ACC : Adaptive Cruise Control
There are several types of ACC Solutions that openpilot can support:
RADAR
openpilot will read the output from RADAR on the CAN Bus and determine the longitudonal control.
Challenges for RADAR system would be some car does not allow controls over CAN Bus, so openpilot can’t replace the message only reads it. Some car will only limited to steering command.
From Personal Experience, This provides smoother longitudonal control, as it is not limited by vision.
Vision Only ACC (voACC)
openpilot will replace the message from the Camera on the CAN Bus and determine the longitudonal control.
As this approach the car will listen command from the Camera, openpilot able to intercept and replace the message, same as how the lateral control.
This is the approach for the current project as the car Alvez does not have RADAR only vision ACC.