EN TF3 following responsiveness - ajouatom/openpilot GitHub Wiki
TF3 following responsiveness
Menu: Driving > Cruise & Gap > Follow Gap
TF3 following responsiveness
LeadAccelResponseTF3
Following responsiveness at cruise gap 3. -1 uses the common setting; 0–5 overrides it for this gap. Gaps may share the same base TF with different responses. After resolving the common or gap-specific choice, Eco applies at most 2 and Safe at most 3. Normal and High retain the selected value. Lower values and 0 are never raised; stored settings are unchanged. Extra-headroom hold conditions apply up to 1.2 times TF distance (speed × TF + stopping distance), ease progressively from 1.2 to 1.5 times, and no longer pause recovery at or above 1.5 times regardless of lead speed. Braking-onset distance is not separately remembered or held after stopping.
- Type: Select
- Default: Use common (
-1) - Range: Use common (
-1) ~ 5 Maximum follow (test) (5) - Step:
1 - Options:
-1Use common,00 Relaxed recovery,11 Most gradual,22 Gentle follow,33 Balanced follow,44 Urgent follow,55 Maximum follow (test) - Menu: Driving > Cruise & Gap > Follow Gap
Behavior
Cruise gap 3 uses either the common response or its selected override. Higher levels follow faster; lower levels recover the gap more gradually.
After resolving the common or gap-specific response, Eco caps it at 2 and Safe at 3. Normal and High retain the selected value; lower choices and 0 are never raised, and stored values are unchanged.
Additional headroom at levels 0–4 has a distance-limited hold. Reference D is speed × base TF + configured stopping distance, excluding extra headroom.
- Up to 1.2D: existing hold/recovery conditions apply.
- From 1.2D to 1.5D: the retained envelope and replenishment rate decrease while low-speed recovery restrictions ease.
- At or above 1.5D: recover at the selected level’s rate even for a pulling-away or stopped lead.
This does not erase the allowance instantly or directly add acceleration. Base TF, stopping distance, braking constraints and level 5’s absence of extra headroom remain unchanged.
Reference
Two gaps may use the same base TF with different responses. The selected response controls acceleration boost and extra-headroom recovery while retaining speed TF.