So a lot of this is already solved in open pilot forks. Take a look at sunnypilot as it uses open map data to provide speed limit control. SLC will automaticall

So a lot of this is already solved in open pilot forks. Take a look at sunnypilot as it uses open map data to provide speed limit control. SLC will automatically adjust your speed based on the speed limit (I do not use this on auto mode because of false positives). Sunny pilot also includes vision and map based curve speed control which will use map data (curvature of the road) to predict safe speeds and can backup that prediction with vision based estimate of the turn speed. In experimental mode, open pilot can detect stop signs and certain models will stop for stoplights (duck amigo). If you take your fork to the next level, look at frogpilot. It uncovers all of the tweakable inputs to the driver model. This enables you to customize your driver model to your preferences including less aggressive braking and faster acceleration. Open pilot at its core (and thus all forks) supports one pedal driving as far as it needs to maintain 1) speed, 2) distance, 3) acceleration velocity. The car will accelerate when it deems the desired speed is below the target speed. It does this as long as there is space and will do so at a certain acceleration profile. It does the same in reverse, except it will apply brakes if safe distance is violated. As such, it will reduce the amount of gas to maintain distance or stop applying gas entirely prior to brake application. This would be your one pedal driving. That said, there are a few underlying problems that need some major revisions to fix. Like the model was trained with a majority of drivers coming from California. Thus open pilot models tend to prefer the California stop, which will slow to 5mph and continue through the stop. While OP can handle curves with ease, it excludes certain inputs. such as the angle of the road and thus will approach and predict a slower speed than the car can actually take. It does not predict actions from cars in other lanes. And while the blinker is a good indicator of head fakes, the model could very well be extended to observe the direction and speed of adjacent cars and adjust itself accordingly. On that same topic OP models do not care about pedestrians and will happily pass them with 6” of clearance. This and a few more things are on my feature list that the software needs, like the ability to avoid potholes and slow over speed bumps. Full disclosure: I do not think this is possible with the current generation of comma hardware but that’s why we clicked the fork button!