Experimental mode description: update nav (#29130)

* Update description * Update releases * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Update selfdrive/ui/qt/offroad/settings.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * small tweaks --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 9c3c7f0dda
2 years ago · 069e9ef4f8
parent bb46c0e3a0
commit 069e9ef4f8
8 changed files with 73 additions and 71 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,8 +1,8 @@
 Version 0.9.4 (2023-XX-XX)
 ========================
-* Navigate on openpilot
-  * When navigation has a destination, openpilot will input the map information into the model, generally improving behavior
-  * When navigating on openpilot, openpilot will keep left or right appropriately at forks/exits and take turns
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks/exits
  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
  * When navigate on openpilot is active, the path on the map is green
 * UI updates
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -135,14 +135,16 @@ void TogglesPanel::updateToggles() {
                                          "<h4>%6</h4><br>"
                                          "%7")
                                  .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
-                                  .arg(tr("🌮 End-to-End Longitudinal Control 🌮"))
+                                  .arg(tr("End-to-End Longitudinal Control" ))
                                  .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
                                       "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
                                  .arg(tr("Navigate on openpilot"))
-                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. "
-                                          "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected."))
+                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. "
+                                          "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks."
+					  "These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
                                  .arg(tr("New Driving Visualization"))
-                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
+                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."
+				          "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));

  const bool is_release = params.getBool("IsReleaseBranch");
  auto cp_bytes = params.get("CarParamsPersistent");
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@ -1071,10 +1071,6 @@ This may take up to a minute.</source>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 Ende-zu-Ende Tempomat 🌮</translation>
-    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
        <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
@ -1083,10 +1079,6 @@ This may take up to a minute.</source>
        <source>New Driving Visualization</source>
        <translation>Neue Fahrvisualisierung</translation>
    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt.</translation>
-    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
@ -1136,11 +1128,19 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -1063,10 +1063,6 @@ This may take up to a minute.</source>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 エンドツーエンドアクセル制御 🌮</translation>
-    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
        <translation>openpilotにアクセルとブレーキを任せます。openpilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。openpilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、openpilotの運転ミスに常に備えて注意してください。</translation>
@ -1075,10 +1071,6 @@ This may take up to a minute.</source>
        <source>New Driving Visualization</source>
        <translation>新しい運転画面</translation>
    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。</translation>
-    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>この車のACCがアクセル制御を行うため実験モードを利用することができません。</translation>
@ -1128,11 +1120,19 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -1065,10 +1065,6 @@ This may take up to a minute.</source>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다</translation>
    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 E2E 롱컨트롤 🌮</translation>
-    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
        <translation>주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다.</translation>
@ -1077,10 +1073,6 @@ This may take up to a minute.</source>
        <source>New Driving Visualization</source>
        <translation>새로운 주행 시각화</translation>
    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드의 로고도 우측상단에 표시됩니다.</translation>
-    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다.</translation>
@ -1129,14 +1121,22 @@ This may take up to a minute.</source>
        <source>Navigate on openpilot</source>
        <translation>Navigate on openpilot (NOO)</translation>
    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>내비게이션에 목적지가 있으면 openpilot이 경로 정보를 모델에 입력합니다. 이것은 일반적으로 동작을 개선하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지하고 회전할 수 있도록 합니다. 차선 변경 동작은 변경되지 않았으며 여전히 운전자에 의해 활성화됩니다. 이것은 알파 상태의 기능이니 사용에 주의해야 합니다.</translation>
-    </message>
    <message>
        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation>openpilot E2E 롱컨트롤 (알파) 토글을 활성화하여 실험적 모드를 허용합니다.</translation>
    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@ -1069,10 +1069,6 @@ Isso pode levar até um minuto.</translation>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 Controle Longitudinal de Ponta a Ponta 🌮</translation>
-    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
@ -1081,10 +1077,6 @@ Isso pode levar até um minuto.</translation>
        <source>New Driving Visualization</source>
        <translation>Nova Visualização de Condução</translation>
    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito.</translation>
-    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
@ -1133,14 +1125,22 @@ Isso pode levar até um minuto.</translation>
        <source>Navigate on openpilot</source>
        <translation>Navegação no openpilot</translation>
    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso geralmente melhora o comportamento e permite que o openpilot mantenha a esquerda ou a direita adequadamente nas bifurcações/saídas e entre nas curvas. O comportamento de mudança de faixa permanece inalterado e ainda é ativado pelo motorista. Este é um recurso de qualidade alfa; erros devem ser esperados.</translation>
-    </message>
    <message>
        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation>Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental.</translation>
    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -1063,10 +1063,6 @@ This may take up to a minute.</source>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 端到端（End-to-End） 纵向控制 🌮</translation>
-    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
        <translation>允许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。</translation>
@ -1075,10 +1071,6 @@ This may take up to a minute.</source>
        <source>New Driving Visualization</source>
        <translation>新驾驶视角</translation>
    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。</translation>
-    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
@ -1128,11 +1120,19 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -1065,10 +1065,6 @@ This may take up to a minute.</source>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮端到端縱向控制🌮</translation>
-    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
        <translation>讓駕駛模型來控制油門及煞車。openpilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。</translation>
@ -1077,10 +1073,6 @@ This may take up to a minute.</source>
        <source>New Driving Visualization</source>
        <translation>新的駕駛視覺介面</translation>
    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。</translation>
-    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
@ -1130,11 +1122,19 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits/forks.These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
        <translation type="unfinished"></translation>
    </message>
 </context>