diff --git a/README.md b/README.md index 0fbca72..dfb30ea 100644 --- a/README.md +++ b/README.md @@ -4,15 +4,17 @@ The home of community-sourced data about the fleet of cars [openpilot](https://g ## Longitudinal maneuver reports -| Platform | Description | Report | -|----------------------------|-------------------------------------|------------------------------------------------------------------------------------------------| -| 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_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_CAMRY_TSS2 (hybrid) | master | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_08e4c2a99df165b1_00000233--1df13bd705.html) | -| TOYOTA_CAMRY_TSS2 (hybrid) | master w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_08e4c2a99df165b1_00000307--d00f531092.html) | -| TOYOTA_COROLLA_TSS2 | master | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_a2bddce0b6747e10_000002a8--842d636732.html) | -| TOYOTA_HIGHLANDER_TSS2 | master, user report | [View](longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000063--937039a5e9.html) | -| TOYOTA_PRIUS_TSS2 | pcm accel compensation, user report | [View](longitudinal_reports/TOYOTA_PRIUS_TSS2_74b008694de53cc1_00000034--0faa8ed1ab.html) | +| Platform | Description | Report | +|----------------------------|------------------------------------------------|------------------------------------------------------------------------------------------------| +| 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_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_CAMRY_TSS2 (hybrid) | master | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_08e4c2a99df165b1_00000233--1df13bd705.html) | +| TOYOTA_CAMRY_TSS2 (hybrid) | master w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_08e4c2a99df165b1_00000307--d00f531092.html) | +| TOYOTA_CAMRY_TSS2 (hybrid) | various start from stop w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_0000002f--b994f1c411.html) | +| TOYOTA_CAMRY_TSS2 (hybrid) | high speed gas step response w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_00000032--0e0ac9c0d1.html) | +| TOYOTA_COROLLA_TSS2 | master | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_a2bddce0b6747e10_000002a8--842d636732.html) | +| TOYOTA_HIGHLANDER_TSS2 | master, user report | [View](longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000063--937039a5e9.html) | +| TOYOTA_PRIUS_TSS2 | pcm accel compensation, user report | [View](longitudinal_reports/TOYOTA_PRIUS_TSS2_74b008694de53cc1_00000034--0faa8ed1ab.html) | diff --git a/longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_0000002f--b994f1c411.html b/longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_0000002f--b994f1c411.html new file mode 100644 index 0000000..e2c8142 --- /dev/null +++ b/longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_0000002f--b994f1c411.html @@ -0,0 +1,216 @@ + +

Longitudinal maneuver report

+

TOYOTA_CAMRY_TSS2

+

7852e9f76b7e6e8a/0000002f--b994f1c411

+

277691cf8359d209aa9bddf3419a0e5bb6f75633, master, https://github.com/commaai/openpilot

+

Description: various start from stop w/ permit braking

+

CarParams

{ 'alternativeExperience': 1,
+  'autoResumeSng': True,
+  'carFingerprint': 'TOYOTA_CAMRY_TSS2',
+  'carFw': [ { 'address': 1968,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'F152633D00\x00\x00\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1976,
+               'subAddress': 0},
+             { 'address': 1920,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'srs',
+               'fwVersion': b'8917F06580\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'8865F3301501    ',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1996,
+               'subAddress': 0},
+             { 'address': 1953,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'8965B33630\x00\x00\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1961,
+               'subAddress': 0},
+             { 'address': 1792,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'engine',
+               'fwVersion': b'\x018966306Q6000\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'\x028646F3305300\x00\x00\x00\x008646G530120'
+                            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'\x018821F6201200\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': '4T1C31AK4NU573702',
+  'centerToFront': 1.2427712678909302,
+  'dashcamOnly': False,
+  'enableBsm': False,
+  'enableDsu': False,
+  'experimentalLongitudinalAvailable': False,
+  'fingerprintSource': 'fw',
+  'flags': 280,
+  'fuzzyFingerprint': False,
+  'lateralTuning': { 'torque': { 'friction': 0.11843600124120712,
+                                 'kf': 1.0,
+                                 'ki': 0.10000000149011612,
+                                 'kp': 1.0,
+                                 'latAccelFactor': 2.354832410812378,
+                                 'latAccelOffset': 0.0,
+                                 'steeringAngleDeadzoneDeg': 0.0,
+                                 'useSteeringAngle': True}},
+  'longitudinalActuatorDelay': 0.15000000596046448,
+  'longitudinalTuning': { 'kf': 1.0,
+                          'kiBP': [0.0],
+                          'kiV': [0.0],
+                          'kpBP': [0.0],
+                          'kpV': [0.0]},
+  'mass': 1678.2127685546875,
+  'maxLateralAccel': 2.3689000606536865,
+  'minEnableSpeed': -1.0,
+  'minSteerSpeed': 0.0,
+  'networkLocation': 'fwdCamera',
+  'notCar': False,
+  'openpilotLongitudinalControl': True,
+  'passive': False,
+  'pcmCruise': True,
+  'radarDelay': 0.0,
+  'radarTimeStep': 0.05000000074505806,
+  'radarUnavailable': False,
+  'rotationalInertia': 3140.43017578125,
+  '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': 13.699999809265137,
+  'steerRatioRear': 0.0,
+  'stopAccel': -2.0,
+  'stoppingDecelRate': 0.30000001192092896,
+  'tireStiffnessFactor': 0.7932999730110168,
+  'tireStiffnessFront': 163310.546875,
+  'tireStiffnessRear': 202840.5625,
+  'transmissionType': 'unknown',
+  'vEgoStarting': 0.25,
+  'vEgoStopping': 0.25,
+  'wheelSpeedFactor': 1.0,
+  'wheelbase': 2.8244800567626953}
+

Summary

+ + + + + + + + + + + + + + + + + +
maneuver crossed runs mean min max
start from stop 0.11 1 0.3 0.3 0.3
start from stop 0.21 1 0.25 0.25 0.25
start from stop 0.41 1 0.3 0.3 0.3
start from stop 0.61 1 0.3 0.3 0.3
start from stop 0.81 1 0.3 0.3 0.3
start from stop 1.01 1 0.4 0.4 0.4
start from stop 1.21 1 0.35 0.35 0.35
start from stop 1.40 1
start from stop 1.60 1
start from stop 1.80 1
start from stop 2.00 1
+
+

start from stop 0.1

+

Run #1

 +

Initial aTarget: 0.10000000149011612 m/s^2, crossed in 0.302s

Average pitch: 0.24 degrees

+
+
+

start from stop 0.2

+

Run #1

 +

Initial aTarget: 0.20000000298023224 m/s^2, crossed in 0.248s

Average pitch: 1.34 degrees

+
+
+

start from stop 0.4

+

Run #1

 +

Initial aTarget: 0.4000000059604645 m/s^2, crossed in 0.301s

Average pitch: 1.68 degrees

+
+
+

start from stop 0.6

+

Run #1

 +

Initial aTarget: 0.6000000238418579 m/s^2, crossed in 0.304s

Average pitch: 2.04 degrees

+
+
+

start from stop 0.8

+

Run #1

 +

Initial aTarget: 0.800000011920929 m/s^2, crossed in 0.300s

Average pitch: 2.28 degrees

+
+
+

start from stop 1.0

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.397s

Average pitch: 2.32 degrees

+
+
+

start from stop 1.2

+

Run #1

 +

Initial aTarget: 1.2000000476837158 m/s^2, crossed in 0.350s

Average pitch: 2.70 degrees

+
+
+

start from stop 1.4

+

Run #1 (invalid maneuver!)

 +

Initial aTarget: 1.399999976158142 m/s^2, crossed in 0.358s

Average pitch: 1.94 degrees

+
+
+

start from stop 1.6

+

Run #1 (invalid maneuver!)

 +

Initial aTarget: 1.600000023841858 m/s^2, crossed in 0.399s

Average pitch: 2.43 degrees

+
+
+

start from stop 1.8

+

Run #1 (invalid maneuver!)

 +

Initial aTarget: 1.7999999523162842 m/s^2, crossed in 0.392s

Average pitch: 2.87 degrees

+
+
+

start from stop 2.0

+

Run #1 (invalid maneuver!)

 +

Initial aTarget: 2.0 m/s^2, crossed in 0.952s

Average pitch: 2.99 degrees

+
diff --git a/longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_00000032--0e0ac9c0d1.html b/longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_00000032--0e0ac9c0d1.html new file mode 100644 index 0000000..a997e28 --- /dev/null +++ b/longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_00000032--0e0ac9c0d1.html @@ -0,0 +1,186 @@ + +

Longitudinal maneuver report

+

TOYOTA_CAMRY_TSS2

+

7852e9f76b7e6e8a/00000032--0e0ac9c0d1

+

277691cf8359d209aa9bddf3419a0e5bb6f75633, master, https://github.com/commaai/openpilot

+

Description: high speed gas step response w/ permit braking

+

CarParams

{ 'alternativeExperience': 1,
+  'autoResumeSng': True,
+  'carFingerprint': 'TOYOTA_CAMRY_TSS2',
+  'carFw': [ { 'address': 1968,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'F152633D00\x00\x00\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1976,
+               'subAddress': 0},
+             { 'address': 1920,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'srs',
+               'fwVersion': b'8917F06580\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'8865F3301501    ',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1996,
+               'subAddress': 0},
+             { 'address': 1953,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'8965B33630\x00\x00\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1961,
+               'subAddress': 0},
+             { 'address': 1792,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'engine',
+               'fwVersion': b'\x018966306Q6000\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'\x028646F3305300\x00\x00\x00\x008646G530120'
+                            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'\x018821F6201200\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': '4T1C31AK4NU573702',
+  'centerToFront': 1.2427712678909302,
+  'dashcamOnly': False,
+  'enableBsm': False,
+  'enableDsu': False,
+  'experimentalLongitudinalAvailable': False,
+  'fingerprintSource': 'fw',
+  'flags': 280,
+  'fuzzyFingerprint': False,
+  'lateralTuning': { 'torque': { 'friction': 0.11843600124120712,
+                                 'kf': 1.0,
+                                 'ki': 0.10000000149011612,
+                                 'kp': 1.0,
+                                 'latAccelFactor': 2.354832410812378,
+                                 'latAccelOffset': 0.0,
+                                 'steeringAngleDeadzoneDeg': 0.0,
+                                 'useSteeringAngle': True}},
+  'longitudinalActuatorDelay': 0.15000000596046448,
+  'longitudinalTuning': { 'kf': 1.0,
+                          'kiBP': [0.0],
+                          'kiV': [0.0],
+                          'kpBP': [0.0],
+                          'kpV': [0.0]},
+  'mass': 1678.2127685546875,
+  'maxLateralAccel': 2.3689000606536865,
+  'minEnableSpeed': -1.0,
+  'minSteerSpeed': 0.0,
+  'networkLocation': 'fwdCamera',
+  'notCar': False,
+  'openpilotLongitudinalControl': True,
+  'passive': False,
+  'pcmCruise': True,
+  'radarDelay': 0.0,
+  'radarTimeStep': 0.05000000074505806,
+  'radarUnavailable': False,
+  'rotationalInertia': 3140.43017578125,
+  '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': 13.699999809265137,
+  'steerRatioRear': 0.0,
+  'stopAccel': -2.0,
+  'stoppingDecelRate': 0.30000001192092896,
+  'tireStiffnessFactor': 0.7932999730110168,
+  'tireStiffnessFront': 163310.546875,
+  'tireStiffnessRear': 202840.5625,
+  'transmissionType': 'unknown',
+  'vEgoStarting': 0.25,
+  'vEgoStopping': 0.25,
+  'wheelSpeedFactor': 1.0,
+  'wheelbase': 2.8244800567626953}
+

Summary

+ + + + + + + + + + + + +
maneuver crossed runs mean min max
gas step response 0.52 1 0.48 0.4 0.55
gas step response 1.02 1 0.87 0.6 1.14
gas step response 2.00 1
gas step response 0.52 1 0.48 0.4 0.55
gas step response 1.02 1 0.87 0.6 1.14
gas step response 2.00 1
+
+

gas step response 0.5

+

Run #1

 +

Initial aTarget: 0.5 m/s^2, crossed in 0.552s

Average pitch: 1.72 degrees

+
+
+

gas step response 1.0

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.143s

Average pitch: 2.17 degrees

+
+
+

gas step response 2.0

+

Run #1

 +

Initial aTarget: 2.0 m/s^2, not crossed

Average pitch: 2.49 degrees

+
+
+

gas step response 0.5

+

Run #1

 +

Initial aTarget: 0.5 m/s^2, crossed in 0.398s

Average pitch: 2.04 degrees

+
+
+

gas step response 1.0

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.602s

Average pitch: 0.71 degrees

+
+
+

gas step response 2.0

+

Run #1

 +

Initial aTarget: 2.0 m/s^2, not crossed

Average pitch: 2.48 degrees

+