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Intelligent Cruise Button Management (ICBM)

ICBM is the core system that lets zoompilot safely manage your cruise set speed through the car's own cruise buttons. On cars without direct longitudinal control, openpilot cannot command acceleration itself — ICBM presses the stock cruise buttons for you, at the right moments.

target speed curve · zone · SLA ICBM servo gap · pacing · resync gap press cruise button presses tap · hold set speed ± stock cruise ECU your car, unmodified new set speed readback

What it does for you

  • Restores your speed exactly. The speed you set is the speed you get back after every curve and speed zone, down to the exact number.
  • Hands control back instantly. Press a cruise button yourself in the middle of an adjustment, and zoompilot stops and gives you control straight away.
  • Feels natural on big changes. For large speed changes, ICBM holds the button down the way you would.
  • Stays quiet when you act. Button presses are suppressed while you are pressing yours, and pacing adapts to how far the target speed is.

Recent fixes

The 2026-07-04 release fixed set-speed desync with the stock ECU and the target-chasing oscillation. See the changelog.

Design details

ICBM is a servo loop over the button interface, with per-brand actuation profiles. The full design record is in ICBM design notes; the way ICBM shares the set speed with SLA is in Cruise arbiter.