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Honor speed limit priority for upcoming limits #102

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Honor speed limit priority for upcoming limits #102

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7038488
Honor speed limit priority for upcoming limits
FrogAi Aug 8, 2026
a0454e4
Reset next limit trigger distance when arbitrated target changes
FrogAi Aug 8, 2026
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17 changes: 13 additions & 4 deletions speed_limit.go
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ type SpeedLimitState struct {
OverrideSpeed float32
AcceptedLimit float32
NextLimit Upcoming[float32]
NextLimitTarget float32
}

func (s *SpeedLimitState) Init() {
Expand Down Expand Up @@ -96,15 +97,23 @@ 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
Expand Down
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