diff --git a/README.md b/README.md index e8c14a8..1aaee37 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,7 @@ The home of community-sourced data about the fleet of cars [openpilot](https://g | FORD_F_150_MK14 | master, user report | [View](longitudinal_reports/FORD_F_150_MK14_e36b272d5679115f_000000bb--41f562d6c4.html) | | KIA_EV6 | master | [View](longitudinal_reports/KIA_EV6_09ed4c7e7b4937fb_00000208--b531b1cb05.html) | | LEXUS_ES_TSS2 | new tune | [View](longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_00000208--c387e67187.html) | +| LEXUS_ES_TSS2 | new tune w/ learning PCM accel net | [View](longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_000002f2--8e0323dcd4.html) | | LEXUS_NX_TSS2 | master, user report | [View](longitudinal_reports/LEXUS_NX_TSS2_638cbbe25b377cd1_00000025--94f1abbe23.html) | | TESLA_MODEL_3 | master, user report | [View](longitudinal_reports/TESLA_MODEL_3_c0fe59cc1ebbd1b3_0000000f--06e674a8d7.html) | | TOYOTA_COROLLA_TSS2 (hybrid) | master, user report | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_7c7d3d5e5ff31d51_00000017--84c3f8cedf.html) | diff --git a/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_000002f2--8e0323dcd4.html b/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_000002f2--8e0323dcd4.html new file mode 100644 index 0000000..24989b7 --- /dev/null +++ b/longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_000002f2--8e0323dcd4.html @@ -0,0 +1,243 @@ + +

Longitudinal maneuver report

+

LEXUS_ES_TSS2

+

57048cfce01d9625/000002f2--8e0323dcd4

+

f2a1cce42b47306a9551cbfa65c5edbbaec037ae, master, https://github.com/commaai/openpilot.git

+

Description: Lexus w/ learning PCM accel net

+

CarParams

{ 'alternativeExperience': 1,
+  'autoResumeSng': True,
+  'carFingerprint': 'LEXUS_ES_TSS2',
+  'carFw': [ { 'address': 1920,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'srs',
+               'fwVersion': b'8917F06691\x00\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1928,
+               'subAddress': 0},
+             { 'address': 1988,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'hvac',
+               'fwVersion': b'8865033G6002    ',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1996,
+               'subAddress': 0},
+             { 'address': 1953,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'8965B33721\x00\x00\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1961,
+               'subAddress': 0},
+             { 'address': 1793,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'transmission',
+               'fwVersion': b'\x018966533C9000\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 1801,
+               'subAddress': 0},
+             { 'address': 1968,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'\x01F15260646200\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 1976,
+               'subAddress': 0},
+             { 'address': 1792,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'engine',
+               'fwVersion': b'\x018966306U6000\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 1800,
+               'subAddress': 0},
+             { 'address': 1872,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'fwdCamera',
+               'fwVersion': b'\x028646F0610000\x00\x00\x00\x008646G330400'
+                            b'0\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 1880,
+               'subAddress': 109},
+             { 'address': 1872,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'fwdRadar',
+               'fwVersion': b'\x018821F6201400\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 1880,
+               'subAddress': 15}],
+  'carName': 'toyota',
+  'carVin': '58ADZ1B1XRU165292',
+  'centerToFront': 1.262887954711914,
+  'dashcamOnly': False,
+  'enableBsm': True,
+  'enableDsu': False,
+  'experimentalLongitudinalAvailable': False,
+  'fingerprintSource': 'fw',
+  'flags': 1304,
+  'fuzzyFingerprint': False,
+  'lateralTuning': { 'torque': { 'friction': 0.10153300315141678,
+                                 'kf': 1.0,
+                                 'ki': 0.10000000149011612,
+                                 'kp': 1.0,
+                                 'latAccelFactor': 2.0357565879821777,
+                                 'latAccelOffset': 0.0,
+                                 'steeringAngleDeadzoneDeg': 0.0,
+                                 'useSteeringAngle': True}},
+  'longitudinalActuatorDelay': 0.15000000596046448,
+  'longitudinalTuning': { 'kf': 1.0,
+                          'kiBP': [0.0],
+                          'kiV': [0.25],
+                          'kpBP': [0.0],
+                          'kpV': [0.0]},
+  'mass': 1803.8577880859375,
+  'maxLateralAccel': 1.999082326889038,
+  'minEnableSpeed': -1.0,
+  'minSteerSpeed': 0.0,
+  'networkLocation': 'fwdCamera',
+  'notCar': False,
+  'openpilotLongitudinalControl': True,
+  'passive': False,
+  'pcmCruise': True,
+  'radarDelay': 0.0,
+  'radarUnavailable': False,
+  'rotationalInertia': 3485.713623046875,
+  'safetyConfigs': [ { 'safetyModel': 'toyota',
+                       'safetyParam': 73,
+                       'safetyParam2DEPRECATED': 0,
+                       'safetyParamDEPRECATED': 0}],
+  'secOcKeyAvailable': False,
+  'secOcRequired': False,
+  'startAccel': 0.0,
+  'startingState': False,
+  'steerActuatorDelay': 0.11999999731779099,
+  'steerControlType': 'torque',
+  'steerLimitAlert': False,
+  'steerLimitTimer': 0.4000000059604645,
+  'steerRatio': 16.0,
+  'steerRatioRear': 0.0,
+  'stopAccel': -2.0,
+  'stoppingDecelRate': 0.30000001192092896,
+  'tireStiffnessFactor': 0.4440000057220459,
+  'tireStiffnessFront': 98246.0390625,
+  'tireStiffnessRear': 122026.90625,
+  'transmissionType': 'unknown',
+  'vEgoStarting': 0.25,
+  'vEgoStopping': 0.25,
+  'wheelSpeedFactor': 1.0,
+  'wheelbase': 2.8701999187469482}
+

Summary

+ + + + + + + + + + + + + +
maneuver crossed runs mean min max
come to stop 3 3 1.15 0.9 1.5
start from stop 3 3 0.6 0.55 0.65
creep: alternate between +1m/s^2 and -1m/s^23 3 0.72 0.45 1.05
brake step response: -1m/s^2 from 20mph 3 3 1.62 1.5 1.7
brake step response: -4m/s^2 from 20mph 3 3 1.95 1.95 1.95
gas step response: +1m/s^2 from 20mph 3 3 0.9 0.8 1
gas step response: +4m/s^2 from 20mph 0 3
+
+

come to stop

+

Run #1

 +

Initial aTarget: -0.5 m/s^2, crossed in 1.500s

Average pitch: -0.26 degrees

+
+

Run #2

 +

Initial aTarget: -0.5 m/s^2, crossed in 1.052s

Average pitch: 0.36 degrees

+
+

Run #3

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.902s

Average pitch: 0.39 degrees

+
+
+

start from stop

+

Run #1

 +

Initial aTarget: 1.5 m/s^2, crossed in 0.549s

Average pitch: 0.96 degrees

+
+

Run #2

 +

Initial aTarget: 1.5 m/s^2, crossed in 0.649s

Average pitch: 0.51 degrees

+
+

Run #3

 +

Initial aTarget: 1.5 m/s^2, crossed in 0.600s

Average pitch: 1.27 degrees

+
+
+

creep: alternate between +1m/s^2 and -1m/s^2

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.447s

Average pitch: -0.59 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.650s

Average pitch: 1.67 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.050s

Average pitch: 2.98 degrees

+
+
+

brake step response: -1m/s^2 from 20mph

+

Run #1

 +

Initial aTarget: -1.0 m/s^2, crossed in 1.499s

Average pitch: 0.47 degrees

+
+

Run #2

 +

Initial aTarget: -1.0 m/s^2, crossed in 1.701s

Average pitch: 0.38 degrees

+
+

Run #3

 +

Initial aTarget: -1.0 m/s^2, crossed in 1.652s

Average pitch: 0.45 degrees

+
+
+

brake step response: -4m/s^2 from 20mph

+

Run #1

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.951s

Average pitch: 0.08 degrees

+
+

Run #2

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.950s

Average pitch: -0.05 degrees

+
+

Run #3

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.948s

Average pitch: 0.23 degrees

+
+
+

gas step response: +1m/s^2 from 20mph

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.800s

Average pitch: 0.84 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.899s

Average pitch: 1.06 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.000s

Average pitch: 1.15 degrees

+
+
+

gas step response: +4m/s^2 from 20mph

+

Run #1

 +

Initial aTarget: 4.0 m/s^2, not crossed

Average pitch: 1.31 degrees

+
+

Run #2

 +

Initial aTarget: 4.0 m/s^2, not crossed

Average pitch: 1.35 degrees

+
+

Run #3

 +

Initial aTarget: 4.0 m/s^2, not crossed

Average pitch: 1.71 degrees

+