Reapply "Intelligent Cruise Button Management (ICBM)" (#1257) (#1258)

* Reapply "Intelligent Cruise Button Management (ICBM)" (#1257)

This reverts commit 4441671227.

* ICBM: `pcmCruiseSpeed` is true during initialization

* bump

* fix tests

cereal/custom.capnp

@@ -25,6 +25,26 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
 # Same struct as Log.RadarState.LeadData
 struct LeadData {
   dRel @0 :Float32;
@@ -48,6 +68,7 @@ struct LeadData {
 
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -210,6 +231,8 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -229,6 +252,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
   params @1 :List(Param);
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
@@ -237,7 +261,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
     valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
   }
-  
+
   enum ParamType {
     string @0;
     bool @1;

common/params_keys.h

@@ -149,6 +149,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},

selfdrive/car/card.py

@@ -179,7 +179,7 @@ class Car:
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
     self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")

selfdrive/car/cruise.py

@@ -30,8 +30,8 @@ CRUISE_INTERVAL_SIGN = {
 
 
 class VCruiseHelper(VCruiseHelperSP):
-  def __init__(self, CP):
-    VCruiseHelperSP.__init__(self)
+  def __init__(self, CP, CP_SP):
+    VCruiseHelperSP.__init__(self, CP, CP_SP)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -46,10 +46,13 @@ class VCruiseHelper(VCruiseHelperSP):
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
+    self.get_minimum_set_speed(is_metric)
+
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      _enabled = self.update_enabled_state(CS, enabled)
+      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
       else:
@@ -111,7 +114,7 @@ class VCruiseHelper(VCruiseHelperSP):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed

selfdrive/car/helpers.py

@@ -60,5 +60,8 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
+  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
+    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
+  )
 
   return struct_dataclass

selfdrive/car/tests/test_cruise_speed.py

@@ -5,7 +5,7 @@ import numpy as np
 from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from cereal import car, custom
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
@@ -44,12 +44,13 @@ class TestCruiseSpeed:
     assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
-# TODO: test pcmCruise
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):

selfdrive/controls/controlsd.py

@@ -116,7 +116,8 @@ class Controls(ControlsExt, ModelStateBase):
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
+                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -168,7 +169,7 @@ class Controls(ControlsExt, ModelStateBase):
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 

selfdrive/selfdrived/selfdrived.py

@@ -26,6 +26,7 @@ from openpilot.system.version import get_build_metadata
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
@@ -156,6 +157,7 @@ class SelfdriveD(CruiseHelper):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
+    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
     self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
 
@@ -442,6 +444,8 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
+    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -546,6 +550,11 @@ class SelfdriveD(CruiseHelper):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
+    icbm = ss_sp.intelligentCruiseButtonManagement
+    icbm.state = self.icbm.state
+    icbm.sendButton = self.icbm.cruise_button
+    icbm.vTarget = self.icbm.v_target
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc

@@ -18,6 +18,16 @@ LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
   cruisePanelScroller = new ScrollViewSP(list, this);
   vlayout->addWidget(cruisePanelScroller);
 
+  intelligentCruiseButtonManagement = new ParamControlSP(
+    "IntelligentCruiseButtonManagement",
+    tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
+    tr("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons by emulating button presses for limited longitudinal control."),
+    "",
+    this
+  );
+  intelligentCruiseButtonManagement->setConfirmation(true, false);
+  list->addItem(intelligentCruiseButtonManagement);
+
   SmartCruiseControlVision = new ParamControl(
     "SmartCruiseControlVision",
     tr("Smart Cruise Control - Vision"),
@@ -42,16 +52,22 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 
 void LongitudinalPanel::refresh(bool _offroad) {
   auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
+  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
+  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
     AlignedBuffer aligned_buf;
+    AlignedBuffer aligned_buf_sp;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
+    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
+    intelligent_cruise_button_management_available = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -63,7 +79,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control) {
+    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -75,14 +91,20 @@ void LongitudinalPanel::refresh(bool _offroad) {
       customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
+      params.remove("IntelligentCruiseButtonManagement");
+      intelligentCruiseButtonManagement->toggleFlipped(false);
     }
   }
 
+  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
+
   // enable toggle when long is available and is not PCM cruise
-  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  bool cai_allowed = (has_longitudinal_control && !is_pcm_cruise) || icbm_allowed;
+  customAccIncrement->setEnabled(cai_allowed && !offroad);
   customAccIncrement->refresh();
 
-  SmartCruiseControlVision->setEnabled(has_longitudinal_control);
+  SmartCruiseControlVision->setEnabled(has_longitudinal_control || icbm_allowed);
 
   offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h

@@ -23,6 +23,7 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
+  bool intelligent_cruise_button_management_available = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
@@ -30,4 +31,5 @@ private:
   QWidget *cruisePanelScreen = nullptr;
   CustomAccIncrement *customAccIncrement = nullptr;
   ParamControl *SmartCruiseControlVision;
+  ParamControl *intelligentCruiseButtonManagement = nullptr;
 };

sunnypilot/selfdrive/car/cruise_ext.py

@@ -7,19 +7,46 @@ See the LICENSE.md file in the root directory for more details.
 import numpy as np
 
 from cereal import car
+from opendbc.car import structs
 from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
 
 ButtonType = car.CarState.ButtonEvent.Type
 
+CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                       ButtonType.setCruise: 0, ButtonType.resumeCruise: 0,
+                       ButtonType.cancel: 0, ButtonType.mainCruise: 0}
+
+V_CRUISE_MIN = 8
+
+
+def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
+  # increment timer for buttons still pressed
+  for k in button_timers:
+    if button_timers[k] > 0:
+      button_timers[k] += 1
+
+  for b in CS.buttonEvents:
+    if b.type.raw in button_timers:
+      # Start/end timer and store current state on change of button pressed
+      button_timers[b.type.raw] = 1 if b.pressed else 0
+
+
 
 class VCruiseHelperSP:
-  def __init__(self) -> None:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
+    self.CP = CP
+    self.CP_SP = CP_SP
     self.params = Params()
+    self.v_cruise_min = 0
+    self.enabled_prev = False
 
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
     self.long_increment = self.params.get("CustomAccLongPressIncrement", return_default=True)
 
+    self.enable_button_timers = CRUISE_BUTTON_TIMER
+
   def read_custom_set_speed_params(self) -> None:
     self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
     self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
@@ -39,3 +66,26 @@ class VCruiseHelperSP:
     v_cruise_delta = v_cruise_delta * actual_increment
 
     return round_to_nearest, v_cruise_delta
+
+  def get_minimum_set_speed(self, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      self.v_cruise_min = V_CRUISE_MIN
+      return
+
+    self.v_cruise_min = get_minimum_set_speed(is_metric)
+
+  def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
+    # special enabled state for non pcmCruiseSpeed, unchanged for non pcmCruise
+    if not self.CP_SP.pcmCruiseSpeed:
+      update_manual_button_timers(CS, self.enable_button_timers)
+      button_pressed = any(self.enable_button_timers[k] > 0 for k in self.enable_button_timers)
+
+      if enabled and not self.enabled_prev:
+        self.enabled_prev = not button_pressed
+        enabled = False
+      elif not enabled:
+        self.enabled_prev = enabled
+
+      return enabled and self.enabled_prev
+
+    return enabled

sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py

@@ -0,0 +1,137 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car, custom
+from opendbc.car import structs, apply_hysteresis
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import CRUISE_BUTTON_TIMER, update_manual_button_timers
+
+LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
+State = custom.IntelligentCruiseButtonManagement.IntelligentCruiseButtonManagementState
+SendButtonState = custom.IntelligentCruiseButtonManagement.SendButtonState
+
+ALLOWED_SPEED_THRESHOLD = 1.8  # m/s, ~4 MPH
+HYST_GAP = 0.75
+INACTIVE_TIMER = 0.4
+
+
+SEND_BUTTONS = {
+  State.increasing: SendButtonState.increase,
+  State.decreasing: SendButtonState.decrease,
+}
+
+
+class IntelligentCruiseButtonManagement:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+    self.v_target = 0
+    self.v_cruise_cluster = 0
+    self.v_cruise_min = 0
+    self.cruise_button = SendButtonState.none
+    self.state = State.inactive
+    self.pre_active_timer = 0
+
+    self.is_ready = False
+    self.is_ready_prev = False
+    self.v_target_ms_last = 0.0
+    self.is_metric = False
+
+    self.cruise_button_timers = CRUISE_BUTTON_TIMER
+
+  @property
+  def v_cruise_equal(self) -> bool:
+    return self.v_target == self.v_cruise_cluster
+
+  def update_calculations(self, CS: car.CarState) -> None:
+    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    v_cruise_ms = CS.vCruise * CV.KPH_TO_MS
+
+    # all targets in m/s
+    v_targets = {
+      LongitudinalPlanSource.cruise: v_cruise_ms
+    }
+    source = min(v_targets, key=lambda k: v_targets[k])
+    v_target_ms = v_targets[source]
+
+    self.v_target_ms_last = apply_hysteresis(v_target_ms, self.v_target_ms_last, HYST_GAP * ms_conv)
+
+    self.v_target = round(self.v_target_ms_last * speed_conv)
+    self.v_cruise_min = get_minimum_set_speed(self.is_metric)
+    self.v_cruise_cluster = round(CS.cruiseState.speedCluster * speed_conv)
+
+  def update_state_machine(self) -> custom.IntelligentCruiseButtonManagement.SendButtonState:
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # HOLDING, ACCELERATING, DECELERATING, PRE_ACTIVE
+    if self.state != State.inactive:
+      if not self.is_ready:
+        self.state = State.inactive
+
+      else:
+        # PRE_ACTIVE
+        if self.state == State.preActive:
+          if self.pre_active_timer <= 0:
+            if self.v_cruise_equal:
+              self.state = State.holding
+
+            elif self.v_target > self.v_cruise_cluster:
+              self.state = State.increasing
+
+            elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
+              self.state = State.decreasing
+
+        # HOLDING
+        elif self.state == State.holding:
+          if not self.v_cruise_equal:
+            self.state = State.preActive
+
+        # ACCELERATING
+        elif self.state == State.increasing:
+          if self.v_target <= self.v_cruise_cluster:
+            self.state = State.holding
+
+        # DECELERATING
+        elif self.state == State.decreasing:
+          if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
+            self.state = State.holding
+
+    # INACTIVE
+    elif self.state == State.inactive:
+      if self.is_ready and not self.is_ready_prev:
+        self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
+        self.state = State.preActive
+
+    send_button = SEND_BUTTONS.get(self.state, SendButtonState.none)
+
+    return send_button
+
+  def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
+    update_manual_button_timers(CS, self.cruise_button_timers)
+
+    allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD
+    ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \
+            not CC.cruiseControl.resume
+    button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
+
+    self.is_ready = ready and not button_pressed
+
+  def run(self, CS: car.CarState, CC: car.CarControl, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      return
+
+    self.is_metric = is_metric
+
+    self.update_calculations(CS)
+    self.update_readiness(CS, CC)
+
+    self.cruise_button = self.update_state_machine()
+
+    self.is_ready_prev = self.is_ready

sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py

@@ -0,0 +1,8 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+def get_minimum_set_speed(is_metric: bool) -> int:
+  return 30 if is_metric else 20

sunnypilot/selfdrive/car/interfaces.py

@@ -43,11 +43,21 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
+def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  icbm_enabled = params.get_bool("IntelligentCruiseButtonManagement")
+  if icbm_enabled and CP_SP.intelligentCruiseButtonManagementAvailable and not CP.openpilotLongitudinalControl:
+    CP_SP.pcmCruiseSpeed = False
+
+
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
   _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
+  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
 
 
 def initialize_params(params) -> list[dict[str, Any]]:

sunnypilot/selfdrive/car/tests/test_custom_cruise.py

@@ -11,7 +11,8 @@ ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
   def setup_method(self):
     TestVCruiseHelper.setup_method(self)

sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -75,6 +75,8 @@ class ControlsExt:
 
     CC_SP.params = self.param_store.param_list
 
+    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+
     return CC_SP
 
   @staticmethod