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commaai / openpilot Public

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long mpc: use model predicted lead trajectory#37824

Draft

sshane wants to merge 10 commits intomastercommaai/openpilot:masterfrom

mpc-lead-trajectorycommaai/openpilot:mpc-lead-trajectoryCopy head branch name to clipboard

Conversation Commits10 (10)Checks Files changed

Draft

long mpc: use model predicted lead trajectory#37824
sshane wants to merge 10 commits intomasterfrom
mpc-lead-trajectory

Commits

Commits on Apr 14, 2026

remove radar!
sshane
committed
debug
sshane
committed
mpc is in statationary ego frame (cumulative) like model!
sshane
committed
mpc is in statationary ego frame (cumulative) like model! calculate v from x, don't trust model. fix radar to camera offset
sshane
committed
raise cruise max to let it free
sshane
committed
xtrapolate speed
sshane
committed

Commits on Apr 15, 2026

back to using model v, it was best
sshane
committed
should work with radar cars now, but may not be as good overall since we
sshane
committed
super experimental
sshane
committed
revert cost stuff
sshane
committed

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