Modular Assistive Driving Safety (M.A.D.S.)

Modular Assistive Driving Safety (MADS) aims to elevate the user's driving experience by modifying the behaviors of driving assist engagements.

!!! note This feature aligns closely with comma.ai's safety rules.

Independent Engagement

MADS allows users to engage sunnypilot Automatic Lane Centering (ALC) for lateral control and Adaptive Cruise Control (ACC) or Smart Cruise Control (SCC) for longitudinal control independently.

??? note "Why This Feature Exists" While newer car models allow for independent engagement of lateral (steering) and longitudinal (speed) control, many older models and stock openpilot enforce engaging both controls together. MADS introduces this modern convenience to older models, effectively backporting a feature found in newer cars and providing users more flexibility.

Dedicated Buttons

Toggle for sunnypilot ALC

CRUISE (MAIN) button: Available on all supported cars on sunnypilot.
LFA button: Available on newer HKG cars.
LKAS button: Available on Honda, Toyota, and Global Subaru.

Engagement

SET- button: Enables ACC/SCC.
CANCEL button: Disables ACC/SCC only.
CRUISE (MAIN) must be ON to use ACC/SCC.

!!! info The CRUISE (MAIN) button disables sunnypilot completely when OFF. This is strictly enforced in the panda safety code.

Lateral Control on Brake Pedal

Dedicated toggle to handle Lateral state on brake pedal press and release:

ON: Pressing the BRAKE pedal will pause Automatic Lane Centering.

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