EN Stop & go longitudinal assist

Stop & go longitudinal assist

Menu: Driving > Cruise & Gap > Stop & Resume

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Stop & go longitudinal assist

StopGoLongAssist

0:Off (previous behaviour), 1:Slowing+Stop+Roll brake, 2:1+Departure, 3:2+Soft stop The slowing, stop, departure and soft stop corrections work only in the MPC acc mode (not blended); the roll brake and the CAN-FD departure jerk apply in either mode. Slowing (1 and up): inside the follow distance, closing on the lead by over 0.3 m/s and the lead accelerating at no more than 0.3 m/s², adds up to +0.3 s of gap and up to 4x the distance-keeping weight so braking starts earlier. Full up to 45 km/h, fading to none at 65 km/h; with a radar lead under a 0.9 s time gap and closing by over 1 m/s it applies in full at any speed. A lead braking harder than -0.5 m/s² also gets a faster response (same 45-65 km/h fade). No extra gap during a lane change. Stop (1 and up): at 0.1-3 m/s while the plan already brakes behind a stopped lead (under 0.3 m/s), brakes at least as hard as a constant-decel stop at the stop distance (max -1.5). Roll brake (1 and up, Hyundai/Kia CAN-FD openpilot long): if the car moves after a stop the SCC never confirmed as held, keeps StopReq and brakes at -0.5 until the SCC reports the hold. Departure (2 and up): within 3 s of standstill below 3 m/s, a stable radar lead over 0.3 m/s faster, accelerating over 0.1 m/s² and farther than 2.5 m starts the car at once even inside the stop distance, with accel raised to at least 1.2 (within the accel limit). Not during a signal stop (e2eStop/e2eStopped), on red, or with a Carrot target speed of 0. On Hyundai/Kia CAN-FD openpilot long, accelerating within 3 s of standstill below 3 m/s raises the jerk upper limit to at least 3.0. Soft stop (3): at 0.1-2 m/s behind a stopped lead, eases the decel limit linearly from -1.5 at 2 m/s to -0.5 at 0.5 m/s. It may stop closer than the stop distance, but eases only as far as it still stops 2.5 m from the lead. Stop, departure and soft stop pause while the gas or brake is pressed, during soft hold and during a lane change. Departure boost and soft stopping apply when the first lead constrains the MPC and no second lead is present. Forced deceleration retains existing braking. Departure boost respects the current target speed and acceleration limit.

• Type: Segmented choice
• Default: 0
• Range: 0 ~ 3
• Step: 1
• Menu: Driving > Cruise & Gap > Stop & Resume

Behavior

Level 1 adds close-lead braking, low-speed stop correction and braking after unconfirmed hold starts rolling. Level 2 adds departure acceleration and CAN-FD departure jerk correction. Level 3 eases braking near the final stop.

Usage

Departure boost and brake easing require the first lead to constrain the MPC with no second lead present. Forced deceleration retains existing braking, and departure respects target speed and acceleration limits. Pedal input, soft hold and lane changes suspend the planner stop-go corrections.