 'aLeadTau',
+               'modelProb', 'aRel', 'fcw')
+
+  def __init__(self, snap: _LeadSnap):
+    self.status = True
+    self.dRel = snap.dRel
+    self.yRel = snap.yRel
+    self.vRel = snap.vRel
+    self.vLead = snap.vLead
+    self.aLeadK = snap.aLeadK
+    self.aLeadTau = snap.aLeadTau
+    self.modelProb = snap.modelProb
+    self.aRel = snap.aRel
+    self.fcw = snap.fcw
+
+
+class _LeadProxyMasked:
+  __slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'aLeadK', 'aLeadTau',
+               'modelProb', 'aRel', 'fcw')
+
+  def __init__(self):
+    self.status = False
+    self.dRel = 0.0
+    self.yRel = 0.0
+    self.vRel = 0.0
+    self.vLead = 0.0
+    self.aLeadK = 0.0
+    self.aLeadTau = 0.0
+    self.modelProb = 0.0
+    self.aRel = 0.0
+    self.fcw = False
+
+
+class _RadarStateProxy:
+  __slots__ = ('_raw', '_lead_one', '_lead_two')
+
+  def __init__(self, raw, lead_one, lead_two):
+    self._raw = raw
+    self._lead_one = lead_one
+    self._lead_two = lead_two
+
+  @property
+  def leadOne(self):
+    return self._lead_one if self._lead_one is not None else self._raw.leadOne
+
+  @property
+  def leadTwo(self):
+    return self._lead_two if self._lead_two is not None else self._raw.leadTwo
+
+  def __getattr__(self, name):
+    return getattr(self._raw, name)
+
+
+class LeadPersistence:
+  """Internal helper. Hold last-known leadOne/leadTwo alive for HOLD_FRAMES
+  after a status drop, so the MPC view of radarState ignores brief flicker.
+  Also masks freshly-acquired close-range low-confidence phantom leads so the
+  planner doesn't demand emergency brake on radar ghosts.
+  No own param — owner (RadarDistanceController) gates via force_enabled."""
+
+  def __init__(self):
+    self._last_one: _LeadSnap | None = None
+    self._last_two: _LeadSnap | None = None
+    self._alive_one = 0
+    self._alive_two = 0
+
+    self._status_hist: deque[bool] = deque(maxlen=_STATUS_WINDOW)
+    self._stability = 1.0
+
+    # lead target-switch slew state (leadOne only)
+    self._slew_offset = 0.0
+    self._reported_one_dRel: float | None = None
+    self._prev_raw_one_dRel: float | None = None
+    self._prev_raw_one_vRel = 0.0
+
+  @property
+  def stability(self) -> float:
+    return self._stability
+
+  @property
+  def slew_offset(self) -> float:
+    return self._slew_offset
+
+  def reset(self) -> None:
+    self._last_one = None
+    self._last_two = None
+    self._alive_one = 0
+    self._alive_two = 0
+    self._status_hist.clear()
+    self._stability = 1.0
+    self._slew_offset = 0.0
+    self._reported_one_dRel = None
+    self._prev_raw_one_dRel = None
+    self._prev_raw_one_vRel = 0.0
+
+  def update(self, radarstate, force_enabled: bool = True) -> None:
+    if radarstate is None:
+      return
+    if not force_enabled:
+      self.reset()
+      return
+
+    one = radarstate.leadOne
+    two = radarstate.leadTwo
+
+    # phantom counts as not-valid so hold-alive doesn't re-inject the ghost
+    one_valid = bool(one.status) and not self._is_phantom(one)
+    two_valid = bool(two.status) and not self._is_phantom(two)
+
+    self._compute_switch_slew(one, one_valid)
+
+    if one_valid:
+      self._last_one = self._snap(one)
+      self._alive_one = _HOLD_FRAMES
+    elif self._alive_one > 0:
+      self._alive_one -= 1
+
+    if two_valid:
+      self._last_two = self._snap(two)
+      self._alive_two = _HOLD_FRAMES
+    elif self._alive_two > 0:
+      self._alive_two -= 1
+
+    self._status_hist.append(bool(one.status))
+    if len(self._status_hist) >= 5:
+      flips = sum(1 for i in range(1, len(self._status_hist))
+                  if self._status_hist[i] != self._status_hist[i - 1])
+      self._stability = max(0.0, 1.0 - min(1.0, flips / _STABILITY_FLIPS_FULL))
+    else:
+      self._stability = 1.0
+
+  def _compute_switch_slew(self, one, one_valid: bool) -> None:
+    """Carry a decaying dRel lag across a leadOne target-switch; urgent switches pass through."""
+    if not one_valid:
+      self._slew_offset = 0.0
+      self._reported_one_dRel = None
+      self._prev_raw_one_dRel = None
+      self._prev_raw_one_vRel = 0.0
+      return
+
+    raw_d = float(one.dRel)
+    raw_v = float(one.vRel)
+    ttc = raw_d / max(0.1, -raw_v) if raw_v < 0.0 else float('inf')
+    urgent = ttc <= _SWITCH_TTC_MIN or raw_v <= _SWITCH_PASSTHROUGH_VREL
+
+    if urgent:
+      self._slew_offset = 0.0
+    else:
+      self._slew_offset = self._slew_offset * _SLEW_DECAY if self._slew_offset > _SLEW_OFFSET_EPS else 0.0
+      if self._prev_raw_one_dRel is not None and self._reported_one_dRel is not None:
+        expected = self._prev_raw_one_dRel + self._prev_raw_one_vRel * DT_MDL
+        if raw_d < expected - _SWITCH_STEP_THRESH:  # closer jump = switch
+          new_offset = self._reported_one_dRel - raw_d
+          self._slew_offset = min(_SLEW_OFFSET_MAX, max(self._slew_offset, new_offset))
+
+    self._reported_one_dRel = raw_d + self._slew_offset
+    self._prev_raw_one_dRel = raw_d
+    self._prev_raw_one_vRel = raw_v
+
+  @staticmethod
+  def _is_phantom(lead) -> bool:
+    if not (bool(lead.status)
+            and float(lead.modelProb) < _PHANTOM_MODELPROB_MAX
+            and float(lead.dRel) < _PHANTOM_DREL_MAX):
+      return False
+    # don't mask an urgently-closing lead
+    v_rel = float(lead.vRel)
+    if v_rel <= _SWITCH_PASSTHROUGH_VREL:
+      return False
+    ttc = float(lead.dRel) / max(0.1, -v_rel) if v_rel < 0.0 else float('inf')
+    return ttc > _SWITCH_TTC_MIN
+
+  def smooth(self, radarstate, force_enabled: bool = True):
+    if not force_enabled or radarstate is None:
+      return radarstate
+
+    l1 = None
+    l2 = None
+
+    # mask only a fresh ghost (alive==0); never drop an established/held lead
+    if self._is_phantom(radarstate.leadOne) and self._alive_one == 0:
+      l1 = _LeadProxyMasked()
+    elif not radarstate.leadOne.status and self._alive_one > 0 and self._last_one is not None:
+      l1 = _LeadProxy(self._last_one)
+    elif radarstate.leadOne.status and self._slew_offset > _SLEW_OFFSET_EPS:
+      # target-switch slew: lag dRel only, true vRel/vLead/aLeadK pass through
+      snap = self._snap(radarstate.leadOne)
+      snap.dRel = snap.dRel + self._slew_offset
+      l1 = _LeadProxy(snap)
+
+    if self._is_phantom(radarstate.leadTwo) and self._alive_two == 0:
+      l2 = _LeadProxyMasked()
+    elif not radarstate.leadTwo.status and self._alive_two > 0 and self._last_two is not None:
+      l2 = _LeadProxy(self._last_two)
+
+    if l1 is None and l2 is None:
+      return radarstate
+
+    return _RadarStateProxy(radarstate, l1, l2)
+
+  @staticmethod
+  def _snap(lead) -> _LeadSnap:
+    return _LeadSnap(
+      dRel=float(lead.dRel),
+      yRel=float(lead.yRel),
+      vRel=float(lead.vRel),
+      vLead=float(lead.vLead),
+      aLeadK=float(lead.aLeadK),
+      aLeadTau=float(lead.aLeadTau),
+      modelProb=float(lead.modelProb),
+      aRel=float(lead.aRel),
+      fcw=bool(lead.fcw),
+    )

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -9,8 +9,10 @@ from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import RadarDistanceController
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
@@ -26,6 +28,8 @@ class LongitudinalPlannerSP:
     self.events_sp = EventsSP()
     self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
+    self.accel = AccelController(CP, mpc)
+    self.radar_distance = RadarDistanceController()
     self.scc = SmartCruiseControl()
     self.resolver = SpeedLimitResolver()
     self.sla = SpeedLimitAssist(CP, CP_SP)
@@ -35,6 +39,14 @@ class LongitudinalPlannerSP:
 
     self.output_v_target = 0.
     self.output_a_target = 0.
+    self._smoothed_radarstate = None
+
+  def smooth_radarstate(self, radarstate):
+    # RadarDistance: hold leads through flicker, mask fresh close phantoms, and slew dRel across
+    # lead target-switches so the MPC doesn't demand a catch-up hard brake. Cached per cycle.
+    if self._smoothed_radarstate is None:
+      self._smoothed_radarstate = self.radar_distance.smooth_radarstate(radarstate)
+    return self._smoothed_radarstate
 
   def is_e2e(self, sm: messaging.SubMaster) -> bool:
     experimental_mode = sm['selfdriveState'].experimentalMode
@@ -74,8 +86,11 @@ class LongitudinalPlannerSP:
     return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
+    self._smoothed_radarstate = None
     self.events_sp.clear()
     self.dec.update(sm)
+    self.accel.update(sm)
+    self.radar_distance.update(sm)
     self.e2e_alerts_helper.update(sm, self.events_sp)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
@@ -95,6 +110,14 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
+    # Acceleration Personality
+    acceleration = longitudinalPlanSP.acceleration
+    acceleration.personality = self.accel.personality()
+    acceleration.enabled = self.accel.enabled()
+    acceleration.maxAccel = float(self.accel.max_accel())
+    acceleration.tFollowOffset = float(self.accel.t_follow_offset())
+    acceleration.jerkFactorScale = float(self.accel.jerk_factor_scale())
+
     # Smart Cruise Control
     smartCruiseControl = longitudinalPlanSP.smartCruiseControl
     # Vision Control

sunnypilot/selfdrive/controls/lib/radar_distance/radar_distance.py

@@ -0,0 +1,58 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.lead_persistence.lead_persistence import LeadPersistence
+
+
+_PARAM_REFRESH_FRAMES = max(1, int(1.0 / DT_MDL))
+
+
+class RadarDistanceController:
+  """Holds last-known radar leads alive through brief flicker and masks close-range
+  phantom leads, so the MPC view of radarState stays stable. The behavior lives in
+  LeadPersistence; this owns the RadarDistance param gate."""
+
+  def __init__(self):
+    self.params = Params()
+    self._frame = 0
+    self._enabled = self.params.get_bool('RadarDistance')
+    self._lead_persistence = LeadPersistence()
+
+  def is_enabled(self) -> bool:
+    return self._enabled
+
+  def set_enabled(self, enabled: bool):
+    self._enabled = bool(enabled)
+    self.params.put_bool('RadarDistance', self._enabled)
+
+  def toggle(self) -> bool:
+    self.set_enabled(not self._enabled)
+    return self._enabled
+
+  def update(self, sm=None, sm_sp=None) -> None:
+    self._frame += 1
+    if self._frame % _PARAM_REFRESH_FRAMES == 0:
+      self._enabled = self.params.get_bool('RadarDistance')
+
+    radarstate = None
+    if sm is not None:
+      try:
+        radarstate = sm['radarState']
+      except (KeyError, AttributeError, TypeError):
+        radarstate = None
+
+    self._lead_persistence.update(radarstate, force_enabled=self._enabled)
+
+  def smooth_radarstate(self, radarstate):
+    if not self._enabled:
+      return radarstate
+    return self._lead_persistence.smooth(radarstate, force_enabled=True)
+
+  def reset(self) -> None:
+    self._lead_persistence.reset()

sunnypilot/selfdrive/controls/lib/relc.py

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

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

@@ -0,0 +1,43 @@
+from openpilot.common.realtime import DT_CTRL
+from openpilot.sunnypilot.selfdrive.controls.lib.brake_smoother import BrakeOnsetSmoother, BRAKE_ONSET_JERK, HARD_BRAKE_THRESH
+
+MAX_STEP = BRAKE_ONSET_JERK * DT_CTRL
+
+
+class MockParams:
+  def __init__(self, enabled):
+    self._v = {"SmoothBraking": enabled}
+
+  def get_bool(self, k):
+    return bool(self._v.get(k, False))
+
+
+def test_disabled_passthrough():
+  s = BrakeOnsetSmoother(params=MockParams(False))
+  assert s.apply(-1.0, 0.0, -0.5) == -1.0
+
+
+def test_comfort_onset_rate_limited():
+  s = BrakeOnsetSmoother(params=MockParams(True))
+  # deepening comfort brake (a_target above the hard threshold) -> clamped to last - max_step
+  out = s.apply(-0.5, 0.0, -0.5)
+  assert out == -MAX_STEP
+
+
+def test_hard_brake_passthrough():
+  s = BrakeOnsetSmoother(params=MockParams(True))
+  # a_target at/below hard threshold -> no limiting, full brake passes through
+  assert s.apply(-1.0, 0.0, HARD_BRAKE_THRESH - 0.1) == -1.0
+
+
+def test_release_passthrough():
+  s = BrakeOnsetSmoother(params=MockParams(True))
+  # output less negative than last (releasing brake) -> not limited
+  assert s.apply(-0.2, -0.5, -0.3) == -0.2
+
+
+def test_already_within_rate():
+  s = BrakeOnsetSmoother(params=MockParams(True))
+  # small deepening within the cap is unchanged
+  out = s.apply(-MAX_STEP * 0.5, 0.0, -0.3)
+  assert out == -MAX_STEP * 0.5

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

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

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

@@ -0,0 +1,251 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot.selfdrive.controls.lib.lead_persistence.lead_persistence import (
+  LeadPersistence,
+  _HOLD_FRAMES,
+)
+
+
+class FakeLead:
+  def __init__(self, status=False, d_rel=0.0, v_rel=0.0, v_lead=0.0,
+               a_lead=0.0, a_tau=0.0, model_prob=0.0, y_rel=0.0, a_rel=0.0, fcw=False):
+    self.status = status
+    self.dRel = d_rel
+    self.yRel = y_rel
+    self.vRel = v_rel
+    self.vLead = v_lead
+    self.aLeadK = a_lead
+    self.aLeadTau = a_tau
+    self.modelProb = model_prob
+    self.aRel = a_rel
+    self.fcw = fcw
+
+
+class FakeRadarState:
+  def __init__(self, lead_one=None, lead_two=None, extra='ok'):
+    self.leadOne = lead_one or FakeLead()
+    self.leadTwo = lead_two or FakeLead()
+    self.extra = extra
+
+
+def _make():
+  return LeadPersistence()
+
+
+class TestLeadPersistence:
+  def test_disabled_passthrough(self):
+    lp = _make()
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    lp.update(raw, force_enabled=False)
+    out = lp.smooth(raw, force_enabled=False)
+    assert out is raw
+
+  def test_status_true_passthrough(self):
+    lp = _make()
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0, v_lead=20.0))
+    for _ in range(3):
+      lp.update(raw)
+    out = lp.smooth(raw)
+    # leadOne still truly present → passthrough (or wrapper with same .status=True)
+    assert out.leadOne.status is True
+    assert out.leadOne.dRel == 30.0
+
+  def test_dropout_held(self):
+    lp = _make()
+    raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0, v_lead=20.0, a_lead=-1.0))
+    for _ in range(5):
+      lp.update(raw_on)
+    raw_off = FakeRadarState(lead_one=FakeLead(status=False))
+    lp.update(raw_off)
+    out = lp.smooth(raw_off)
+    assert out.leadOne.status is True
+    assert out.leadOne.dRel == 30.0
+    assert out.leadOne.aLeadK == -1.0
+
+  def test_dropout_expires(self):
+    lp = _make()
+    raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    for _ in range(5):
+      lp.update(raw_on)
+    raw_off = FakeRadarState(lead_one=FakeLead(status=False))
+    for _ in range(_HOLD_FRAMES + 2):
+      lp.update(raw_off)
+    out = lp.smooth(raw_off)
+    assert out.leadOne.status is False
+
+  def test_reappearance_resets_hold(self):
+    lp = _make()
+    raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    for _ in range(5):
+      lp.update(raw_on)
+    raw_off = FakeRadarState(lead_one=FakeLead(status=False))
+    for _ in range(3):
+      lp.update(raw_off)
+    raw_on2 = FakeRadarState(lead_one=FakeLead(status=True, d_rel=28.0))
+    lp.update(raw_on2)
+    out = lp.smooth(raw_on2)
+    assert out.leadOne.status is True
+    assert out.leadOne.dRel == 28.0
+
+  def test_other_attrs_passthrough(self):
+    lp = _make()
+    raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0), extra='special')
+    for _ in range(3):
+      lp.update(raw_on)
+    raw_off = FakeRadarState(lead_one=FakeLead(status=False), extra='special2')
+    lp.update(raw_off)
+    out = lp.smooth(raw_off)
+    assert out.extra == 'special2'
+
+  def test_stability_high_on_solid_lead(self):
+    lp = _make()
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    for _ in range(10):
+      lp.update(raw)
+    assert lp.stability >= 0.9
+
+  def test_stability_low_on_churn(self):
+    lp = _make()
+    on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    off = FakeRadarState(lead_one=FakeLead(status=False))
+    for _ in range(10):
+      lp.update(on)
+      lp.update(off)
+    assert lp.stability < 0.5
+
+  def test_leadtwo_independent(self):
+    lp = _make()
+    raw_on = FakeRadarState(
+      lead_one=FakeLead(status=True, d_rel=30.0),
+      lead_two=FakeLead(status=True, d_rel=80.0),
+    )
+    for _ in range(5):
+      lp.update(raw_on)
+    raw_off2 = FakeRadarState(
+      lead_one=FakeLead(status=True, d_rel=30.0),
+      lead_two=FakeLead(status=False),
+    )
+    lp.update(raw_off2)
+    out = lp.smooth(raw_off2)
+    assert out.leadOne.status is True
+    assert out.leadOne.dRel == 30.0
+    assert out.leadTwo.status is True
+    assert out.leadTwo.dRel == 80.0
+
+  def test_reset(self):
+    lp = _make()
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    for _ in range(5):
+      lp.update(raw)
+    lp.reset()
+    raw_off = FakeRadarState(lead_one=FakeLead(status=False))
+    lp.update(raw_off)
+    out = lp.smooth(raw_off)
+    assert out.leadOne.status is False
+
+
+def _step(lp, lead):
+  raw = FakeRadarState(lead_one=lead)
+  lp.update(raw)
+  return lp.smooth(raw)
+
+
+class TestPhantomMask:
+  def test_masked_when_not_urgent(self):
+    lp = _make()
+    # fresh, low modelProb, close, slow closing (TTC 8s) -> phantom ghost -> masked
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=4.0, v_rel=-0.5, model_prob=0.3))
+    lp.update(raw)
+    out = lp.smooth(raw)
+    assert out.leadOne.status is False
+
+  def test_not_masked_when_urgent_ttc(self):
+    lp = _make()
+    # fresh, low modelProb, close, TTC 3s <= 4 -> real cut-in risk -> NOT masked
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=3.0, v_rel=-1.0, model_prob=0.3))
+    lp.update(raw)
+    out = lp.smooth(raw)
+    assert out.leadOne.status is True
+    assert out.leadOne.dRel == 3.0
+
+  def test_not_masked_when_fast_closing(self):
+    lp = _make()
+    # fresh, low modelProb, close, vRel -10 <= -8 -> NOT masked
+    raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=4.0, v_rel=-10.0, model_prob=0.3))
+    lp.update(raw)
+    out = lp.smooth(raw)
+    assert out.leadOne.status is True
+
+
+class TestLeadSwitchSlew:
+  def _settle_far(self, lp, d=45.0):
+    out = None
+    for _ in range(6):
+      out = _step(lp, FakeLead(status=True, d_rel=d, v_rel=-3.0, v_lead=22.0))
+    return out
+
+  def test_steady_lead_no_slew(self):
+    lp = _make()
+    out = self._settle_far(lp, d=45.0)
+    assert out.leadOne.dRel == 45.0
+    assert lp.slew_offset == 0.0
+
+  def test_switch_lags_dRel_keeps_true_vrel(self):
+    lp = _make()
+    self._settle_far(lp, d=45.0)
+    # switch to a nearer car: 28 m, closing -5 (TTC 5.6 s > 4) -> non-urgent
+    out = _step(lp, FakeLead(status=True, d_rel=28.0, v_rel=-5.0, v_lead=19.0))
+    assert out.leadOne.dRel > 40.0          # reported stays continuous, not stepped to 28
+    assert out.leadOne.dRel >= 28.0          # never under-reports distance
+    assert out.leadOne.vRel == -5.0          # true closing speed passes through
+    assert out.leadOne.vLead == 19.0
+
+  def test_switch_converges_to_truth(self):
+    lp = _make()
+    self._settle_far(lp, d=45.0)
+    out = _step(lp, FakeLead(status=True, d_rel=28.0, v_rel=-5.0, v_lead=19.0))
+    prev = out.leadOne.dRel
+    for _ in range(40):
+      out = _step(lp, FakeLead(status=True, d_rel=28.0, v_rel=-5.0, v_lead=19.0))
+      assert out.leadOne.dRel <= prev + 1e-6      # monotonically eases down
+      assert out.leadOne.dRel >= 28.0 - 1e-6      # never below truth
+      prev = out.leadOne.dRel
+    assert abs(out.leadOne.dRel - 28.0) < 1.0     # converged to real distance
+
+  def test_urgent_switch_passes_through(self):
+    lp = _make()
+    self._settle_far(lp, d=45.0)
+    # nearer car at 12 m closing -5 -> TTC 2.4 s < 4 -> urgent, no masking
+    out = _step(lp, FakeLead(status=True, d_rel=12.0, v_rel=-5.0, v_lead=10.0))
+    assert out.leadOne.dRel == 12.0
+    assert lp.slew_offset == 0.0
+
+  def test_fast_closing_switch_passes_through(self):
+    lp = _make()
+    self._settle_far(lp, d=60.0)
+    # vRel -10 <= -8 -> emergency closing, no masking even though TTC ok
+    out = _step(lp, FakeLead(status=True, d_rel=40.0, v_rel=-10.0, v_lead=15.0))
+    assert out.leadOne.dRel == 40.0
+    assert lp.slew_offset == 0.0
+
+  def test_normal_closing_not_slewed(self):
+    lp = _make()
+    d = 45.0
+    self._settle_far(lp, d=d)
+    for _ in range(20):
+      d -= 0.25  # ~5 m/s closing at 20 Hz, continuous (not a switch)
+      out = _step(lp, FakeLead(status=True, d_rel=d, v_rel=-5.0, v_lead=20.0))
+      assert out.leadOne.dRel == d
+      assert lp.slew_offset == 0.0
+
+  def test_lead_moving_away_not_slewed(self):
+    lp = _make()
+    self._settle_far(lp, d=30.0)
+    # sudden farther jump (lead drops out / switch to far car) -> no brake risk, no lag
+    out = _step(lp, FakeLead(status=True, d_rel=60.0, v_rel=-1.0, v_lead=24.0))
+    assert out.leadOne.dRel == 60.0
+    assert lp.slew_offset == 0.0

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

@@ -0,0 +1,96 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import RadarDistanceController
+from openpilot.sunnypilot.selfdrive.controls.lib.lead_persistence.lead_persistence import _HOLD_FRAMES
+
+
+class FakeLead:
+  def __init__(self, status=False, d_rel=0.0, v_rel=0.0, v_lead=0.0, a_lead=0.0,
+               a_tau=0.0, model_prob=0.95, y_rel=0.0, a_rel=0.0, fcw=False):
+    self.status = status
+    self.dRel = d_rel
+    self.yRel = y_rel
+    self.vRel = v_rel
+    self.vLead = v_lead
+    self.aLeadK = a_lead
+    self.aLeadTau = a_tau
+    self.modelProb = model_prob
+    self.aRel = a_rel
+    self.fcw = fcw
+
+
+class FakeRadarState:
+  def __init__(self, lead_one=None, lead_two=None):
+    self.leadOne = lead_one or FakeLead()
+    self.leadTwo = lead_two or FakeLead()
+
+
+class FakeSM:
+  def __init__(self, radarstate):
+    self._data = {'radarState': radarstate}
+
+  def __getitem__(self, k):
+    return self._data[k]
+
+
+def _make(enabled=True):
+  c = RadarDistanceController()
+  c.set_enabled(enabled)
+  return c
+
+
+class TestRadarDistanceController:
+  def test_toggle(self):
+    c = _make(enabled=False)
+    assert c.is_enabled() is False
+    assert c.toggle() is True
+    assert c.is_enabled() is True
+    assert c.toggle() is False
+
+  def test_disabled_passthrough(self):
+    c = _make(enabled=False)
+    rs = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    c.update(FakeSM(rs))
+    assert c.smooth_radarstate(rs) is rs
+
+  def test_no_sm_safe(self):
+    c = _make()
+    c.update(None, None)  # must not raise
+
+  def test_holds_dropped_lead(self):
+    c = _make()
+    rs_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0, v_lead=20.0, a_lead=-1.0))
+    for _ in range(5):
+      c.update(FakeSM(rs_on))
+    rs_off = FakeRadarState(lead_one=FakeLead(status=False))
+    c.update(FakeSM(rs_off))
+    out = c.smooth_radarstate(rs_off)
+    assert out.leadOne.status is True
+    assert out.leadOne.dRel == 30.0
+    assert out.leadOne.aLeadK == -1.0
+
+  def test_hold_expires(self):
+    c = _make()
+    rs_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    for _ in range(5):
+      c.update(FakeSM(rs_on))
+    rs_off = FakeRadarState(lead_one=FakeLead(status=False))
+    for _ in range(_HOLD_FRAMES + 2):
+      c.update(FakeSM(rs_off))
+    out = c.smooth_radarstate(rs_off)
+    assert out.leadOne.status is False
+
+  def test_reset_clears_hold(self):
+    c = _make()
+    rs_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
+    for _ in range(5):
+      c.update(FakeSM(rs_on))
+    c.reset()
+    rs_off = FakeRadarState(lead_one=FakeLead(status=False))
+    c.update(FakeSM(rs_off))
+    out = c.smooth_radarstate(rs_off)
+    assert out.leadOne.status is False

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

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

sunnypilot/selfdrive/selfdrived/events.py

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

sunnypilot/sunnylink/params_metadata.json

@@ -1118,6 +1118,10 @@
     "title": "Record Front Lock",
     "description": ""
   },
+  "RoadEdgeLaneChangeEnabled": {
+    "title": "Block Lane Change: Road Edge Detection",
+    "description": ""
+  },
   "RoadName": {
     "title": "Road Name",
     "description": ""
@@ -1323,6 +1327,22 @@
     "max": 5.0,
     "step": 0.1,
     "unit": "m/s\u00b2"
+  },
+    "ToyotaAutoHold": {
+    "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
+    "description": ""
+  },
+    "ToyotaEnhancedBsm": {
+    "title": "Toyota: Prius TSS2 BSM and some tssp",
+    "description": ""
+  },
+    "ToyotaTSS2Long": {
+    "title": "Toyota: custom longitudinal for TSS2",
+    "description": ""
+  },
+    "ToyotaDriveMode": {
+    "title": "Enable drive mode btn link",
+    "description": ""
   },
   "ToyotaEnforceStockLongitudinal": {
     "title": "Toyota: Enforce Factory Longitudinal Control",

sunnypilot/sunnylink/settings_ui.json

@@ -519,6 +519,12 @@
                 }
               ]
             },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks lane change when the model sees a road edge on the side you signal."
+            },
             {
               "key": "AutoLaneChangeBsmDelay",
               "widget": "toggle",
@@ -620,6 +626,72 @@
                 }
               ]
             },
+            {
+              "key": "AccelPersonalityEnabled",
+              "widget": "toggle",
+              "title": "Enable Acceleration Profile",
+              "description": "When off, sunnypilot uses its default (Normal) acceleration behavior. Enable to use the Acceleration Profile below.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "AccelPersonality",
+              "widget": "multiple_button",
+              "title": "Acceleration Profile",
+              "description": "Controls how quickly sunnypilot accelerates while preserving braking and stop behavior.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Eco"
+                },
+                {
+                  "value": 1,
+                  "label": "Normal"
+                },
+                {
+                  "value": 2,
+                  "label": "Sport"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "RadarDistance",
+              "widget": "toggle",
+              "title": "Radar Lead Smoothing",
+              "description": "Holds radar leads through brief dropouts, ignores close-range radar ghosts, and eases braking when the radar lead target jumps, for smoother lead following. Emergency braking is unaffected.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "SmoothBraking",
+              "widget": "toggle",
+              "title": "Smooth Brake Onset",
+              "description": "Eases the start of light braking so it builds in gradually instead of biting sharply. Hard and emergency braking are unaffected.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
             {
               "key": "IntelligentCruiseButtonManagement",
               "widget": "toggle",
@@ -2001,6 +2073,22 @@
                   "equals": true
                 }
               ]
+            },
+            {
+              "key": "PlanplusControl",
+              "widget": "option",
+              "title": "Plan Plus Controls",
+              "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lane center; too high and it will ping-pong.",
+              "min": 0.0,
+              "max": 2.0,
+              "step": 0.1,
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
             }
           ]
         },
@@ -2168,6 +2256,50 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
+        {
+          "key": "ToyotaAutoHold",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaEnhancedBsm",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Prius TSS2 BSM and some tssp",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaTSS2Long",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: custom longitudinal for TSS2",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaDriveMode",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Enable drive mode btn link",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
         {
           "key": "ToyotaEnforceStockLongitudinal",
           "widget": "toggle",

sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -43,6 +43,37 @@ sections:
       label: Relaxed
     enablement:
     - $ref: '#/macros/longitudinal'
+  - key: AccelPersonalityEnabled
+    widget: toggle
+    title: Enable Acceleration Profile
+    description: When off, sunnypilot uses its default (Normal) acceleration behavior. Enable to use the Acceleration Profile below.
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: AccelPersonality
+    widget: multiple_button
+    title: Acceleration Profile
+    description: Controls how quickly sunnypilot accelerates while preserving braking and stop behavior.
+    options:
+    - value: 0
+      label: Eco
+    - value: 1
+      label: Normal
+    - value: 2
+      label: Sport
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: RadarDistance
+    widget: toggle
+    title: Radar Lead Smoothing
+    description: Holds radar leads through brief dropouts, ignores close-range radar ghosts, and eases braking when the radar lead target jumps, for smoother lead following. Emergency braking is unaffected.
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: SmoothBraking
+    widget: toggle
+    title: Smooth Brake Onset
+    description: Eases the start of light braking so it builds in gradually instead of biting sharply. Hard and emergency braking are unaffected.
+    enablement:
+    - $ref: '#/macros/longitudinal'
   - key: IntelligentCruiseButtonManagement
     widget: toggle
     title: Intelligent Cruise Button Management (ICBM) (Alpha)

sunnypilot/sunnylink/settings_ui_src/pages/models.yaml

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

sunnypilot/sunnylink/settings_ui_src/pages/steering.yaml

@@ -242,6 +242,10 @@ sections:
       label: 2 seconds
     - value: 5
       label: 3 seconds
+  - key: RoadEdgeLaneChangeEnabled
+    widget: toggle
+    title: 'Block Lane Change: Road Edge Detection'
+    description: Blocks lane change when the model sees a road edge on the side you signal.
   - key: AutoLaneChangeBsmDelay
     widget: toggle
     title: 'Auto Lane Change: Delay with Blind Spot'

sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

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

system/ui/lib/scroll_panel2.py

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

system/ui/widgets/scroller.py

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

tools/plotjuggler/layouts/accel_personality.xml

@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="Acceleration Personality" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="accel / decel">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="175.000000" top="2.000000" left="150.000000" bottom="-4.000000"/>
+       <limitY/>
+       <curve name="/longitudinalPlan/aTarget" color="#1f77b4"/>
+       <curve name="/carState/aEgo" color="#f14cc1"/>
+       <curve name="/longitudinalPlanSP/acceleration/maxAccel" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="accel personality (gating)">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="175.000000" top="1.300000" left="150.000000" bottom="-0.200000"/>
+       <limitY/>
+       <curve name="/longitudinalPlanSP/acceleration/jerkFactorScale" color="#9467bd"/>
+       <curve name="/longitudinalPlanSP/acceleration/tFollowOffset" color="#ff7f0e"/>
+       <curve name="/longitudinalPlanSP/acceleration/personality" color="#d62728"/>
+       <curve name="/longitudinalPlanSP/acceleration/enabled" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="lead">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="175.000000" top="150.000000" left="150.000000" bottom="-25.000000"/>
+       <limitY/>
+       <curve name="/radarState/leadOne/dRel" color="#1f77b4"/>
+       <curve name="/radarState/leadOne/vRel" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="speed">
+      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
+       <range right="175.000000" top="25.000000" left="150.000000" bottom="0.000000"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>