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longitudinal: move cruise speed limit out of the MPC#38232

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haraschax:e2e-cruise-speed-limit
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longitudinal: move cruise speed limit out of the MPC#38232
haraschax wants to merge 1 commit into
commaai:masterfrom
haraschax:e2e-cruise-speed-limit

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@haraschax

@haraschax haraschax commented Jun 24, 2026 •
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Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 2 changed, 64 passed, 0 errors

Show changes 

HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [plannerd]

  longitudinalPlan.aTarget (933 diffs)
    frame 0: -0.033464882522821426 -> 0.0
    frame 1: -0.1433950960636139 -> 0.0
    frame 2: -0.15019558370113373 -> 0.0
    frame 3: -0.12745124101638794 -> 0.0
    frame 4: -0.1374681144952774 -> 0.0
    frame 5: -0.05836385861039162 -> 0.0
    frame 6: -0.06953588128089905 -> 0.0
    frame 7: 0.013558386825025082 -> 0.0
    frame 10: -0.049449238926172256 -> 0.0
    frame 11: 0.05719104781746864 -> 0.0
    (... 923 more)

  longitudinalPlan.accels.0 (323 diffs)
    frame 15: -0.14203138649463654 -> 0.09342915564775467
    frame 16: -0.13734950125217438 -> 0.3106527030467987
    frame 17: -0.13277588784694672 -> 0.5086073279380798
    frame 18: -0.12830421328544617 -> 0.6895102262496948
    frame 19: -0.12393065541982651 -> 0.8552358746528625
    frame 20: -0.11965353041887283 -> 1.0071662664413452
    frame 21: -0.11547064781188965 -> 1.146011471748352
    frame 22: -0.11138082295656204 -> 1.2722615003585815
    frame 23: -0.10738211870193481 -> 1.3866161108016968
    frame 24: -0.10347385704517365 -> 1.4899482727050781
    (... 313 more)

  longitudinalPlan.accels.1 (1200 diffs)
    frame 0: -0.025318555533885956 -> 0.017217056825757027
    frame 1: -0.2235289067029953 -> -0.17618395388126373
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    frame 3: -0.20132265985012054 -> -0.15428389608860016
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    frame 5: -0.08074280619621277 -> -0.03416666388511658
    frame 6: -0.10274321585893631 -> -0.056208547204732895
    frame 7: 0.048800691962242126 -> 0.09482833743095398
    frame 8: 0.038546059280633926 -> 0.08449987322092056
    frame 9: 0.026477446779608727 -> 0.07249121367931366
    (... 1190 more)

  longitudinalPlan.accels.10 (1200 diffs)
    frame 0: -0.0342305526137352 -> 1.9417529106140137
    frame 1: -0.10339873284101486 -> 1.9560701847076416
    frame 2: -0.10597408562898636 -> 1.9529917240142822
    frame 3: -0.0908629298210144 -> 1.9569220542907715
    frame 4: -0.09542656689882278 -> 1.9545923471450806
    frame 5: -0.046126049011945724 -> 1.9689198732376099
    frame 6: -0.05237536504864693 -> 1.9659643173217773
    frame 7: -0.0011508333263918757 -> 1.9810723066329956
    frame 8: -0.004863644950091839 -> 1.9791847467422485
    frame 9: -0.009629642590880394 -> 1.9780577421188354
    (... 1190 more)

  longitudinalPlan.accels.11 (1200 diffs)
    frame 0: -0.03452591598033905 -> 2.000009775161743
    frame 1: -0.08326036483049393 -> 2.000016450881958
    frame 2: -0.08372632414102554 -> 2.0000159740448
    frame 3: -0.07244942337274551 -> 2.000016212463379
    frame 4: -0.07428552955389023 -> 2.0000159740448
    frame 5: -0.03993713855743408 -> 2.000016689300537
    frame 6: -0.04372042044997215 -> 2.000016450881958
    frame 7: -0.008482726290822029 -> 2.000016927719116
    frame 8: -0.011148294433951378 -> 2.000016689300537
    frame 9: -0.014725633896887302 -> 2.000016689300537
    (... 1190 more)

  longitudinalPlan.accels.12 (1200 diffs)
    frame 0: -0.033927373588085175 -> 2.000000238418579
    frame 1: -0.06490548700094223 -> 2.0000159740448
    frame 2: -0.06361488252878189 -> 2.0000154972076416
    frame 3: -0.05574294924736023 -> 2.0000157356262207
    frame 4: -0.05527668446302414 -> 2.0000157356262207
    frame 5: -0.03401830419898033 -> 2.0000157356262207
    frame 6: -0.035679928958415985 -> 2.0000157356262207
    frame 7: -0.014413501136004925 -> 2.0000159740448
    frame 8: -0.016160665079951286 -> 2.0000157356262207
    frame 9: -0.018680226057767868 -> 2.0000157356262207
    (... 1190 more)

  longitudinalPlan.accels.13 (1200 diffs)
    frame 0: -0.03327677771449089 -> 1.9999899864196777
    frame 1: -0.04495453089475632 -> 2.0000152587890625
    frame 2: -0.04175461828708649 -> 2.0000152587890625
    frame 3: -0.03758374601602554 -> 2.0000150203704834
    frame 4: -0.03461490198969841 -> 2.0000150203704834
    frame 5: -0.02758479304611683 -> 2.0000150203704834
    frame 6: -0.02694026194512844 -> 2.0000150203704834
    frame 7: -0.020859993994235992 -> 2.0000147819519043
    frame 8: -0.02160889282822609 -> 2.0000147819519043
    frame 9: -0.02297869510948658 -> 2.0000147819519043
    (... 1190 more)

  longitudinalPlan.accels.14 (1200 diffs)
    frame 0: -0.03171851485967636 -> 1.9999908208847046
    frame 1: -0.028201112523674965 -> 2.000014066696167
    frame 2: -0.02359597012400627 -> 2.000014066696167
    frame 3: -0.0224266666918993 -> 2.000013828277588
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    frame 5: -0.02185433730483055 -> 2.000013828277588
    frame 6: -0.019422028213739395 -> 2.000013589859009
    frame 7: -0.02538459561765194 -> 2.000013589859009
    frame 8: -0.025337910279631615 -> 2.0000133514404297
    frame 9: -0.02577250450849533 -> 2.0000133514404297
    (... 1190 more)

  longitudinalPlan.accels.15 (1200 diffs)
    frame 0: -0.029602130874991417 -> 1.999997854232788
    frame 1: -0.012686863541603088 -> 2.0000126361846924
    frame 2: -0.006912237498909235 -> 2.0000123977661133
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    frame 5: -0.016329450532794 -> 2.000012159347534
    frame 6: -0.012340590357780457 -> 2.000012159347534
    frame 7: -0.028983160853385925 -> 2.000011920928955
    frame 8: -0.028228145092725754 -> 2.000011920928955
    frame 9: -0.02781684882938862 -> 2.000011920928955
    (... 1190 more)

  longitudinalPlan.accels.16 (1040 diffs)
    frame 0: -0.027339791879057884 -> 2.0000054836273193
    frame 1: 0.0038973321206867695 -> 2.0000109672546387
    frame 2: 0.010922097600996494 -> 2.0000107288360596
    frame 3: 0.006486973725259304 -> 2.0000107288360596
    frame 4: 0.014652220532298088 -> 2.0000107288360596
    frame 5: -0.010423537343740463 -> 2.0000104904174805
    frame 6: -0.004770778119564056 -> 2.0000104904174805
    frame 7: -0.032829899340867996 -> 2.0000102519989014
    frame 8: -0.03131770342588425 -> 2.0000102519989014
    frame 9: -0.030002182349562645 -> 2.0000102519989014
    (... 1030 more)

  longitudinalPlan.accels.2 (1200 diffs)
    frame 0: -0.025842051953077316 -> 0.1443004012107849
    frame 1: -0.2191724181175232 -> -0.02979261241853237
    frame 2: -0.23514576256275177 -> -0.04639766365289688
    frame 3: -0.19729983806610107 -> -0.009144808165729046
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    frame 5: -0.07955260574817657 -> 0.10675197094678879
    frame 6: -0.10095244646072388 -> 0.08518623560667038
    frame 7: 0.04681360721588135 -> 0.23092417418956757
    frame 8: 0.036804404109716415 -> 0.22061966359615326
    frame 9: 0.02500661462545395 -> 0.20906169712543488
    (... 1190 more)

  longitudinalPlan.accels.3 (1200 diffs)
    frame 0: -0.02666235715150833 -> 0.3422295153141022
    frame 1: -0.21204403042793274 -> 0.19793261587619781
    frame 2: -0.22713501751422882 -> 0.18150274455547333
    frame 3: -0.19072046875953674 -> 0.21660272777080536
    frame 4: -0.2112661898136139 -> 0.1962326169013977
    frame 5: -0.07759314030408859 -> 0.32564276456832886
    frame 6: -0.0980156660079956 -> 0.3048918545246124
    frame 7: 0.04359438270330429 -> 0.44202014803886414
    frame 8: 0.03398529067635536 -> 0.43180152773857117
    frame 9: 0.02262953855097294 -> 0.42097175121307373
    (... 1190 more)

  longitudinalPlan.accels.4 (1200 diffs)
    frame 0: -0.027690444141626358 -> 0.5873327255249023
    frame 1: -0.20236968994140625 -> 0.47925353050231934
    frame 2: -0.21627917885780334 -> 0.46320515871047974
    frame 3: -0.1817982941865921 -> 0.4954070746898651
    frame 4: -0.20084545016288757 -> 0.47668012976646423
    frame 5: -0.07490570843219757 -> 0.5952566862106323
    frame 6: -0.094014473259449 -> 0.5756955146789551
    frame 7: 0.03930094838142395 -> 0.7012820243835449
    frame 8: 0.03023139201104641 -> 0.6912896037101746
    frame 9: 0.019472980871796608 -> 0.681426465511322
    (... 1190 more)

  longitudinalPlan.accels.5 (1200 diffs)
    frame 0: -0.029012272134423256 -> 0.9024654030799866
    frame 1: -0.1899312287569046 -> 0.8409518003463745
    frame 2: -0.20232166349887848 -> 0.8253940343856812
    frame 3: -0.17032694816589355 -> 0.8538697957992554
    frame 4: -0.18744735419750214 -> 0.8372554779052734
    frame 5: -0.07145044207572937 -> 0.9419031143188477
    frame 6: -0.0888700783252716 -> 0.9238715767860413
    frame 7: 0.033780813217163086 -> 1.034618616104126
    frame 8: 0.025404950603842735 -> 1.0249172449111938
    frame 9: 0.01541455090045929 -> 1.0162968635559082
    (... 1190 more)

  longitudinalPlan.accels.6 (1200 diffs)
    frame 0: -0.03025118261575699 -> 1.1859432458877563
    frame 1: -0.17577573657035828 -> 1.1625254154205322
    frame 2: -0.18648761510849 -> 1.148058295249939
    frame 3: -0.15729466080665588 -> 1.172377347946167
    frame 4: -0.17227907478809357 -> 1.1581417322158813
    frame 5: -0.06743201613426208 -> 1.247353196144104
    frame 6: -0.08296820521354675 -> 1.231345534324646
    frame 7: 0.027731068432331085 -> 1.3256850242614746
    frame 8: 0.02013382688164711 -> 1.3166837692260742
    frame 9: 0.011009514331817627 -> 1.3094044923782349
    (... 1190 more)

  longitudinalPlan.accels.7 (1200 diffs)
    frame 0: -0.03151242062449455 -> 1.4661779403686523
    frame 1: -0.15961062908172607 -> 1.4776440858840942
    frame 2: -0.16843467950820923 -> 1.4647305011749268
    frame 3: -0.1424253135919571 -> 1.4843512773513794
    frame 4: -0.15500330924987793 -> 1.472817063331604
    frame 5: -0.06279323995113373 -> 1.544641375541687
    frame 6: -0.07620108127593994 -> 1.5311086177825928
    frame 7: 0.020956937223672867 -> 1.6069891452789307
    frame 8: 0.014242587611079216 -> 1.599001169204712
    frame 9: 0.00610272167250514 -> 1.59321129322052
    (... 1190 more)

  longitudinalPlan.accels.8 (1200 diffs)
    frame 0: -0.032967694103717804 -> 1.7895257472991943
    frame 1: -0.14095859229564667 -> 1.8412426710128784
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    frame 5: -0.057440802454948425 -> 1.8876663446426392
    frame 6: -0.06839285790920258 -> 1.8769891262054443
    frame 7: 0.013140631839632988 -> 1.9315708875656128
    frame 8: 0.007445002906024456 -> 1.9247519969940186
    frame 9: 0.0004410381952766329 -> 1.9206805229187012
    (... 1190 more)

  longitudinalPlan.accels.9 (1200 diffs)
    frame 0: -0.033564042299985886 -> 1.8614108562469482
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    frame 5: -0.05209772288799286 -> 1.92603600025177
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    frame 7: 0.006391884293407202 -> 1.954946517944336
    frame 8: 0.0016325857723131776 -> 1.9504563808441162
    frame 9: -0.004314561374485493 -> 1.9477753639221191
    (... 1190 more)

  longitudinalPlan.jerks.0 (1166 diffs)
    frame 0: -0.017868652939796448 -> 4.337778091430664
    frame 1: 0.1487015336751938 -> 4.996824741363525
    frame 2: 0.16725051403045654 -> 4.999201774597168
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    frame 6: 0.061124932020902634 -> 4.82627534866333
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    frame 8: -0.059448424726724625 -> 4.646222114562988
    frame 9: -0.05020439997315407 -> 4.661605358123779
    (... 1156 more)

  longitudinalPlan.jerks.1 (1165 diffs)
    frame 0: -0.017470797523856163 -> 4.231990337371826
    frame 1: 0.14769190549850464 -> 4.872863292694092
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    frame 9: -0.049637895077466965 -> 4.5418596267700195
    (... 1155 more)

  longitudinalPlan.jerks.10 (1084 diffs)
    frame 0: 0.0009329931926913559 -> 0.11981828510761261
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    frame 13: 0.020360039547085762 -> 0.06433535367250443
    (... 1074 more)

  longitudinalPlan.jerks.11 (1097 diffs)
    frame 1: 0.07867926359176636 -> -2.579849478934193e-06
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    frame 10: 0.01966775767505169 -> -3.5627563192974776e-06
    (... 1087 more)

  longitudinalPlan.jerks.12 (1076 diffs)
    frame 1: 0.06899850070476532 -> -3.7926408822386293e-06
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    (... 1066 more)

  longitudinalPlan.jerks.13 (1039 diffs)
    frame 1: 0.058475933969020844 -> -5.1108922889397945e-06
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    (... 1029 more)

  longitudinalPlan.jerks.14 (1012 diffs)
    frame 0: 0.008017081767320633 -> -0.09564327448606491
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    (... 1002 more)

  longitudinalPlan.jerks.15 (1006 diffs)
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    (... 996 more)

  longitudinalPlan.jerks.16 (806 diffs)
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    (... 796 more)

  longitudinalPlan.jerks.2 (1161 diffs)
    frame 0: -0.016277233138680458 -> 3.9146273136138916
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    frame 3: 0.13349075615406036 -> 4.461572170257568
    frame 4: 0.15609480440616608 -> 4.4862260818481445
    frame 5: 0.03988741338253021 -> 4.322922229766846
    frame 6: 0.059666283428668976 -> 4.339822292327881
    frame 7: -0.06500261276960373 -> 4.165719032287598
    frame 8: -0.05689790099859238 -> 4.167938709259033
    frame 9: -0.047938380390405655 -> 4.18262243270874
    (... 1151 more)

  longitudinalPlan.jerks.3 (1155 diffs)
    frame 0: -0.014587474055588245 -> 3.4634885787963867
    frame 1: 0.14026546478271484 -> 3.9707202911376953
    frame 2: 0.15733525156974792 -> 3.976891040802002
    frame 3: 0.12933260202407837 -> 3.9349730014801025
    frame 4: 0.15099191665649414 -> 3.958765983581543
    frame 5: 0.039067625999450684 -> 3.8021914958953857
    frame 6: 0.05806891620159149 -> 3.8197805881500244
    frame 7: -0.06197034567594528 -> 3.6530160903930664
    frame 8: -0.05416073277592659 -> 3.6567397117614746
    frame 9: -0.04550959914922714 -> 3.670666456222534
    (... 1145 more)

  longitudinalPlan.jerks.4 (1156 diffs)
    frame 0: -0.012912462465465069 -> 3.0112922191619873
    frame 1: 0.13560916483402252 -> 3.434840679168701
    frame 2: 0.15188711881637573 -> 3.443195343017578
    frame 3: 0.1249377578496933 -> 3.4030447006225586
    frame 4: 0.145623579621315 -> 3.4259326457977295
    frame 5: 0.038157425820827484 -> 3.2764205932617188
    frame 6: 0.05635358765721321 -> 3.2946956157684326
    frame 7: -0.05887037515640259 -> 3.135622501373291
    frame 8: -0.05136861279606819 -> 3.140878677368164
    frame 9: -0.04304029792547226 -> 3.154015064239502
    (... 1146 more)

  longitudinalPlan.jerks.5 (1134 diffs)
    frame 0: -0.01075887493789196 -> 2.429896831512451
    frame 1: 0.1296224743127823 -> 2.745852470397949
    frame 2: 0.14488236606121063 -> 2.7570149898529053
    frame 3: 0.11928723752498627 -> 2.7191364765167236
    frame 4: 0.13872142136096954 -> 2.740861415863037
    frame 5: 0.036987170577049255 -> 2.6004292964935303
    frame 6: 0.05414816737174988 -> 2.619586229324341
    frame 7: -0.05488469824194908 -> 2.4704020023345947
    frame 8: -0.047778740525245667 -> 2.4776289463043213
    frame 9: -0.03986547887325287 -> 2.489748954772949
    (... 1124 more)

  longitudinalPlan.jerks.6 (1123 diffs)
    frame 0: -0.008586874231696129 -> 1.830330491065979
    frame 1: 0.12297622859477997 -> 2.0241122245788574
    frame 2: 0.13714690506458282 -> 2.0386104583740234
    frame 3: 0.11303187906742096 -> 2.00325870513916
    frame 4: 0.13112498819828033 -> 2.023695945739746
    frame 5: 0.03561383858323097 -> 1.8932150602340698
    frame 6: 0.05165867879986763 -> 1.9132343530654907
    frame 7: -0.050658855587244034 -> 1.7748724222183228
    frame 8: -0.04398370534181595 -> 1.7841382026672363
    frame 9: -0.03652437776327133 -> 1.7951561212539673
    (... 1113 more)

  longitudinalPlan.jerks.7 (1117 diffs)
    frame 0: -0.00626788567751646 -> 1.1815707683563232
    frame 1: 0.11548297852277756 -> 1.23599112033844
    frame 2: 0.12844997644424438 -> 1.254379391670227
    frame 3: 0.10598982870578766 -> 1.221879243850708
    frame 4: 0.12259969115257263 -> 1.240866780281067
    frame 5: 0.03402150422334671 -> 1.1215286254882812
    frame 6: 0.04882755130529404 -> 1.1424506902694702
    frame 7: -0.046012479811906815 -> 1.016197681427002
    frame 8: -0.0398179292678833 -> 1.0276740789413452
    frame 9: -0.03286632522940636 -> 1.037465214729309
    (... 1107 more)

  longitudinalPlan.jerks.8 (1110 diffs)
    frame 0: -0.0035921293310821056 -> 0.43300187587738037
    frame 1: 0.10683691501617432 -> 0.3266206383705139
    frame 2: 0.11841504275798798 -> 0.34949737787246704
    frame 3: 0.09786438941955566 -> 0.32028743624687195
    frame 4: 0.11276280879974365 -> 0.3376021981239319
    frame 5: 0.03218419477343559 -> 0.23112110793590546
    frame 6: 0.045560870319604874 -> 0.2530849874019623
    frame 7: -0.04065127670764923 -> 0.14080384373664856
    frame 8: -0.03501126542687416 -> 0.15483087301254272
    frame 9: -0.02864549309015274 -> 0.16320639848709106
    (... 1100 more)

  longitudinalPlan.jerks.9 (1100 diffs)
    frame 0: -0.0014552659122273326 -> 0.28510963916778564
    frame 1: 0.09825874119997025 -> 0.2150731086730957
    frame 2: 0.10855357348918915 -> 0.23013713955879211
    frame 3: 0.08984408527612686 -> 0.21090278029441833
    frame 4: 0.10315518081188202 -> 0.2223043143749237
    frame 5: 0.030192283913493156 -> 0.15218795835971832
    frame 6: 0.04222656413912773 -> 0.1666508913040161
    frame 7: -0.03578586503863335 -> 0.09271528571844101
    frame 8: -0.030675586313009262 -> 0.10195192694664001
    frame 9: -0.024875489994883537 -> 0.10746708512306213
    (... 1090 more)

  longitudinalPlan.speeds.0 (319 diffs)
    frame 19: 9.870522499084473 -> 9.99504566192627
    frame 20: 9.865225791931152 -> 10.038077354431152
    frame 21: 9.86056137084961 -> 10.087448120117188
    frame 22: 9.856014251708984 -> 10.14188289642334
    frame 23: 9.852127075195312 -> 10.201210021972656
    frame 24: 9.848749160766602 -> 10.264620780944824
    frame 25: 9.845717430114746 -> 10.331354141235352
    frame 26: 9.842667579650879 -> 10.400507926940918
    frame 27: 9.839888572692871 -> 10.471887588500977
    frame 28: 9.83751106262207 -> 10.545149803161621
    (... 309 more)

  longitudinalPlan.speeds.1 (319 diffs)
    frame 19: 9.869340896606445 -> 10.004446983337402
    frame 20: 9.86408519744873 -> 10.048872947692871
    frame 21: 9.859461784362793 -> 10.099514961242676
    frame 22: 9.85495376586914 -> 10.15510082244873
    frame 23: 9.851104736328125 -> 10.215469360351562
    frame 24: 9.84776496887207 -> 10.279820442199707
    frame 25: 9.844769477844238 -> 10.34740161895752
    frame 26: 9.841755867004395 -> 10.417319297790527
    frame 27: 9.839011192321777 -> 10.489375114440918
    frame 28: 9.836668014526367 -> 10.563207626342773
    (... 309 more)

  longitudinalPlan.speeds.10 (1200 diffs)
    frame 0: 9.932079315185547 -> 11.260907173156738
    frame 1: 9.782418251037598 -> 11.212445259094238
    frame 2: 9.759766578674316 -> 11.187263488769531
    frame 3: 9.779569625854492 -> 11.200797080993652
    frame 4: 9.752015113830566 -> 11.174356460571289
    frame 5: 9.85000991821289 -> 11.252500534057617
    frame 6: 9.829752922058105 -> 11.232893943786621
    frame 7: 9.938131332397461 -> 11.320638656616211
    frame 8: 9.932107925415039 -> 11.314258575439453
    frame 9: 9.92608642578125 -> 11.310439109802246
    (... 1190 more)

  longitudinalPlan.speeds.11 (1200 diffs)
    frame 0: 9.925135612487793 -> 11.656905174255371
    frame 1: 9.762469291687012 -> 11.611923217773438
    frame 2: 9.739401817321777 -> 11.585993766784668
    frame 3: 9.76207447052002 -> 11.600482940673828
    frame 4: 9.733734130859375 -> 11.573474884033203
    frame 5: 9.84096622467041 -> 11.655101776123047
    frame 6: 9.819568634033203 -> 11.634777069091797
    frame 7: 9.937520980834961 -> 11.72619342803955
    frame 8: 9.930797576904297 -> 11.719354629516602
    frame 9: 9.923870086669922 -> 11.715261459350586
    (... 1190 more)

  longitudinalPlan.speeds.12 (1200 diffs)
    frame 0: 9.917526245117188 -> 12.106123924255371
    frame 1: 9.748208999633789 -> 12.061145782470703
    frame 2: 9.725462913513184 -> 12.035215377807617
    frame 3: 9.749844551086426 -> 12.049704551696777
    frame 4: 9.721648216247559 -> 12.022697448730469
    frame 5: 9.833428382873535 -> 12.104324340820312
    frame 6: 9.811694145202637 -> 12.083999633789062
    frame 7: 9.93418025970459 -> 12.175415992736816
    frame 8: 9.927081108093262 -> 12.168577194213867
    frame 9: 9.919605255126953 -> 12.164484024047852
    (... 1190 more)

  longitudinalPlan.speeds.13 (1200 diffs)
    frame 0: 9.90925407409668 -> 12.594405174255371
    frame 1: 9.732709884643555 -> 12.549430847167969
    frame 2: 9.710310935974121 -> 12.523500442504883
    frame 3: 9.736550331115723 -> 12.537989616394043
    frame 4: 9.708512306213379 -> 12.510982513427734
    frame 5: 9.825234413146973 -> 12.592609405517578
    frame 6: 9.80313491821289 -> 12.572284698486328
    frame 7: 9.930549621582031 -> 12.663701057434082
    frame 8: 9.923040390014648 -> 12.656862258911133
    frame 9: 9.914970397949219 -> 12.652769088745117
    (... 1190 more)

  longitudinalPlan.speeds.14 (1200 diffs)
    frame 0: 9.90097713470459 -> 13.121747970581055
    frame 1: 9.724237442016602 -> 13.076778411865234
    frame 2: 9.70293140411377 -> 13.050848007202148
    frame 3: 9.729682922363281 -> 13.065337181091309
    frame 4: 9.70276927947998 -> 13.038330078125
    frame 5: 9.81917667388916 -> 13.119956016540527
    frame 6: 9.79758071899414 -> 13.099632263183594
    frame 7: 9.924296379089355 -> 13.191048622131348
    frame 8: 9.916743278503418 -> 13.184209823608398
    frame 9: 9.90849494934082 -> 13.180116653442383
    (... 1190 more)

  longitudinalPlan.speeds.15 (1200 diffs)
    frame 0: 9.892425537109375 -> 13.688153266906738
    frame 1: 9.719415664672852 -> 13.6431884765625
    frame 2: 9.699651718139648 -> 13.617258071899414
    frame 3: 9.72618293762207 -> 13.631747245788574
    frame 4: 9.700969696044922 -> 13.60473918914795
    frame 5: 9.814114570617676 -> 13.686366081237793
    frame 6: 9.793524742126465 -> 13.666041374206543
    frame 7: 9.916373252868652 -> 13.757458686828613
    frame 8: 9.908977508544922 -> 13.750618934631348
    frame 9: 9.900778770446777 -> 13.746525764465332
    (... 1190 more)

  longitudinalPlan.speeds.16 (1200 diffs)
    frame 0: 9.883284568786621 -> 14.293620109558105
    frame 1: 9.714261054992676 -> 14.248661041259766
    frame 2: 9.696146965026855 -> 14.22273063659668
    frame 3: 9.722440719604492 -> 14.23721981048584
    frame 4: 9.69904613494873 -> 14.210211753845215
    frame 5: 9.808703422546387 -> 14.291838645935059
    frame 6: 9.789189338684082 -> 14.271513938903809
    frame 7: 9.907903671264648 -> 14.362931251525879
    frame 8: 9.900676727294922 -> 14.356091499328613
    frame 9: 9.89253044128418 -> 14.351998329162598
    (... 1190 more)

  longitudinalPlan.speeds.2 (320 diffs)
    frame 18: 9.871166229248047 -> 9.990280151367188
    frame 19: 9.865797996520996 -> 10.032651901245117
    frame 20: 9.860665321350098 -> 10.08126163482666
    frame 21: 9.856162071228027 -> 10.135713577270508
    frame 22: 9.85177230834961 -> 10.194754600524902
    frame 23: 9.848038673400879 -> 10.258248329162598
    frame 24: 9.84481143951416 -> 10.325420379638672
    frame 25: 9.841926574707031 -> 10.39554500579834
    frame 26: 9.839019775390625 -> 10.467754364013672
    frame 27: 9.836380004882812 -> 10.541837692260742
    (... 310 more)

  longitudinalPlan.speeds.3 (517 diffs)
    frame 17: 9.871267318725586 -> 9.994688034057617
    frame 18: 9.865267753601074 -> 10.036952018737793
    frame 19: 9.860103607177734 -> 10.086272239685059
    frame 20: 9.855172157287598 -> 10.141206741333008
    frame 21: 9.850865364074707 -> 10.201383590698242
    frame 22: 9.846667289733887 -> 10.26559829711914
    frame 23: 9.843122482299805 -> 10.333759307861328
    frame 24: 9.840078353881836 -> 10.40513801574707
    frame 25: 9.837371826171875 -> 10.479053497314453
    frame 26: 9.834640502929688 -> 10.554675102233887
    (... 507 more)

  longitudinalPlan.speeds.4 (785 diffs)
    frame 15: 9.875473976135254 -> 9.986315727233887
    frame 16: 9.869277954101562 -> 10.023419380187988
    frame 17: 9.863225936889648 -> 10.067904472351074
    frame 18: 9.857508659362793 -> 10.119093894958496
    frame 19: 9.852621078491211 -> 10.176592826843262
    frame 20: 9.847959518432617 -> 10.238883972167969
    frame 21: 9.843916893005371 -> 10.305633544921875
    frame 22: 9.839977264404297 -> 10.375738143920898
    frame 23: 9.836684226989746 -> 10.449187278747559
    frame 24: 9.83388614654541 -> 10.52531909942627
    (... 775 more)

  longitudinalPlan.speeds.5 (1200 diffs)
    frame 0: 9.955764770507812 -> 10.08462905883789
    frame 1: 9.886189460754395 -> 10.029008865356445
    frame 2: 9.868546485900879 -> 10.010917663574219
    frame 3: 9.871842384338379 -> 10.0137357711792
    frame 4: 9.85163402557373 -> 9.993595123291016
    frame 5: 9.892097473144531 -> 10.032515525817871
    frame 6: 9.879993438720703 -> 10.020316123962402
    frame 7: 9.9279203414917 -> 10.06662368774414
    frame 8: 9.926115036010742 -> 10.06462574005127
    frame 9: 9.925268173217773 -> 10.063965797424316
    (... 1190 more)

  longitudinalPlan.speeds.6 (1200 diffs)
    frame 0: 9.952519416809082 -> 10.210243225097656
    frame 1: 9.867433547973633 -> 10.151592254638672
    frame 2: 9.848651885986328 -> 10.131986618041992
    frame 3: 9.855059623718262 -> 10.137385368347168
    frame 4: 9.833258628845215 -> 10.115735054016113
    frame 5: 9.884894371032715 -> 10.164125442504883
    frame 6: 9.871135711669922 -> 10.150240898132324
    frame 7: 9.930858612060547 -> 10.206563949584961
    frame 8: 9.928243637084961 -> 10.203625679016113
    frame 9: 9.926424026489258 -> 10.202192306518555
    (... 1190 more)

  longitudinalPlan.speeds.7 (1200 diffs)
    frame 0: 9.948552131652832 -> 10.388776779174805
    frame 1: 9.846731185913086 -> 10.330635070800781
    frame 2: 9.826778411865234 -> 10.309349060058594
    frame 3: 9.836575508117676 -> 10.317365646362305
    frame 4: 9.813111305236816 -> 10.294178009033203
    frame 5: 9.87679672241211 -> 10.352157592773438
    frame 6: 9.861278533935547 -> 10.336488723754883
    frame 7: 9.93370246887207 -> 10.402945518493652
    frame 8: 9.930212020874023 -> 10.398965835571289
    frame 9: 9.927331924438477 -> 10.396757125854492
    (... 1190 more)

  longitudinalPlan.speeds.8 (1200 diffs)
    frame 0: 9.943976402282715 -> 10.594778060913086
    frame 1: 9.822845458984375 -> 10.537223815917969
    frame 2: 9.80154037475586 -> 10.513997077941895
    frame 3: 9.81524658203125 -> 10.52503490447998
    frame 4: 9.789865493774414 -> 10.500073432922363
    frame 5: 9.867453575134277 -> 10.56911849975586
    frame 6: 9.84990406036377 -> 10.551389694213867
    frame 7: 9.93698501586914 -> 10.629539489746094
    frame 8: 9.932482719421387 -> 10.624358177185059
    frame 9: 9.92837905883789 -> 10.621253967285156
    (... 1190 more)

  longitudinalPlan.speeds.9 (1200 diffs)
    frame 0: 9.938358306884766 -> 10.90933895111084
    frame 1: 9.803754806518555 -> 10.856078147888184
    frame 2: 9.781813621520996 -> 10.831928253173828
    frame 3: 9.798398971557617 -> 10.844144821166992
    frame 4: 9.771991729736328 -> 10.81848430633545
    frame 5: 9.85921573638916 -> 10.891826629638672
    frame 6: 9.840388298034668 -> 10.873210906982422
    frame 7: 9.937525749206543 -> 10.955891609191895
    frame 8: 9.932305335998535 -> 10.95014476776123
    frame 9: 9.92729663848877 -> 10.94670295715332
    (... 1190 more)

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [plannerd]

  longitudinalPlan.aTarget (1195 diffs)
    frame 0: 0.4887460470199585 -> 0.02500000037252903
    frame 1: 0.4830911159515381 -> 0.05000000074505806
    frame 2: 0.4165326952934265 -> 0.07500000298023224
    frame 3: 0.5036853551864624 -> 0.10000000149011612
    frame 4: 0.43995383381843567 -> 0.125
    frame 5: 0.4524700343608856 -> 0.15000000596046448
    frame 6: 0.4831767678260803 -> 0.17499999701976776
    frame 7: 0.429179847240448 -> 0.20000000298023224
    frame 8: 0.5352203845977783 -> 0.22499999403953552
    frame 9: 0.5294433832168579 -> 0.25
    (... 1185 more)

  longitudinalPlan.accels.0 (288 diffs)
    frame 912: -0.3118991553783417 -> -0.2910155951976776
    frame 913: -0.2444293051958084 -> -0.1965322643518448
    frame 914: -0.18275195360183716 -> -0.10631012171506882
    frame 915: -0.12562349438667297 -> -0.02005910500884056
    frame 916: -0.07269489020109177 -> 0.0625305324792862
    frame 917: -0.023925861343741417 -> 0.14172889292240143
    frame 918: 0.02061779797077179 -> 0.2177084982395172
    frame 919: 0.06086960434913635 -> 0.290635347366333
    frame 920: 0.09681486338376999 -> 0.36077797412872314
    frame 921: 0.12850798666477203 -> 0.4281699061393738
    (... 278 more)

  longitudinalPlan.accels.1 (501 diffs)
    frame 0: 0.07511907070875168 -> 0.09304239600896835
    frame 1: 0.002269331831485033 -> 0.020371844992041588
    frame 2: -0.08519463986158371 -> -0.06681942194700241
    frame 3: 0.033127956092357635 -> 0.05118417367339134
    frame 4: -0.05324268341064453 -> -0.03496035188436508
    frame 5: -0.03642505407333374 -> -0.0181764867156744
    frame 6: 0.005361759103834629 -> 0.023491187021136284
    frame 7: -0.0679435133934021 -> -0.04961352050304413
    frame 8: 0.07606172561645508 -> 0.09399796277284622
    frame 9: 0.06850375980138779 -> 0.08643942326307297
    (... 491 more)

  longitudinalPlan.accels.10 (1195 diffs)
    frame 0: 1.0291810035705566 -> 1.8630261421203613
    frame 1: 1.1371272802352905 -> 1.8698594570159912
    frame 2: 1.1005665063858032 -> 1.8601572513580322
    frame 3: 1.144100308418274 -> 1.8729571104049683
    frame 4: 1.1121008396148682 -> 1.8635303974151611
    frame 5: 1.1185616254806519 -> 1.865472674369812
    frame 6: 1.1337980031967163 -> 1.8699259757995605
    frame 7: 1.1068298816680908 -> 1.8620126247406006
    frame 8: 1.159759283065796 -> 1.877546787261963
    frame 9: 1.1565470695495605 -> 1.8765164613723755
    (... 1185 more)

  longitudinalPlan.accels.11 (1194 diffs)
    frame 0: 1.1678556203842163 -> 1.995842456817627
    frame 1: 1.3116289377212524 -> 2.000002145767212
    frame 2: 1.2835144996643066 -> 2.0000014305114746
    frame 3: 1.3150712251663208 -> 2.00000262260437
    frame 4: 1.2917972803115845 -> 1.9999980926513672
    frame 5: 1.2965877056121826 -> 2.0000009536743164
    frame 6: 1.3075839281082153 -> 2.000001907348633
    frame 7: 1.2880403995513916 -> 1.9999957084655762
    frame 8: 1.326388955116272 -> 2.0000030994415283
    frame 9: 1.3238970041275024 -> 2.000002384185791
    (... 1184 more)

  longitudinalPlan.accels.12 (1191 diffs)
    frame 0: 1.2762809991836548 -> 1.997525691986084
    frame 1: 1.4574427604675293 -> 2.0000040531158447
    frame 2: 1.4370194673538208 -> 2.0000038146972656
    frame 3: 1.4580862522125244 -> 2.000004768371582
    frame 4: 1.4424705505371094 -> 2.000001907348633
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    (... 1181 more)

  longitudinalPlan.accels.13 (1174 diffs)
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    (... 1164 more)

  longitudinalPlan.accels.14 (1156 diffs)
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    (... 1146 more)

  longitudinalPlan.accels.15 (1123 diffs)
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  longitudinalPlan.accels.16 (752 diffs)
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  longitudinalPlan.accels.2 (943 diffs)
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  longitudinalPlan.accels.3 (1178 diffs)
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  longitudinalPlan.accels.4 (1190 diffs)
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  longitudinalPlan.accels.5 (1195 diffs)
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  longitudinalPlan.accels.6 (1195 diffs)
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  longitudinalPlan.accels.7 (1195 diffs)
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  longitudinalPlan.accels.8 (1194 diffs)
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  longitudinalPlan.accels.9 (1194 diffs)
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  longitudinalPlan.jerks.0 (1190 diffs)
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  longitudinalPlan.jerks.1 (1189 diffs)
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  longitudinalPlan.jerks.10 (1192 diffs)
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  longitudinalPlan.jerks.11 (1193 diffs)
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  longitudinalPlan.jerks.12 (1191 diffs)
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  longitudinalPlan.jerks.13 (1188 diffs)
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  longitudinalPlan.jerks.14 (1170 diffs)
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  longitudinalPlan.jerks.15 (1179 diffs)
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  longitudinalPlan.jerks.16 (1118 diffs)
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  longitudinalPlan.jerks.2 (1178 diffs)
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  longitudinalPlan.jerks.3 (1173 diffs)
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  longitudinalPlan.jerks.4 (1190 diffs)
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  longitudinalPlan.jerks.5 (1190 diffs)
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  longitudinalPlan.jerks.6 (1183 diffs)
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  longitudinalPlan.jerks.7 (1156 diffs)
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  longitudinalPlan.jerks.8 (816 diffs)
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  longitudinalPlan.jerks.9 (1159 diffs)
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    frame 7: 0.8843730092048645 -> 0.6752907633781433
    frame 8: 0.81322181224823 -> 0.599301815032959
    frame 9: 0.816736102104187 -> 0.6043418049812317
    (... 1149 more)

  longitudinalPlan.longitudinalPlanSource (928 diffs)
    frame 18: cruise -> lead0
    frame 19: cruise -> lead1
    frame 20: cruise -> lead0
    frame 22: cruise -> lead0
    frame 23: cruise -> lead0
    frame 24: cruise -> lead0
    frame 25: cruise -> lead0
    frame 26: cruise -> lead0
    frame 28: cruise -> lead0
    frame 30: cruise -> lead0
    (... 918 more)

  longitudinalPlan.speeds.0 (268 diffs)
    frame 932: 29.075191497802734 -> 29.379661560058594
    frame 933: 29.08812141418457 -> 29.42399024963379
    frame 934: 29.10088348388672 -> 29.469629287719727
    frame 935: 29.113317489624023 -> 29.516372680664062
    frame 936: 29.1251163482666 -> 29.56386375427246
    frame 937: 29.136383056640625 -> 29.612157821655273
    frame 938: 29.147302627563477 -> 29.661388397216797
    frame 939: 29.15761947631836 -> 29.71123504638672
    frame 940: 29.16722869873047 -> 29.761537551879883
    frame 941: 29.176082611083984 -> 29.81218147277832
    (... 258 more)

  longitudinalPlan.speeds.1 (268 diffs)
    frame 932: 29.07768440246582 -> 29.3900203704834
    frame 933: 29.09058952331543 -> 29.434772491455078
    frame 934: 29.103313446044922 -> 29.480819702148438
    frame 935: 29.115699768066406 -> 29.527957916259766
    frame 936: 29.127443313598633 -> 29.575836181640625
    frame 937: 29.138647079467773 -> 29.62450408935547
    frame 938: 29.149499893188477 -> 29.674095153808594
    frame 939: 29.15974235534668 -> 29.724294662475586
    frame 940: 29.169275283813477 -> 29.77493667602539
    frame 941: 29.178049087524414 -> 29.825912475585938
    (... 258 more)

  longitudinalPlan.speeds.10 (497 diffs)
    frame 0: 31.068113327026367 -> 31.625947952270508
    frame 1: 31.083969116210938 -> 31.60759162902832
    frame 2: 31.01422882080078 -> 31.551664352416992
    frame 3: 31.097766876220703 -> 31.619279861450195
    frame 4: 31.033903121948242 -> 31.56699562072754
    frame 5: 31.04273796081543 -> 31.573673248291016
    frame 6: 31.071874618530273 -> 31.597124099731445
    frame 7: 31.016820907592773 -> 31.55198097229004
    frame 8: 31.120712280273438 -> 31.63642120361328
    frame 9: 31.117801666259766 -> 31.634313583374023
    (... 487 more)

  longitudinalPlan.speeds.11 (499 diffs)
    frame 0: 31.285842895507812 -> 32.00315475463867
    frame 1: 31.326589584350586 -> 31.986116409301758
    frame 2: 31.2498779296875 -> 31.927831649780273
    frame 3: 31.341642379760742 -> 31.998558044433594
    frame 4: 31.271728515625 -> 31.943981170654297
    frame 5: 31.281789779663086 -> 31.951133728027344
    frame 6: 31.313804626464844 -> 31.975664138793945
    frame 7: 31.25365447998047 -> 31.928598403930664
    frame 8: 31.367549896240234 -> 32.016815185546875
    frame 9: 31.364023208618164 -> 32.01445770263672
    (... 489 more)

  longitudinalPlan.speeds.12 (504 diffs)
    frame 0: 31.574390411376953 -> 32.451847076416016
    frame 1: 31.656476974487305 -> 32.43533706665039
    frame 2: 31.57530975341797 -> 32.377052307128906
    frame 3: 31.6716251373291 -> 32.447776794433594
    frame 4: 31.598337173461914 -> 32.3931999206543
    frame 5: 31.60911750793457 -> 32.400352478027344
    frame 6: 31.6427059173584 -> 32.42488479614258
    frame 7: 31.579740524291992 -> 32.3778190612793
    frame 8: 31.699159622192383 -> 32.466033935546875
    frame 9: 31.695232391357422 -> 32.46367645263672
    (... 494 more)

  longitudinalPlan.speeds.13 (522 diffs)
    frame 0: 31.88802719116211 -> 32.93955612182617
    frame 1: 32.01504898071289 -> 32.92361831665039
    frame 2: 31.92904281616211 -> 32.865333557128906
    frame 3: 32.030303955078125 -> 32.93606185913086
    frame 4: 31.953344345092773 -> 32.8814811706543
    frame 5: 31.964908599853516 -> 32.888633728027344
    frame 6: 32.00020980834961 -> 32.91316604614258
    frame 7: 31.93418312072754 -> 32.8661003112793
    frame 8: 32.059608459472656 -> 32.954315185546875
    frame 9: 32.055240631103516 -> 32.95195770263672
    (... 512 more)

  longitudinalPlan.speeds.14 (546 diffs)
    frame 0: 32.265499114990234 -> 33.4661750793457
    frame 1: 32.46037292480469 -> 33.45096206665039
    frame 2: 32.37267303466797 -> 33.392677307128906
    frame 3: 32.4747428894043 -> 33.46340560913086
    frame 4: 32.39714050292969 -> 33.40882873535156
    frame 5: 32.408912658691406 -> 33.41598129272461
    frame 6: 32.444461822509766 -> 33.440513610839844
    frame 7: 32.37794494628906 -> 33.3934440612793
    frame 8: 32.50434112548828 -> 33.48166275024414
    frame 9: 32.499794006347656 -> 33.479305267333984
    (... 536 more)

  longitudinalPlan.speeds.15 (561 diffs)
    frame 0: 32.690975189208984 -> 34.03174591064453
    frame 1: 32.96872329711914 -> 34.017372131347656
    frame 2: 32.88103485107422 -> 33.95908737182617
    frame 3: 32.98163604736328 -> 34.02981185913086
    frame 4: 32.90505599975586 -> 33.97523498535156
    frame 5: 32.91671371459961 -> 33.98238754272461
    frame 6: 32.95171356201172 -> 34.006919860839844
    frame 7: 32.88612365722656 -> 33.9598503112793
    frame 8: 33.010711669921875 -> 34.04806900024414
    frame 9: 33.0061149597168 -> 34.045711517333984
    (... 551 more)

  longitudinalPlan.speeds.16 (595 diffs)
    frame 0: 33.14579391479492 -> 34.63631820678711
    frame 1: 33.51213455200195 -> 34.622840881347656
    frame 2: 33.42445755004883 -> 34.56455612182617
    frame 3: 33.52348327636719 -> 34.635284423828125
    frame 4: 33.447998046875 -> 34.58070755004883
    frame 5: 33.45954132080078 -> 34.587860107421875
    frame 6: 33.49394607543945 -> 34.61239242553711
    frame 7: 33.42934799194336 -> 34.56532287597656
    frame 8: 33.552001953125 -> 34.653541564941406
    frame 9: 33.54735565185547 -> 34.651180267333984
    (... 585 more)

  longitudinalPlan.speeds.2 (269 diffs)
    frame 931: 29.07215118408203 -> 29.376399993896484
    frame 932: 29.085166931152344 -> 29.42109489440918
    frame 933: 29.097991943359375 -> 29.467113494873047
    frame 934: 29.11060333251953 -> 29.514389038085938
    frame 935: 29.122848510742188 -> 29.562719345092773
    frame 936: 29.13442611694336 -> 29.611753463745117
    frame 937: 29.145442962646484 -> 29.661542892456055
    frame 938: 29.156089782714844 -> 29.712221145629883
    frame 939: 29.166112899780273 -> 29.763471603393555
    frame 940: 29.1754150390625 -> 29.815135955810547
    (... 259 more)

  longitudinalPlan.speeds.3 (270 diffs)
    frame 930: 29.071632385253906 -> 29.382673263549805
    frame 931: 29.08468246459961 -> 29.428102493286133
    frame 932: 29.097557067871094 -> 29.474903106689453
    frame 933: 29.110187530517578 -> 29.522966384887695
    frame 934: 29.12255859375 -> 29.57222557067871
    frame 935: 29.134519577026367 -> 29.62247657775879
    frame 936: 29.145780563354492 -> 29.67337989807129
    frame 937: 29.156450271606445 -> 29.724979400634766
    frame 938: 29.16672706604004 -> 29.77741050720215
    frame 939: 29.176362991333008 -> 29.83036231994629
    (... 260 more)

  longitudinalPlan.speeds.4 (272 diffs)
    frame 928: 29.062908172607422 -> 29.364112854003906
    frame 929: 29.076257705688477 -> 29.409814834594727
    frame 930: 29.089460372924805 -> 29.457000732421875
    frame 931: 29.102210998535156 -> 29.505308151245117
    frame 932: 29.114723205566406 -> 29.55489158630371
    frame 933: 29.126935958862305 -> 29.605661392211914
    frame 934: 29.13884162902832 -> 29.657541275024414
    frame 935: 29.150299072265625 -> 29.710336685180664
    frame 936: 29.16102409362793 -> 29.763721466064453
    frame 937: 29.171133041381836 -> 29.817724227905273
    (... 262 more)

  longitudinalPlan.speeds.5 (274 diffs)
    frame 926: 29.059431076049805 -> 29.357065200805664
    frame 927: 29.072999954223633 -> 29.40374755859375
    frame 928: 29.086284637451172 -> 29.451919555664062
    frame 929: 29.099462509155273 -> 29.501556396484375
    frame 930: 29.112380981445312 -> 29.552566528320312
    frame 931: 29.1247501373291 -> 29.60457420349121
    frame 932: 29.136795043945312 -> 29.657733917236328
    frame 933: 29.148469924926758 -> 29.71198081970215
    frame 934: 29.159778594970703 -> 29.76723289489746
    frame 935: 29.17058753967285 -> 29.823301315307617
    (... 264 more)

  longitudinalPlan.speeds.6 (276 diffs)
    frame 924: 29.065052032470703 -> 29.372770309448242
    frame 925: 29.07805824279785 -> 29.420747756958008
    frame 926: 29.09105682373047 -> 29.470478057861328
    frame 927: 29.103836059570312 -> 29.52165985107422
    frame 928: 29.116254806518555 -> 29.574247360229492
    frame 929: 29.128501892089844 -> 29.628103256225586
    frame 930: 29.140438079833984 -> 29.6832275390625
    frame 931: 29.15178680419922 -> 29.739219665527344
    frame 932: 29.162782669067383 -> 29.79623031616211
    frame 933: 29.17338752746582 -> 29.85423469543457
    (... 266 more)

  longitudinalPlan.speeds.7 (278 diffs)
    frame 922: 29.083200454711914 -> 29.4038028717041
    frame 923: 29.09506607055664 -> 29.453596115112305
    frame 924: 29.10678482055664 -> 29.50516700744629
    frame 925: 29.118497848510742 -> 29.558414459228516
    frame 926: 29.130123138427734 -> 29.613271713256836
    frame 927: 29.141475677490234 -> 29.669422149658203
    frame 928: 29.15242576599121 -> 29.726903915405273
    frame 929: 29.163185119628906 -> 29.78542709350586
    frame 930: 29.173620223999023 -> 29.845109939575195
    frame 931: 29.18346405029297 -> 29.9055233001709
    (... 268 more)

  longitudinalPlan.speeds.8 (280 diffs)
    frame 920: 29.113157272338867 -> 29.4381160736084
    frame 921: 29.123422622680664 -> 29.489824295043945
    frame 922: 29.133935928344727 -> 29.543859481811523
    frame 923: 29.14459228515625 -> 29.600074768066406
    frame 924: 29.15494155883789 -> 29.657930374145508
    frame 925: 29.165159225463867 -> 29.717260360717773
    frame 926: 29.175201416015625 -> 29.778034210205078
    frame 927: 29.184904098510742 -> 29.839916229248047
    frame 928: 29.194164276123047 -> 29.903043746948242
    frame 929: 29.203203201293945 -> 29.966955184936523
    (... 270 more)

  longitudinalPlan.speeds.9 (496 diffs)
    frame 0: 30.89280891418457 -> 31.300064086914062
    frame 1: 30.89223861694336 -> 31.28011703491211
    frame 2: 30.830184936523438 -> 31.22744369506836
    frame 3: 30.904346466064453 -> 31.290769577026367
    frame 4: 30.84736442565918 -> 31.241641998291016
    frame 5: 30.854820251464844 -> 31.247671127319336
    frame 6: 30.88067054748535 -> 31.269628524780273
    frame 7: 30.831424713134766 -> 31.227136611938477
    frame 8: 30.923913955688477 -> 31.306371688842773
    frame 9: 30.921676635742188 -> 31.304609298706055
    (... 486 more)

@adeebshihadeh

adeebshihadeh commented Jun 24, 2026

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I was working on a report for this. You have one too or just want to ship as it's more correct anyway?

@haraschax

haraschax commented Jun 24, 2026 •
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The mpc_longitudinal_tuning_report.py should be pretty complete already

@haraschax haraschax force-pushed the e2e-cruise-speed-limit branch from 264978f to c27a288 Compare June 24, 2026 17:32
@haraschax haraschax changed the title longitudinal: use cruise as speed limit only in e2e mode longitudinal: move cruise speed limit out of the MPC Jun 24, 2026
@haraschax haraschax force-pushed the e2e-cruise-speed-limit branch 8 times, most recently from ae02710 to f8478df Compare June 24, 2026 21:15
@haraschax
longitudinal: move cruise speed limit out of the MPC
485fe9e 
The cruise speed limit is now applied in the planner instead of as a
fake obstacle inside the MPC. The MPC only plans around lead obstacles,
and the planner applies a rate-limited cruise acceleration limit.

- long_mpc.py: remove v_cruise param, cruise obstacle, CRUISE_*_ACCEL
  constants, and cruise from MPC_SOURCES
- longitudinal_planner.py: apply rate-limited cruise acceleration limit
  outside the MPC and take the min with the MPC output
@haraschax haraschax force-pushed the e2e-cruise-speed-limit branch from f8478df to 485fe9e Compare June 24, 2026 21:18
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2 participants

@haraschax @adeebshihadeh