From 70384887c62a49cc33a44fb53a4b2a719efb8605 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 8 Aug 2026 15:26:56 -0700
Subject: [PATCH 1/2] Honor speed limit priority for upcoming limits

---
 speed_limit.go | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/speed_limit.go b/speed_limit.go
index c3705cf..fe2fe33 100644
--- a/speed_limit.go
+++ b/speed_limit.go
@@ -96,15 +96,23 @@ func (s *SpeedLimitState) SuggestNewSpeedLimit(currentWay CurrentWay, car CarSta
 		slSuggestedSpeed += ms.Settings.SpeedLimitSettings.SpeedLimitOffset
 	}
 	if s.NextLimit.Value > 0 {
-		offsetNextSpeedLimit := s.NextLimit.Value + ms.Settings.SpeedLimitSettings.SpeedLimitOffset
+		nextSpeedLimit := ms.Settings.PrioritySpeedLimit(s.NextLimit.Value)
 		s.Limit.Update(ms.Settings.PrioritySpeedLimit(float32(currentWay.EffectiveMaxSpeed())))
-		nextIsLower := s.Limit.Value > s.NextLimit.Value
+		if nextSpeedLimit == 0 {
+			return slSuggestedSpeed
+		}
+		if nextSpeedLimit != s.NextLimitTarget {
+			s.NextLimitTarget = nextSpeedLimit
+			s.NextLimit.TriggerDistance = 0
+		}
+		offsetNextSpeedLimit := nextSpeedLimit + ms.Settings.SpeedLimitSettings.SpeedLimitOffset
+		nextIsLower := s.Limit.Value > nextSpeedLimit
 		personality := ms.Settings.CurrentPersonality()
 		distanceToReachSpeed := m.CalculateJerkLimitedDistanceSimple(car.VEgo, car.AEgo, offsetNextSpeedLimit, personality.TargetSpeedAccel, personality.TargetSpeedJerk)
 		if nextIsLower {
-			distanceToReachSpeed += personality.SpeedLimitDecreaseTargetSpeedTimeOffset * (s.NextLimit.Value + ms.Settings.SpeedLimitSettings.SpeedLimitOffset)
+			distanceToReachSpeed += personality.SpeedLimitDecreaseTargetSpeedTimeOffset * offsetNextSpeedLimit
 		} else {
-			distanceToReachSpeed += personality.SpeedLimitIncreaseTargetSpeedTimeOffset * (s.NextLimit.Value + ms.Settings.SpeedLimitSettings.SpeedLimitOffset)
+			distanceToReachSpeed += personality.SpeedLimitIncreaseTargetSpeedTimeOffset * offsetNextSpeedLimit
 		}
 		if s.NextLimit.TriggerDistance > distanceToReachSpeed {
 			distanceToReachSpeed = s.NextLimit.TriggerDistance

From a0454e441756b8ba2dd1804a1b2a5bc77567a0fe Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 8 Aug 2026 16:29:53 -0700
Subject: [PATCH 2/2] Reset next limit trigger distance when arbitrated target
 changes

---
 speed_limit.go | 1 +
 1 file changed, 1 insertion(+)

diff --git a/speed_limit.go b/speed_limit.go
index fe2fe33..3f4052f 100644
--- a/speed_limit.go
+++ b/speed_limit.go
@@ -18,6 +18,7 @@ type SpeedLimitState struct {
 	OverrideSpeed        float32
 	AcceptedLimit        float32
 	NextLimit            Upcoming[float32]
+	NextLimitTarget      float32
 }
 
 func (s *SpeedLimitState) Init() {