Conditional Experimental Mode

Added toggles for "Conditional Experimental Mode".

Conditions based on road curvature, turn signals, speed, lead speed, navigation instructions, and stop signs/stop lights are all individually toggleable.

Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>

cereal/custom.capnp

@@ -16,9 +16,12 @@ struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
 }
 
 struct FrogPilotNavigation @0xf35cc4560bbf6ec2 {
+  approachingIntersection @0 :Bool;
+  approachingTurn @1 :Bool;
 }
 
 struct FrogPilotPlan @0xda96579883444c35 {
+  conditionalExperimental @1 :Bool;
   laneWidthLeft @3 :Float32;
   laneWidthRight @4 :Float32;
 }

common/params.cc

@@ -218,6 +218,20 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_DriveStats", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
     {"CameraView", PERSISTENT},
+    {"CECurves", PERSISTENT},
+    {"CECurvesLead", PERSISTENT},
+    {"CENavigation", PERSISTENT},
+    {"CENavigationIntersections", PERSISTENT},
+    {"CENavigationLead", PERSISTENT},
+    {"CENavigationTurns", PERSISTENT},
+    {"CESignal", PERSISTENT},
+    {"CESlowerLead", PERSISTENT},
+    {"CESpeed", PERSISTENT},
+    {"CESpeedLead", PERSISTENT},
+    {"CEStatus", PERSISTENT},
+    {"CEStopLights", PERSISTENT},
+    {"CEStopLightsLead", PERSISTENT},
+    {"ConditionalExperimental", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomUI", PERSISTENT},
     {"DecelerationProfile", PERSISTENT},

release/files_common

@@ -558,5 +558,6 @@ tinygrad_repo/tinygrad/runtime/ops_gpu.py
 tinygrad_repo/tinygrad/shape/*
 tinygrad_repo/tinygrad/*.py
 
+selfdrive/frogpilot/functions/conditional_experimental_mode.py
 selfdrive/frogpilot/functions/frogpilot_functions.py
 selfdrive/frogpilot/functions/frogpilot_planner.py

selfdrive/controls/controlsd.py

@@ -690,6 +690,10 @@ class Controls:
     # FrogPilot functions
     frogpilot_plan = self.sm['frogpilotPlan']
 
+    # Update Experimental Mode
+    if self.frogpilot_variables.conditional_experimental_mode:
+      self.experimental_mode = frogpilot_plan.conditionalExperimental
+
     # Gear Check
     self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
 
@@ -984,7 +988,11 @@ class Controls:
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      if self.CP.openpilotLongitudinalControl:
+         if not self.frogpilot_variables.conditional_experimental_mode:
+           self.experimental_mode = self.params.get_bool("ExperimentalMode")
+      else:
+        self.experimental_mode = False
       if self.CP.notCar:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
       time.sleep(0.1)
@@ -1006,6 +1014,8 @@ class Controls:
       t.join()
 
   def update_frogpilot_params(self):
+    self.frogpilot_variables.conditional_experimental_mode = self.params.get_bool("ConditionalExperimental")
+
     custom_alerts = self.params.get_bool("CustomAlerts")
 
     lateral_tune = self.params.get_bool("LateralTune")

selfdrive/controls/lib/drive_helpers.py

@@ -133,6 +133,9 @@ class VCruiseHelper:
     if self.CP.pcmCruise:
       return
 
+    if frogpilot_variables.conditional_experimental_mode:
+      initial = V_CRUISE_INITIAL
+    else:
       initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
     # 250kph or above probably means we never had a set speed

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -337,6 +337,7 @@ class LongitudinalMpc:
 
   def update(self, radarstate, v_cruise, x, v, a, j, frogpilot_planner, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
+    self.t_follow = t_follow
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 

selfdrive/frogpilot/functions/conditional_experimental_mode.py

@@ -0,0 +1,191 @@
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CITY_SPEED_LIMIT, CRUISING_SPEED, MovingAverageCalculator, PROBABILITY
+
+
+# Lookup table for stop sign / stop light detection
+SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
+SLOW_DOWN_DISTANCE = [20, 30., 50., 70., 80., 90., 105., 120.]
+TRAJECTORY_SIZE = 33
+
+
+class ConditionalExperimentalMode:
+  def __init__(self, params_memory):
+    self.params_memory = params_memory
+
+    self.curve_detected = False
+    self.experimental_mode = False
+    self.lead_detected = False
+    self.lead_stopping = False
+    self.red_light_detected = False
+    self.slower_lead_detected = False
+
+    self.previous_status_value = 0
+    self.previous_v_ego = 0
+    self.previous_v_lead = 0
+    self.status_value = 0
+
+    self.curvature_mac = MovingAverageCalculator()
+    self.lead_detection_mac = MovingAverageCalculator()
+    self.lead_slowing_down_mac = MovingAverageCalculator()
+    self.slow_lead_mac = MovingAverageCalculator()
+    self.slowing_down_mac = MovingAverageCalculator()
+    self.stop_light_mac = MovingAverageCalculator()
+
+  def update(self, carState, enabled, frogpilotNavigation, modelData, radarState, road_curvature, stop_distance, t_follow, v_ego):
+    lead = radarState.leadOne
+    v_lead = lead.vLead
+
+    # Update Experimental Mode based on the current driving conditions
+    condition_met = self.check_conditions(carState, frogpilotNavigation, lead, modelData, stop_distance, v_ego)
+    if (not self.experimental_mode and condition_met) and enabled:
+      self.experimental_mode = True
+    elif (self.experimental_mode and not condition_met) or not enabled:
+      self.experimental_mode = False
+      self.status_value = 0
+
+    # Update the onroad status bar
+    if self.status_value != self.previous_status_value:
+      self.params_memory.put_int("CEStatus", self.status_value)
+      self.previous_status_value = self.status_value
+
+    self.update_conditions(lead, modelData, radarState, road_curvature, stop_distance, t_follow, v_ego, v_lead)
+
+  # Check conditions for the appropriate state of Experimental Mode
+  def check_conditions(self, carState, frogpilotNavigation, lead, modelData, stop_distance, v_ego):
+    if carState.standstill:
+      self.status_value = 0
+      return self.experimental_mode
+
+    # Keep Experimental Mode active if stopping for a red light
+    if self.status_value == 15 and self.slowing_down(v_ego):
+      return True
+
+    # Navigation check
+    if self.navigation and modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn) and (self.navigation_lead or not self.lead_detected):
+      self.status_value = 7 if frogpilotNavigation.approachingIntersection else 8
+      return True
+
+    # Speed check
+    if (not self.lead_detected and v_ego <= self.limit) or (self.lead_detected and v_ego <= self.limit_lead):
+      self.status_value = 10 if self.lead_detected else 11
+      return True
+
+    # Slower lead check
+    if self.slower_lead and self.slower_lead_detected:
+      self.status_value = 12
+      return True
+
+    # Turn signal check
+    if self.signal and v_ego <= CITY_SPEED_LIMIT and (carState.leftBlinker or carState.rightBlinker):
+      self.status_value = 13
+      return True
+
+    # Road curvature check
+    if self.curves and self.curve_detected:
+      self.status_value = 14
+      return True
+
+    # Stop sign and light check
+    if self.stop_lights and self.red_light_detected:
+      self.status_value = 15
+      return True
+
+    return False
+
+  def update_conditions(self, lead, modelData, radarState, road_curvature, stop_distance, t_follow, v_ego, v_lead):
+    self.lead_detection(lead)
+    self.lead_slowing_down(lead, t_follow, v_lead)
+    self.road_curvature(road_curvature)
+    self.slow_lead(lead, stop_distance, t_follow, v_ego, v_lead)
+    self.stop_sign_and_light(modelData, v_ego)
+
+  # Lead detection
+  def lead_detection(self, lead):
+    lead_status = lead.status
+
+    self.lead_detection_mac.add_data(lead_status)
+    self.lead_detected = self.lead_detection_mac.get_moving_average() >= PROBABILITY
+
+  def lead_slowing_down(self, lead, t_follow, v_lead):
+    if self.lead_detected:
+      lead_close = lead.dRel <= v_lead * t_follow
+      lead_slowing_down = v_lead < self.previous_v_lead
+      lead_stopped = v_lead < 1
+
+      self.previous_v_lead = v_lead
+
+      self.lead_slowing_down_mac.add_data(lead_close or lead_slowing_down or lead_stopped)
+      self.lead_stopping = self.lead_slowing_down_mac.get_moving_average() >= PROBABILITY
+    else:
+      self.lead_slowing_down_mac.reset_data()
+      self.lead_stopping = False
+      self.previous_v_lead = 0
+
+  # Determine if we're slowing down for a potential stop
+  def slowing_down(self, v_ego):
+    slowing_down = v_ego < self.previous_v_ego
+    speed_check = v_ego < CRUISING_SPEED
+
+    self.previous_v_ego = v_ego
+
+    self.slowing_down_mac.add_data(slowing_down and speed_check)
+    return self.slowing_down_mac.get_moving_average() >= PROBABILITY
+
+  # Determine the road curvature - Credit goes to to Pfeiferj!
+  def road_curvature(self, road_curvature):
+    lead_check = self.curves_lead or not self.lead_detected
+
+    if lead_check and not self.red_light_detected:
+      # Setting a limit of 5.0 helps prevent it triggering for red lights
+      curve_detected = 5.0 >= road_curvature > 1.6
+      curve_active = road_curvature > 1.1 and self.curve_detected
+
+      self.curvature_mac.add_data(curve_detected or curve_active)
+      self.curve_detected = self.curvature_mac.get_moving_average() >= PROBABILITY
+    else:
+      self.curvature_mac.reset_data()
+      self.curve_detected = False
+
+  # Slower lead detection - Credit goes to the DragonPilot team!
+  def slow_lead(self, lead, stop_distance, t_follow, v_ego, v_lead):
+    if self.lead_detected:
+      slower_lead_ahead = lead.dRel < (v_ego - 1) * t_follow
+
+      self.slow_lead_mac.add_data(slower_lead_ahead)
+      self.slower_lead_detected = self.slow_lead_mac.get_moving_average() >= PROBABILITY
+    else:
+      self.slow_lead_mac.reset_data()
+      self.slower_lead_detected = False
+
+  # Stop sign/stop light detection - Credit goes to the DragonPilot team!
+  def stop_sign_and_light(self, modelData, v_ego):
+    lead_check = self.stop_lights_lead or not self.lead_stopping
+
+    # Check if the model data is consistent and wants to stop
+    model_check = len(modelData.orientation.x) == len(modelData.position.x) == TRAJECTORY_SIZE
+    model_stopping = modelData.position.x[TRAJECTORY_SIZE - 1] < interp(v_ego * CV.MS_TO_KPH, SLOW_DOWN_BP, SLOW_DOWN_DISTANCE)
+
+    # Filter out any other reasons the model may want to slow down
+    model_filtered = not (self.curve_detected or self.slower_lead_detected)
+
+    self.stop_light_mac.add_data(lead_check and model_check and model_stopping and model_filtered)
+    self.red_light_detected = self.stop_light_mac.get_moving_average() >= PROBABILITY
+
+  def update_frogpilot_params(self, is_metric, params):
+    self.curves = params.get_bool("CECurves")
+    self.curves_lead = self.curves and params.get_bool("CECurvesLead")
+
+    self.limit = params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
+    self.limit_lead = params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
+
+    self.navigation = params.get_bool("CENavigation")
+    self.navigation_lead = self.navigation and params.get_bool("CENavigationLead")
+
+    self.signal = params.get_bool("CESignal")
+
+    self.slower_lead = params.get_bool("CESlowerLead")
+
+    self.stop_lights = params.get_bool("CEStopLights")
+    self.stop_lights_lead = self.stop_lights and params.get_bool("CEStopLightsLead")

selfdrive/frogpilot/functions/frogpilot_functions.py

@@ -24,6 +24,28 @@ A_CRUISE_MAX_VALS_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30, .091]
 A_CRUISE_MIN_VALS_SPORT = [-0.50, -0.52, -0.55, -0.57, -0.60]
 A_CRUISE_MAX_VALS_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, .75, .6, .38, .2]
 
+
+class MovingAverageCalculator:
+  def __init__(self):
+    self.data = []
+    self.total = 0
+
+  def add_data(self, value):
+    if len(self.data) == THRESHOLD:
+      self.total -= self.data.pop(0)
+    self.data.append(value)
+    self.total += value
+
+  def get_moving_average(self):
+    if len(self.data) == 0:
+      return None
+    return self.total / len(self.data)
+
+  def reset_data(self):
+    self.data = []
+    self.total = 0
+
+
 class FrogPilotFunctions:
   def __init__(self) -> None:
     self.params = Params()
@@ -57,3 +79,9 @@ class FrogPilotFunctions:
     distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))
 
     return min(distance_to_lane, distance_to_road_edge)
+
+  @staticmethod
+  def road_curvature(modelData, v_ego):
+    predicted_velocities = np.array(modelData.velocity.x)
+    curvature_ratios = np.abs(np.array(modelData.acceleration.y)) / (predicted_velocities**2)
+    return np.amax(curvature_ratios * (v_ego**2))

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -3,10 +3,13 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
 
 from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED, FrogPilotFunctions
 
+from openpilot.selfdrive.frogpilot.functions.conditional_experimental_mode import ConditionalExperimentalMode
+
 class FrogPilotPlanner:
   def __init__(self, CP, params, params_memory):
     self.CP = CP
@@ -14,6 +17,10 @@ class FrogPilotPlanner:
 
     self.fpf = FrogPilotFunctions()
 
+    self.cem = ConditionalExperimentalMode(self.params_memory)
+
+    self.road_curvature = 0
+    self.stop_distance = 0
     self.v_cruise = 0
 
     self.accel_limits = [A_CRUISE_MIN, get_max_accel(0)]
@@ -45,6 +52,10 @@ class FrogPilotPlanner:
 
     self.accel_limits = [min_accel, max_accel]
 
+    # Update Conditional Experimental Mode
+    if self.conditional_experimental_mode and self.CP.openpilotLongitudinalControl:
+      self.cem.update(carState, enabled, sm['frogpilotNavigation'], modelData, sm['radarState'], self.road_curvature, self.stop_distance, mpc.t_follow, v_ego)
+
     # Update the current lane widths
     check_lane_width = self.blind_spot_path
     if check_lane_width and v_ego >= LANE_CHANGE_SPEED_MIN:
@@ -54,6 +65,12 @@ class FrogPilotPlanner:
       self.lane_width_left = 0
       self.lane_width_right = 0
 
+    # Update the current road curvature
+    self.road_curvature = self.fpf.road_curvature(modelData, v_ego)
+
+    # Update the desired stopping distance
+    self.stop_distance = STOP_DISTANCE
+
     # Update the max allowed speed
     self.v_cruise = self.update_v_cruise(carState, controlsState, enabled, modelData, v_cruise, v_ego)
 
@@ -75,6 +92,8 @@ class FrogPilotPlanner:
     frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
     frogpilotPlan = frogpilot_plan_send.frogpilotPlan
 
+    frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
+
     frogpilotPlan.laneWidthLeft = self.lane_width_left
     frogpilotPlan.laneWidthRight = self.lane_width_right
 
@@ -83,6 +102,11 @@ class FrogPilotPlanner:
   def update_frogpilot_params(self, params):
     self.is_metric = params.get_bool("IsMetric")
 
+    self.conditional_experimental_mode = params.get_bool("ConditionalExperimental")
+    if self.conditional_experimental_mode:
+      self.cem.update_frogpilot_params(self.is_metric, params)
+      params.put_bool("ExperimentalMode", True)
+
     custom_ui = params.get_bool("CustomUI")
     self.blind_spot_path = custom_ui and params.get_bool("BlindSpotPath")
 

selfdrive/frogpilot/ui/control_settings.cc

@@ -4,6 +4,13 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
   const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
     {"AlwaysOnLateral", "Always on Lateral", "Maintain openpilot lateral control when the brake or gas pedals are used.\n\nDeactivation occurs only through the 'Cruise Control' button.", "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"},
 
+    {"ConditionalExperimental", "Conditional Experimental Mode", "Automatically switches to 'Experimental Mode' under predefined conditions.", "../frogpilot/assets/toggle_icons/icon_conditional.png"},
+    {"CECurves", "Curve Detected Ahead", "Switch to 'Experimental Mode' when a curve is detected.", ""},
+    {"CENavigation", "Navigation Based", "Switch to 'Experimental Mode' based on navigation data. (i.e. Intersections, stop signs, etc.)", ""},
+    {"CESlowerLead", "Slower Lead Detected Ahead", "Switch to 'Experimental Mode' when a slower lead vehicle is detected ahead.", ""},
+    {"CEStopLights", "Stop Lights and Stop Signs", "Switch to 'Experimental Mode' when a stop light or stop sign is detected.", ""},
+    {"CESignal", "Turn Signal When Below Highway Speeds", "Switch to 'Experimental Mode' when using turn signals below highway speeds to help assit with turns.", ""},
+
     {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
 
     {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -34,6 +41,44 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
 
+    } else if (param == "ConditionalExperimental") {
+      FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        conditionalSpeedsImperial->setVisible(!isMetric);
+        conditionalSpeedsMetric->setVisible(isMetric);
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end());
+        }
+      });
+      toggle = conditionalExperimentalToggle;
+    } else if (param == "CECurves") {
+      FrogPilotParamValueControl *CESpeedImperial = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 99,
+                                                                                   std::map<int, QString>(), this, false, " mph");
+      FrogPilotParamValueControl *CESpeedLeadImperial = new FrogPilotParamValueControl("CESpeedLead", "  w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 99,
+                                                                                       std::map<int, QString>(), this, false, " mph");
+      conditionalSpeedsImperial = new FrogPilotDualParamControl(CESpeedImperial, CESpeedLeadImperial, this);
+      addItem(conditionalSpeedsImperial);
+
+      FrogPilotParamValueControl *CESpeedMetric = new FrogPilotParamValueControl("CESpeed", "Below", "Switch to 'Experimental Mode' below this speed in absence of a lead vehicle.", "", 0, 150,
+                                                                                 std::map<int, QString>(), this, false, " kph");
+      FrogPilotParamValueControl *CESpeedLeadMetric = new FrogPilotParamValueControl("CESpeedLead", "  w/Lead", "Switch to 'Experimental Mode' below this speed when following a lead vehicle.", "", 0, 150,
+                                                                                     std::map<int, QString>(), this, false, " kph");
+      conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
+      addItem(conditionalSpeedsMetric);
+
+      std::vector<QString> curveToggles{"CECurvesLead"};
+      std::vector<QString> curveToggleNames{tr("With Lead")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames);
+    } else if (param == "CENavigation") {
+      std::vector<QString> navigationToggles{"CENavigationIntersections", "CENavigationTurns", "CENavigationLead"};
+      std::vector<QString> navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, navigationToggles, navigationToggleNames);
+    } else if (param == "CEStopLights") {
+      std::vector<QString> stopLightToggles{"CEStopLightsLead"};
+      std::vector<QString> stopLightToggleNames{tr("With Lead")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
+
     } else if (param == "LateralTune") {
       FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -151,6 +196,8 @@ void FrogPilotControlsPanel::updateMetric() {
   if (isMetric != previousIsMetric) {
     double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
     double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
+    params.putIntNonBlocking("CESpeed", std::nearbyint(params.getInt("CESpeed") * speedConversion));
+    params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
   }
 
   if (isMetric) {
@@ -161,6 +208,9 @@ void FrogPilotControlsPanel::updateMetric() {
 }
 
 void FrogPilotControlsPanel::parentToggleClicked() {
+  conditionalSpeedsImperial->setVisible(false);
+  conditionalSpeedsMetric->setVisible(false);
+
   openParentToggle();
 }
 
@@ -169,6 +219,9 @@ void FrogPilotControlsPanel::subParentToggleClicked() {
 }
 
 void FrogPilotControlsPanel::hideSubToggles() {
+  conditionalSpeedsImperial->setVisible(false);
+  conditionalSpeedsMetric->setVisible(false);
+
   for (auto &[key, toggle] : toggles) {
     bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
                       fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||

selfdrive/frogpilot/ui/control_settings.h

@@ -29,7 +29,10 @@ private:
   void updateState(const UIState &s);
   void updateToggles();
 
-  std::set<QString> conditionalExperimentalKeys = {};
+  FrogPilotDualParamControl *conditionalSpeedsImperial;
+  FrogPilotDualParamControl *conditionalSpeedsMetric;
+
+  std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
   std::set<QString> fireTheBabysitterKeys = {};
   std::set<QString> laneChangeKeys = {};
   std::set<QString> lateralTuneKeys = {};

selfdrive/navd/navd.py

@@ -9,6 +9,7 @@ import requests
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.api import Api
+from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
@@ -61,6 +62,12 @@ class RouteEngine:
       self.mapbox_host = "https://maps.comma.ai"
 
     # FrogPilot variables
+    self.stop_coord = []
+    self.stop_signal = []
+
+    self.approaching_intersection = False
+    self.approaching_turn = False
+
     self.update_frogpilot_params()
 
   def update(self):
@@ -169,6 +176,16 @@ class RouteEngine:
         self.route = r['routes'][0]['legs'][0]['steps']
         self.route_geometry = []
 
+        # Iterate through the steps in self.route to find "stop_sign" and "traffic_light"
+        if self.conditional_navigation_intersections:
+          self.stop_signal = []
+          self.stop_coord = []
+          for step in self.route:
+            for intersection in step["intersections"]:
+              if "stop_sign" in intersection or "traffic_signal" in intersection:
+                self.stop_signal.append(intersection["geometry_index"])
+                self.stop_coord.append(Coordinate.from_mapbox_tuple(intersection["location"]))
+
         maxspeed_idx = 0
         maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed']
 
@@ -309,9 +326,34 @@ class RouteEngine:
           self.params.remove("NavDestination")
           self.clear_route()
 
+    # 5-10 Seconds to stop condition based on v_ego or minimum of 25 meters
+    if self.conditional_navigation:
+      v_ego = self.sm['carState'].vEgo
+      seconds_to_stop = interp(v_ego, [0, 22.3, 44.7], [5, 10, 10])
+      # Determine the location of the closest upcoming stopSign or trafficLight
+      closest_condition_indices = [idx for idx in self.stop_signal if idx >= closest_idx]
+      if closest_condition_indices:
+        closest_condition_index = min(closest_condition_indices, key=lambda idx: abs(closest_idx - idx))
+        index = self.stop_signal.index(closest_condition_index)
+
+        # Calculate the distance to the stopSign or trafficLight
+        distance_to_condition = self.last_position.distance_to(self.stop_coord[index])
+        self.approaching_intersection = self.conditional_navigation_intersections and distance_to_condition < max((seconds_to_stop * v_ego), 25)
+      else:
+        self.approaching_intersection = False  # No more stopSign or trafficLight in array
+
+      # Determine if NoO distance to maneuver is upcoming
+      self.approaching_turn = self.conditional_navigation_turns and distance_to_maneuver_along_geometry < max((seconds_to_stop * v_ego), 25)
+    else:
+      self.approaching_intersection = False
+      self.approaching_turn = False
+
     frogpilot_plan_send = messaging.new_message('frogpilotNavigation')
     frogpilotNavigation = frogpilot_plan_send.frogpilotNavigation
 
+    frogpilotNavigation.approachingIntersection = self.approaching_intersection
+    frogpilotNavigation.approachingTurn = self.approaching_turn
+
     self.pm.send('frogpilotNavigation', frogpilot_plan_send)
 
   def send_route(self):
@@ -363,10 +405,13 @@ class RouteEngine:
     # TODO: Check for going wrong way in segment
 
   def update_frogpilot_params(self):
+    self.conditional_navigation = self.params.get_bool("CENavigation")
+    self.conditional_navigation_intersections = self.conditional_navigation and self.params.get_bool("CENavigationIntersections")
+    self.conditional_navigation_turns = self.conditional_navigation and self.params.get_bool("CENavigationTurns")
 
 def main():
   pm = messaging.PubMaster(['navInstruction', 'navRoute', 'frogpilotNavigation'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
+  sm = messaging.SubMaster(['carState', 'liveLocationKalman', 'managerState'])
 
   rk = Ratekeeper(1.0)
   route_engine = RouteEngine(sm, pm)

selfdrive/ui/qt/offroad/settings.cc

@@ -174,7 +174,7 @@ void TogglesPanel::updateToggles() {
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      experimental_mode_toggle->setEnabled(true);
+      experimental_mode_toggle->setEnabled(!params.getBool("ConditionalExperimental"));
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
     } else {

selfdrive/ui/qt/onroad.cc

@@ -175,7 +175,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
   int margin = 40;
   int radius = 30;
-  int offset = scene.always_on_lateral ? 25 : 0;
+  int offset = scene.always_on_lateral || scene.conditional_experimental ? 25 : 0;
   if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     margin = 0;
     radius = 0;
@@ -563,7 +563,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
 
   // base icon
   int offset = UI_BORDER_SIZE + btn_size / 2;
-  offset += alwaysOnLateral ? 25 : 0;
+  offset += alwaysOnLateral || conditionalExperimental ? 25 : 0;
   int x = rightHandDM ? width() - offset : offset;
   int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
@@ -762,9 +762,14 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
 
   cameraView = scene.camera_view;
 
+  conditionalExperimental = scene.conditional_experimental;
+  conditionalSpeed = scene.conditional_speed;
+  conditionalSpeedLead = scene.conditional_speed_lead;
+  conditionalStatus = scene.conditional_status;
+
   experimentalMode = scene.experimental_mode;
 
-  if (alwaysOnLateral) {
+  if (alwaysOnLateral || conditionalExperimental) {
     drawStatusBar(p);
   }
 
@@ -796,9 +801,28 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.setOpacity(1.0);
   p.drawRoundedRect(statusBarRect, 30, 30);
 
+  std::map<int, QString> conditionalStatusMap = {
+    {0, "Conditional Experimental Mode ready"},
+    {1, "Conditional Experimental overridden"},
+    {2, "Experimental Mode manually activated"},
+    {3, "Conditional Experimental overridden"},
+    {4, "Experimental Mode manually activated"},
+    {5, "Experimental Mode activated for" + (mapOpen ? " intersection" : QString(" upcoming intersection"))},
+    {6, "Experimental Mode activated for" + (mapOpen ? " turn" : QString(" upcoming turn"))},
+    {7, "Experimental Mode activated due to" + (mapOpen ? "SLC" : QString(" no speed limit set"))},
+    {8, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeedLead) + (is_metric ? " kph" : " mph"))},
+    {9, "Experimental Mode activated due to" + (mapOpen ? " speed" : " speed being less than " + QString::number(conditionalSpeed) + (is_metric ? " kph" : " mph"))},
+    {10, "Experimental Mode activated for slower lead"},
+    {11, "Experimental Mode activated for turn" + (mapOpen ? "" : QString(" / lane change"))},
+    {12, "Experimental Mode activated for curve"},
+    {13, "Experimental Mode activated for stop" + (mapOpen ? "" : QString(" sign / stop light"))},
+  };
+
   // Update status text
   if (alwaysOnLateralActive) {
     newStatus = QString("Always On Lateral active. Press the \"Cruise Control\" button to disable");
+  } else if (conditionalExperimental) {
+    newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
   }
 
   // Check if status has changed

selfdrive/ui/qt/onroad.h

@@ -122,9 +122,13 @@ private:
   bool alwaysOnLateralActive;
   bool blindSpotLeft;
   bool blindSpotRight;
+  bool conditionalExperimental;
   bool experimentalMode;
 
   int cameraView;
+  int conditionalSpeed;
+  int conditionalSpeedLead;
+  int conditionalStatus;
 
 protected:
   void paintGL() override;

selfdrive/ui/ui.cc

@@ -262,6 +262,10 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.always_on_lateral = params.getBool("AlwaysOnLateral");
   scene.camera_view = params.getInt("CameraView");
 
+  scene.conditional_experimental = params.getBool("ConditionalExperimental");
+  scene.conditional_speed = params.getInt("CESpeed");
+  scene.conditional_speed_lead = params.getInt("CESpeedLead");
+
   bool custom_onroad_ui = params.getBool("CustomUI");
   scene.acceleration_path = custom_onroad_ui && params.getBool("AccelerationPath");
   scene.blind_spot_path = custom_onroad_ui && params.getBool("BlindSpotPath");
@@ -337,6 +341,9 @@ void UIState::update() {
   }
 
   // FrogPilot live variables that need to be constantly checked
+  if (scene.conditional_experimental) {
+    scene.conditional_status = paramsMemory.getInt("CEStatus");
+  }
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -175,6 +175,7 @@ typedef struct UIScene {
   bool blind_spot_left;
   bool blind_spot_path;
   bool blind_spot_right;
+  bool conditional_experimental;
   bool enabled;
   bool experimental_mode;
 
@@ -182,6 +183,9 @@ typedef struct UIScene {
   float lane_width_right;
 
   int camera_view;
+  int conditional_speed;
+  int conditional_speed_lead;
+  int conditional_status;
 
   QPolygonF track_adjacent_vertices[6];