sunnypilot/docs_sp/features/dynamic-experimental-control.md

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Dynamic Experimental Control

Dynamic Experimental Control (DEC)

What It Does

DEC automatically switches between openpilot's standard and experimental driving modes based on real-time road conditions. Instead of manually toggling between modes, the system chooses the most appropriate mode for the current situation.

How It Works

DEC monitors multiple driving signals and conditions:

• Current speed — Lower speeds suggest city driving
• Turn detection — Upcoming turns may need experimental mode
• Stop signs and traffic lights — Intersections benefit from experimental mode
• Road type — Highway vs. urban driving

Based on these signals, DEC switches between:

Mode	Best For
Standard Mode	Highway driving with steady speeds and clear lanes
Experimental Mode	City driving with stops, turns, and complex intersections

Requirements

!!! info "Requirements" - Longitudinal control must be available - Device must be offroad to enable/disable

How to Enable

Settings → sunnypilot → Cruise Control → Dynamic Experimental Control

Settings Reference

See Cruise Control Settings for configuration details.