diff --git a/README.md b/README.md index 1aaee37..37ee7a7 100644 --- a/README.md +++ b/README.md @@ -19,6 +19,7 @@ The home of community-sourced data about the fleet of cars [openpilot](https://g | TOYOTA_COROLLA_TSS2 (hybrid) | master, user report | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_c16896da5621b481_00000038--ba29565d02.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) | master w/ rate limited permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_6483a59cd49b6650_00000062--f6537659bd.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) | diff --git a/longitudinal_reports/TOYOTA_CAMRY_TSS2_6483a59cd49b6650_00000062--f6537659bd.html b/longitudinal_reports/TOYOTA_CAMRY_TSS2_6483a59cd49b6650_00000062--f6537659bd.html new file mode 100644 index 0000000..f44b039 --- /dev/null +++ b/longitudinal_reports/TOYOTA_CAMRY_TSS2_6483a59cd49b6650_00000062--f6537659bd.html @@ -0,0 +1,244 @@ + +

Longitudinal maneuver report

+

TOYOTA_CAMRY_TSS2

+

6483a59cd49b6650/00000062--f6537659bd

+

ce7317407fa423c2341f8eab823e95b08f2083c5, master, https://github.com/commaai/openpilot.git

+

Description: Camry Hybrid with permit_braking on rate limited accel

+

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': 2002,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'hybrid',
+               'fwVersion': b'\x02899830621000\x00\x00\x00\x0089985331300'
+                            b'0\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 2010,
+               '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': [0.5],
+                          '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,
+  '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
come to stop 3 3 0.41 0.39 0.45
start from stop 3 3 2.44 2.1 2.65
creep: alternate between +1m/s^2 and -1m/s^23 3 1.54 1.36 1.76
brake step response: -1m/s^2 from 20mph 3 3 0.5 0.46 0.54
brake step response: -4m/s^2 from 20mph 2 3 1.08 1.06 1.1
gas step response: +1m/s^2 from 20mph 3 3 0.8 0.75 0.85
gas step response: +4m/s^2 from 20mph 0 3
+
+

come to stop

+

Run #1

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.446s

Average pitch: -0.48 degrees

+
+

Run #2

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.401s

Average pitch: 0.35 degrees

+
+

Run #3

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.394s

Average pitch: 0.28 degrees

+
+
+

start from stop

+

Run #1

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.556s

Average pitch: 0.31 degrees

+
+

Run #2

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.100s

Average pitch: -0.60 degrees

+
+

Run #3

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.649s

Average pitch: 1.08 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.359s

Average pitch: -0.53 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.757s

Average pitch: -0.27 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.491s

Average pitch: -0.01 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.457s

Average pitch: 1.31 degrees

+
+

Run #2

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.501s

Average pitch: -0.87 degrees

+
+

Run #3

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.538s

Average pitch: -0.99 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.099s

Average pitch: -1.35 degrees

+
+

Run #2

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.056s

Average pitch: -0.09 degrees

+
+

Run #3 (invalid maneuver!)

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.207s

Average pitch: -1.08 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.788s

Average pitch: -0.46 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.753s

Average pitch: -0.25 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.850s

Average pitch: -0.52 degrees

+
+
+

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

+

Run #1

 +

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

Average pitch: 1.59 degrees

+
+

Run #2

 +

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

Average pitch: 0.35 degrees

+
+

Run #3

 +

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

Average pitch: 0.10 degrees

+