
Very frustrated at longitudinal behavior on highway
I installed a Comma 4 in my Gen 1 Rivian last week (with longitudinal harness), with the goal of adding hands-free driving but also improving Rivian's stock ACC behavior, which constantly slows down in corners on our freeway when it doesn't need to. However, I've been very disappointed with the longitudinal behavior.
When there is no lead car and no surrounding cars (rare where I live), it's fine. But when there is a lead car, it leaves a massive gap, and/or when there are cars in the surrounding lanes, it slows or hesitates to pass them, clearly thinking they are either the lead car, or about to merge (they are not).
The pic shows an example of this – my car slowed about 15mph below the set speed and sat behind the cars to the right until the corner straightened, leaving a massive gap to the lead car, and then eventually passed. Cars behind me looked irritated and I had to take over.
I've tried several models, including Dark Souls V2, and they all seem to have this issue. Is this something I should expect to improve over time with new models?
Update: trying a different Rivian-specific branch of Sunnypilot (xnor-dev) that apparently has some longitudinal fixes in it, and these issues seem largely improved! Will report back after more test drives.