From 64617ed52fa6f8e6b9903504d1095f90ece2a3f2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Oct 2024 01:33:37 -0700 Subject: [PATCH] another bronco report --- README.md | 1 + ...b9d015f8ff659e1e_00000505--17d2ede641.html | 287 ++++++++++++++++++ 2 files changed, 288 insertions(+) create mode 100644 longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_00000505--17d2ede641.html diff --git a/README.md b/README.md index 8edcf60..e8c14a8 100644 --- a/README.md +++ b/README.md @@ -8,6 +8,7 @@ The home of community-sourced data about the fleet of cars [openpilot](https://g |---------------------------------|------------------------------------------------|------------------------------------------------------------------------------------------------| | FORD_BRONCO_SPORT_MK1 | master | [View](longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_0000043a--98baf2b862.html) | | FORD_BRONCO_SPORT_MK1 | creep compensation | [View](longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_00000494--6f8f5b9bd5.html) | +| FORD_BRONCO_SPORT_MK1 | creep compensation and brake rate limit | [View](longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_00000505--17d2ede641.html) | | 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) | diff --git a/longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_00000505--17d2ede641.html b/longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_00000505--17d2ede641.html new file mode 100644 index 0000000..66326c4 --- /dev/null +++ b/longitudinal_reports/FORD_BRONCO_SPORT_MK1_b9d015f8ff659e1e_00000505--17d2ede641.html @@ -0,0 +1,287 @@ + +

Longitudinal maneuver report

+

FORD_BRONCO_SPORT_MK1

+

b9d015f8ff659e1e/00000505--17d2ede641

+

b943cbd4210efd20e4b1a7e7b4a2853792c02c4c, master, https://github.com/commaai/openpilot.git

+

Description: Bronco w/ 3.5 m/s/s brake rate limiting

+

CarParams

{ 'alternativeExperience': 1,
+  'autoResumeSng': True,
+  'carFingerprint': 'FORD_BRONCO_SPORT_MK1',
+  'carFw': [ { 'address': 1888,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xf1\x88'],
+               'responseAddress': 1896,
+               'subAddress': 0},
+             { 'address': 1798,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'fwdCamera',
+               'fwVersion': b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xf1\x88'],
+               'responseAddress': 1806,
+               'subAddress': 0},
+             { 'address': 1842,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'shiftByWire',
+               'fwVersion': b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xf1\x88'],
+               'responseAddress': 1850,
+               'subAddress': 0},
+             { 'address': 1840,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xf1\x88'],
+               'responseAddress': 1848,
+               'subAddress': 0},
+             { 'address': 1892,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'fwdRadar',
+               'fwVersion': b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xf1\x88'],
+               'responseAddress': 1900,
+               'subAddress': 0},
+             { 'address': 1798,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'fwdCamera',
+               'fwVersion': b'\x02;\x99\xdb\xa9 ve:\xa4U\xd0\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x00'],
+               'responseAddress': 1806,
+               'subAddress': 0},
+             { 'address': 1840,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'\xff\x00\x00\x00\x02\x00\x02S\x00\x00\x00\x01'
+                            b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x00'],
+               'responseAddress': 1848,
+               'subAddress': 0},
+             { 'address': 1840,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'\xff\xff\xff\xff\xff\xff\xff\xff\xff\x00\xff\x00'
+                            b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x01'],
+               'responseAddress': 1848,
+               'subAddress': 0},
+             { 'address': 1888,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'\x01\x01\x05\x07\x01\x02\x02\x02\x04\x02\x01\x00'
+                            b'\x08\xfe\x01\x01\x01\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x01'],
+               'responseAddress': 1896,
+               'subAddress': 0},
+             { 'address': 1840,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'\xff\x00\xff\x01\x01\x00\x02\x00\x00\x00\x00\x00'
+                            b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x02'],
+               'responseAddress': 1848,
+               'subAddress': 0},
+             { 'address': 1888,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'\x01\x02\x00\x00\x01\x04\x00\x00\x00\x05\x03\x01'
+                            b'\x02\x02\x01\x03\x01\x01\x01\x02\x01\x02\x01\x01'
+                            b'\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x02'],
+               'responseAddress': 1896,
+               'subAddress': 0},
+             { 'address': 1798,
+               'brand': 'ford',
+               'bus': 0,
+               'ecu': 'fwdCamera',
+               'fwVersion': b'\x19\xfc&\xc3\x88\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'"\xde\x03'],
+               'responseAddress': 1806,
+               'subAddress': 0}],
+  'carName': 'ford',
+  'carVin': '3FMCR9B69NRD15990',
+  'centerToFront': 1.1748000383377075,
+  'dashcamOnly': False,
+  'enableBsm': True,
+  'enableDsu': False,
+  'experimentalLongitudinalAvailable': True,
+  'fingerprintSource': 'fw',
+  'flags': 0,
+  'fuzzyFingerprint': False,
+  'lateralTuning': {'pid': {'kf': 0.0}},
+  'longitudinalActuatorDelay': 0.15000000596046448,
+  'longitudinalTuning': { 'kf': 1.0,
+                          'kiBP': [0.0],
+                          'kiV': [0.0],
+                          'kpBP': [0.0],
+                          'kpV': [0.0]},
+  'mass': 1761.0,
+  'maxLateralAccel': 1.5,
+  'minEnableSpeed': -1.0,
+  'minSteerSpeed': 0.0,
+  'networkLocation': 'fwdCamera',
+  'notCar': False,
+  'openpilotLongitudinalControl': True,
+  'passive': False,
+  'pcmCruise': True,
+  'radarDelay': 0.05999999865889549,
+  'radarUnavailable': False,
+  'rotationalInertia': 2944.740478515625,
+  'safetyConfigs': [ { 'safetyModel': 'ford',
+                       'safetyParam': 1,
+                       'safetyParam2DEPRECATED': 0,
+                       'safetyParamDEPRECATED': 0}],
+  'secOcKeyAvailable': False,
+  'secOcRequired': False,
+  'startAccel': 0.0,
+  'startingState': False,
+  'steerActuatorDelay': 0.20000000298023224,
+  'steerControlType': 'angle',
+  'steerLimitAlert': False,
+  'steerLimitTimer': 1.0,
+  'steerRatio': 17.700000762939453,
+  'steerRatioRear': 0.0,
+  'stopAccel': -2.0,
+  'stoppingDecelRate': 0.800000011920929,
+  'tireStiffnessFactor': 1.0,
+  'tireStiffnessFront': 216017.609375,
+  'tireStiffnessRear': 268305.5625,
+  'transmissionType': 'automatic',
+  'vEgoStarting': 0.5,
+  'vEgoStopping': 0.5,
+  'wheelSpeedFactor': 1.0,
+  'wheelbase': 2.6700000762939453}
+

Summary

+ + + + + + + + + + + + + +
maneuver crossed runs mean min max
come to stop 3 3 0.42 0.31 0.5
start from stop 3 3 0.88 0.8 0.95
creep: alternate between +1m/s^2 and -1m/s^23 3 0.78 0.75 0.85
brake step response: -1m/s^2 from 20mph 3 3 0.4 0.29 0.5
brake step response: -4m/s^2 from 20mph 3 3 1.05 1 1.1
gas step response: +1m/s^2 from 20mph 3 3 1.7 1.15 2.05
gas step response: +4m/s^2 from 20mph 0 3
+
+

come to stop

+

Run #1

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.447s

Average pitch: 0.28 degrees

+
+

Run #2

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.310s

Average pitch: 0.57 degrees

+
+

Run #3

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.501s

Average pitch: -0.62 degrees

+
+
+

start from stop

+

Run #1

 +

Initial aTarget: 1.5 m/s^2, crossed in 0.887s

Average pitch: -0.01 degrees

+
+

Run #2

 +

Initial aTarget: 1.5 m/s^2, crossed in 0.802s

Average pitch: -0.18 degrees

+
+

Run #3

 +

Initial aTarget: 1.5 m/s^2, crossed in 0.951s

Average pitch: 1.17 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.851s

Average pitch: 1.13 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.747s

Average pitch: 1.20 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.754s

Average pitch: 1.12 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.290s

Average pitch: -0.03 degrees

+
+

Run #2

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.499s

Average pitch: -0.01 degrees

+
+

Run #3

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.401s

Average pitch: 0.63 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.102s

Average pitch: -0.22 degrees

+
+

Run #2

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.048s

Average pitch: -0.44 degrees

+
+

Run #3

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.001s

Average pitch: -1.07 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 2.053s

Average pitch: 0.92 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.892s

Average pitch: 0.70 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.146s

Average pitch: 0.41 degrees

+
+
+

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

+

Run #1

 +

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

Average pitch: 0.45 degrees

+
+

Run #2

 +

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

Average pitch: 0.70 degrees

+
+

Run #3

 +

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

Average pitch: 0.59 degrees

+