Nuggets In Dijon model, C3xLite, livePose

RELEASES.md

@@ -1,3 +1,10 @@
+Carrot2-v9 (2025-10-17)
+========================
+* Nuggets In Dijon model
+* Setting: Adjust traffic stop distance
+* liveLocationKalman -> livePose
+* C3x lite
+
 Carrot2-v9 (2025-09-21)
 ========================
 * GWM Model

cereal/log.capnp

@@ -1179,6 +1179,7 @@ struct ModelDataV2 {
     desire @14 :Desire;
     laneChangeProb @15 :Float32;
     desireLog @16 : Text;
+    modelTurnSpeed @17 :Float32;
 
 
     # deprecated

cereal/services.py

@@ -51,7 +51,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  #"livePose": (True, 20., 4),
+  "livePose": (True, 20., 4),
   "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 10),

common/mock/__init__.py

@@ -8,11 +8,12 @@
 import threading
 from cereal.messaging import PubMaster
 from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.mock.generators import generate_livePose, generate_liveLocationKalman
 from openpilot.common.realtime import Ratekeeper
 
 
 MOCK_GENERATOR = {
+  "livePose": generate_livePose
   "liveLocationKalman": generate_liveLocationKalman
 }
 

common/mock/generators.py

@@ -18,3 +18,16 @@ def generate_liveLocationKalman(location=LOCATION1):
   msg.liveLocationKalman.status = 'valid'
   msg.liveLocationKalman.gpsOK = True
   return msg
+
+
+def generate_livePose():
+  msg = messaging.new_message('livePose')
+  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
+  msg.livePose.orientationNED = meas
+  msg.livePose.velocityDevice = meas
+  msg.livePose.angularVelocityDevice = meas
+  msg.livePose.accelerationDevice = meas
+  msg.livePose.inputsOK = True
+  msg.livePose.posenetOK = True
+  msg.livePose.sensorsOK = True
+  return msg

common/params_keys.h

@@ -184,6 +184,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AutoNaviCountDownMode", PERSISTENT},
     {"TurnSpeedControlMode", PERSISTENT},
     {"MapTurnSpeedFactor", PERSISTENT},
+    {"ModelTurnSpeedFactor", PERSISTENT},
     {"StoppingAccel", PERSISTENT},
     {"AutoSpeedUptoRoadSpeedLimit", PERSISTENT},
     {"AutoRoadSpeedAdjust", PERSISTENT},
@@ -208,6 +209,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"MyDrivingModeAuto", PERSISTENT},
     {"TrafficLightDetectMode", PERSISTENT},
     {"SteerActuatorDelay", PERSISTENT},
+    {"LatSmoothSec", PERSISTENT},
     {"CruiseOnDist", PERSISTENT},
     {"CruiseMaxVals0", PERSISTENT},
     {"CruiseMaxVals1", PERSISTENT},
@@ -242,6 +244,8 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"TFollowGap4", PERSISTENT},
     {"DynamicTFollow", PERSISTENT},
     {"DynamicTFollowLC", PERSISTENT},
+    {"AChangeCostStarting", PERSISTENT},
+    {"TrafficStopDistanceAdjust", PERSISTENT},
     {"HapticFeedbackWhenSpeedCamera", PERSISTENT},
     {"UseLaneLineSpeed", PERSISTENT},
     {"UseLaneLineCurveSpeed", PERSISTENT},
@@ -289,4 +293,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"NNFF", PERSISTENT},
     {"NNFFLite", PERSISTENT},
     {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
+
+    {"HardwareC3xLite", PERSISTENT},
 };

launch_chffrplus.sh

@@ -90,7 +90,6 @@ function launch {
   fi
 
   # events language init
-  #LANG=$(cat ${PARAMS_ROOT}/d/LanguageSetting)
   LANG=$(cat /data/params/d/LanguageSetting)
   EVENTSTAT=$(git status)
 
@@ -102,6 +101,16 @@ function launch {
     cp -f $DIR/scripts/add/events_en.py $DIR/selfdrive/selfdrived/events.py
   fi
 
+  # c3xl amplifier file change
+  C3XL=$(cat /data/params/d/HardwareC3xLite)
+
+  if [ "${C3XL}" = "1" ] && [[ ! "${EVENTSTAT}" == *"modified:   system/hardware/tici/amplifier.py"* ]]; then
+    cp -f $DIR/system/hardware/tici/amplifier.py $DIR/scripts/add/amplifier_org.py
+    cp -f $DIR/scripts/add/amplifier_c3xl.py $DIR/system/hardware/tici/amplifier.py
+  elif [ "${C3XL}" = "0" ] && [[ "${EVENTSTAT}" == *"modified:   system/hardware/tici/amplifier.py"* ]]; then
+    cp -f $DIR/scripts/add/amplifier_org.py $DIR/system/hardware/tici/amplifier.py
+  fi
+
   # start manager
   cd system/manager
   if [ ! -f $DIR/prebuilt ]; then

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -355,8 +355,9 @@ def update(self, CC, CS, now_nanos):
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
         if camera_scc:
-          if CS.scc13 is not None:
-            can_sends.append(hyundaican.create_acc_opt_copy(CS, self.packer))
+          #if CS.scc13 is not None:
+          #  can_sends.append(hyundaican.create_acc_opt_copy(CS, self.packer))
+          pass
         else:
           can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
 

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -559,7 +559,7 @@ def update_canfd(self, can_parsers) -> structs.CarState:
       if lane_info is not None:
         left_lane_prob = lane_info["LEFT_LANE_PROB"]
         right_lane_prob = lane_info["RIGHT_LANE_PROB"]
-        left_lane_type = lane_info["LEFT_LANE_TYPE"] # 0: dashed, 1: solid, 4: double solid, solid+dashed, 5:dashed + solid
+        left_lane_type = lane_info["LEFT_LANE_TYPE"] # 0: dashed, 1: solid, 2: undecided, 3: road edge, 4: DLM Inner Solid, 5: DLM InnerDashed, 6:DLM Inner Undecided, 7: Botts Dots, 8: Barrier
         right_lane_type = lane_info["RIGHT_LANE_TYPE"]
         left_lane_color = lane_info["LEFT_LANE_COLOR"]
         right_lane_color = lane_info["RIGHT_LANE_COLOR"]

opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc

@@ -1395,6 +1395,8 @@ BO_ 1290 SCC13: 8 SCC
  SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
  SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC
  SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 1287 TCS15: 4 ESC
  SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
@@ -1489,8 +1491,10 @@ BO_ 905 SCC14: 8 SCC
  SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
  SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
  SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
+ SG_ NEW_SIGNAL_1 : 26|6@1+ (1,0) [0|63] "" XXX
  SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
  SG_ ObjDistStat : 42|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
 
 BO_ 1157 LFAHDA_MFC: 8 XXX

opendbc_repo/opendbc/safety/safety/safety_hyundai.h

@@ -197,6 +197,7 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) {
 
 uint32_t last_ts_lkas11_from_op = 0;
 uint32_t last_ts_scc12_from_op = 0;
+uint32_t last_ts_scc13_from_op = 0;
 uint32_t last_ts_mdps12_from_op = 0;
 uint32_t last_ts_fca11_from_op = 0;
 
@@ -284,6 +285,8 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
     last_ts_mdps12_from_op = (tx == 0 ? 0 : microsecond_timer_get());
   else if(addr == 909)
     last_ts_fca11_from_op = (tx == 0 ? 0 : microsecond_timer_get());
+  else if(addr == 1290)
+    last_ts_scc13_from_op = (tx == 0 ? 0 : microsecond_timer_get());
 
   return tx;
 }
@@ -308,10 +311,11 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
   if (bus_num == 2) {
     bool is_lkas_msg = addr == 832;
     bool is_lfahda_msg = addr == 1157;
-    bool is_scc_msg = addr == 1056 || addr == 1057 || addr == 1290 || addr == 905;
+    bool is_scc_msg = addr == 1056 || addr == 1057 || addr == 905;
+    bool is_scc13_msg = addr == 1290;
     bool is_fca_msg = addr == 909 || addr == 1155;
 
-    bool block_msg = is_lkas_msg || is_lfahda_msg || is_scc_msg; //|| is_fca_msg;
+    bool block_msg = is_lkas_msg || is_lfahda_msg || is_scc_msg || is_scc13_msg; //|| is_fca_msg;
     if (!block_msg) {
       bus_fwd = 0;
     }
@@ -321,8 +325,12 @@ static int hyundai_fwd_hook(int bus_num, int addr) {
           bus_fwd = 0;
         }
       }
-      else if(is_scc_msg) {
-        if(now - last_ts_scc12_from_op >= 400000)
+      else if (is_scc_msg) {
+        if (now - last_ts_scc12_from_op >= 400000)
+          bus_fwd = 0;
+      }
+      else if (is_scc13_msg) {
+        if (now - last_ts_scc13_from_op >= 400000)
           bus_fwd = 0;
       }
       else if(is_fca_msg) {

scripts/add/amplifier_c3xl.py

@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+import time
+from smbus2 import SMBus
+from collections import namedtuple
+
+# https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
+
+AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
+EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
+
+def configs_from_eq_params(base, eq_params):
+  return [
+    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
+    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
+    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
+    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
+    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
+    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
+    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
+    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
+    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
+    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
+  ]
+
+BASE_CONFIG = [
+  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
+  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
+  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
+  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
+  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
+  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
+  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
+  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
+  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
+  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
+  AmpConfig("DAI2 attenuation (DV2)", 0x0, 0x31, 0, 0b00001111),
+  AmpConfig("DAI2: DC blocking", 0b1, 0x20, 0, 0b00000001),
+  AmpConfig("DAI2: High sample rate", 0b0, 0x20, 3, 0b00001000),
+  AmpConfig("ALC enable", 0b1, 0x43, 7, 0b10000000),
+  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
+  AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
+  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
+  AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
+  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter lower corner freq", 0b00, 0x41, 0, 0b00000011),
+  AmpConfig("Excursion limiter threshold", 0b000, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x6, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b0, 0x46, 0, 0b00000001),
+  AmpConfig("Right DAC input mixer: DAI1 left", 0b0, 0x22, 3, 0b00001000),
+  AmpConfig("Right DAC input mixer: DAI1 right", 0b0, 0x22, 2, 0b00000100),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b1, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b0, 0x22, 0, 0b00000001),
+  AmpConfig("DAI1 audio port selector", 0b10, 0x16, 6, 0b11000000),
+  AmpConfig("DAI2 audio port selector", 0b01, 0x1E, 6, 0b11000000),
+  AmpConfig("Enable left digital microphone", 0b1, 0x48, 5, 0b00100000),
+  AmpConfig("Enable right digital microphone", 0b1, 0x48, 4, 0b00010000),
+  AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
+  AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
+  AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+]
+
+CONFIGS = {
+  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
+    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
+    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
+    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
+    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
+    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
+  ],
+  "tizi": [
+    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
+  ],
+}
+
+class Amplifier:
+  AMP_I2C_BUS = 0
+  AMP_ADDRESS = 0x10
+
+  def __init__(self, debug=False):
+    self.debug = debug
+
+  def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
+    return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
+
+  def _set_configs(self, configs: list[AmpConfig]) -> None:
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      for config in configs:
+        if self.debug:
+          print(f"Setting \"{config.name}\" to {config.value}:")
+
+        old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+        new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+        bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+        if self.debug:
+          print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_configs(self, configs: list[AmpConfig]) -> bool:
+    # retry in case panda is using the amp
+    tries = 1
+    for i in range(1):
+      try:
+        self._set_configs(configs)
+        return True
+      except OSError:
+        print(f"Failed to set amp config, {tries - i - 1} retries left")
+        time.sleep(0.02)
+    return False
+
+  def set_global_shutdown(self, amp_disabled: bool) -> bool:
+    return self.set_configs([self._get_shutdown_config(amp_disabled), ])
+
+  def initialize_configuration(self, model: str) -> bool:
+    cfgs = [
+      self._get_shutdown_config(True),
+      *BASE_CONFIG,
+      *CONFIGS[model],
+      self._get_shutdown_config(False),
+    ]
+    return self.set_configs(cfgs)
+
+
+#if __name__ == "__main__":
+  #with open("/sys/firmware/devicetree/base/model") as f:
+   # model = f.read().strip('\x00')
+  #model = model.split('comma ')[-1]
+
+  #amp = Amplifier()
+  #amp.initialize_configuration(model)

selfdrive/car/cruise.py

@@ -342,7 +342,7 @@ def update_v_cruise(self, CS, sm, is_metric):
           self.v_cruise_kph = np.clip(v_cruise_kph, 30, self._cruise_speed_max)
           self.v_cruise_cluster_kph = self.v_cruise_kph
     else:
-      self.v_cruise_kph = max(20, self.v_ego_kph_set) #V_CRUISE_UNSET
+      self.v_cruise_kph = np.clip(v_cruise_kph, self._cruise_speed_min, self._cruise_speed_max) #max(20, self.v_ego_kph_set) #V_CRUISE_UNSET
       self.v_cruise_cluster_kph = self.v_cruise_kph #V_CRUISE_UNSET
       #if self.cruise_state_available_last: # 최초 한번이라도 cruiseState.available이 True였다면
       #  self._lat_enabled = False
@@ -495,7 +495,7 @@ def _update_cruise_buttons(self, CS, CC, v_cruise_kph):
         if self._soft_hold_active > 0:
           self._soft_hold_active = 0
         elif self._cruise_ready or not CC.enabled or CS.cruiseState.standstill or self.carrot_cruise_active:
-          if self._cruise_button_mode in [2, 3]:
+          if False: #self._cruise_button_mode in [2, 3]:
             road_limit_kph = self.nRoadLimitSpeed * self.autoSpeedUptoRoadSpeedLimit
             if road_limit_kph > 1.0:
               v_cruise_kph = max(v_cruise_kph, road_limit_kph)
@@ -636,7 +636,7 @@ def _auto_speed_up(self, v_cruise_kph):
         v_cruise_kph = self.nRoadLimitSpeed + self.autoRoadSpeedLimitOffset
     elif self.nRoadLimitSpeed < self.nRoadLimitSpeed_last and self.autoRoadSpeedAdjust > 0:
       new_road_limit_kph = self.nRoadLimitSpeed * self.autoRoadSpeedAdjust + v_cruise_kph * (1 - self.autoRoadSpeedAdjust)
-      self._add_log(f"AutoSpeed change {v_cruise_kph} -> {new_road_limit_kph}")
+      self._add_log(f"AutoSpeed change {v_cruise_kph} -> {new_road_limit_kph:.1f}")
       v_cruise_kph = min(v_cruise_kph, new_road_limit_kph)
     self.road_limit_kph = road_limit_kph
     self.nRoadLimitSpeed_last = self.nRoadLimitSpeed