Lateral maneuver report

TESLA_MODEL_Y

aebd8f1d4ea16066/00000233--eb57cf582d

eecff738506eafb38debb527c42cb65426aa2e02, master, https://github.com/commaai/openpilot.git

CarParams

{ 'alphaLongitudinalAvailable': True,
  'alternativeExperience': 0,
  'autoResumeSng': True,
  'brand': 'tesla',
  'carFingerprint': 'TESLA_MODEL_Y',
  'carFw': [ { 'address': 1840,
               'brand': 'tesla',
               'bus': 0,
               'ecu': 'eps',
               'fwVersion': b'TeMYG4_Main_0.0.0 (78),Y4003.06.0',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xf1\x95'],
               'responseAddress': 1848,
               'subAddress': 0}],
  'carVin': '00000000000000000',
  'centerToFront': 1.4450000524520874,
  'dashcamOnly': False,
  'deprecated': { 'communityFeature': False,
                  'directAccelControl': False,
                  'enableApgs': False,
                  'enableCamera': False,
                  'enableDsu': False,
                  'enableGasInterceptor': False,
                  'hasStockCamera': False,
                  'isPandaBlack': False,
                  'longitudinalActuatorDelayLowerBound': 0.0,
                  'maxSteeringAngleDeg': 0.0,
                  'minSpeedCan': 0.0,
                  'radarTimeStep': 0.05000000074505806,
                  'safetyModel': 'silent',
                  'safetyModelPassive': 'silent',
                  'safetyParam': 0,
                  'startAccel': 0.0,
                  'startingAccelRate': 0.0,
                  'startingState': False,
                  'steerLimitAlert': False,
                  'steerRateCost': 0.0,
                  'stoppingControl': False,
                  'stoppingDecelRate': 0.0,
                  'vEgoStarting': 0.0,
                  'vEgoStopping': 0.0},
  'enableBsm': False,
  'fingerprintSource': 'fw',
  'flags': 2,
  'fuzzyFingerprint': False,
  'lateralTuning': {'pid': {'kf': 0.0}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'deprecated': {'kf': 0.0},
                          'kiBP': [0.0],
                          'kiV': [0.0],
                          'kpBP': [0.0],
                          'kpV': [0.0]},
  'mass': 2208.0,
  'maxLateralAccel': 2.5,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.0,
  'networkLocation': 'fwdCamera',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': True,
  'radarDelay': 0.0,
  'radarUnavailable': True,
  'rotationalInertia': 4325.73486328125,
  'safetyConfigs': [ { 'deprecated': {'safetyParam': 0, 'safetyParam2': 0},
                       'safetyModel': 'tesla',
                       'safetyParam': 3}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'steerActuatorDelay': 0.10000000149011612,
  'steerAtStandstill': True,
  'steerControlType': 'angle',
  'steerLimitTimer': 0.4000000059604645,
  'steerRatio': 12.0,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 241830.375,
  'tireStiffnessRear': 382284.53125,
  'transmissionType': 'unknown',
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.890000104904175}

Summary

maneuvercrossedmeanminmax
step left 30mph30.650.051.04
sine 0.5Hz 30mph30.430.410.44
jitter 30mph0
step right 20mph60.940.791.13
step left 20mph610.781.4
sine 0.5Hz 20mph30.410.40.43
jitter 20mph10.260.260.26
step right 30mph40.960.821.05

step left 30mph

Run #1

aTarget: -0.0 m/s^2, crossed in 0.049s

aTarget: 1.0 m/s^2, not crossed

sine 0.5Hz 30mph

Run #1

50% peak, crossed in 0.412s

Run #2

50% peak, crossed in 0.442s

Run #3

50% peak, crossed in 0.423s

jitter 30mph

Run #1

50% peak, not crossed

Run #2

50% peak, not crossed

Run #3

50% peak, not crossed

step right 20mph

Run #1

aTarget: 0.5 m/s^2, crossed in 0.967s

aTarget: -0.5 m/s^2, crossed in 1.092s

Run #2

aTarget: 0.5 m/s^2, crossed in 0.813s

aTarget: -0.5 m/s^2, crossed in 1.134s

Run #3

aTarget: 0.5 m/s^2, crossed in 0.835s

aTarget: -0.5 m/s^2, crossed in 0.788s

step left 20mph

Run #1

aTarget: -0.5 m/s^2, crossed in 0.815s

aTarget: 0.5 m/s^2, crossed in 1.396s

Run #2

aTarget: -0.5 m/s^2, crossed in 0.783s

aTarget: 0.5 m/s^2, crossed in 1.251s

Run #3

aTarget: -0.5 m/s^2, crossed in 0.813s

aTarget: 0.5 m/s^2, crossed in 0.932s

sine 0.5Hz 20mph

Run #1

50% peak, crossed in 0.402s

Run #2

50% peak, crossed in 0.432s

Run #3

50% peak, crossed in 0.401s

jitter 20mph

Run #1

50% peak, crossed in 0.261s

Run #2

50% peak, not crossed

Run #3

50% peak, not crossed

step right 30mph

Run #1

aTarget: 0.5 m/s^2, not crossed

aTarget: -0.5 m/s^2, crossed in 0.819s

Run #2

aTarget: 0.5 m/s^2, crossed in 0.966s

aTarget: -0.5 m/s^2, crossed in 1.049s

Run #3

aTarget: 0.5 m/s^2, not crossed

aTarget: -0.5 m/s^2, crossed in 1.012s

step left 30mph

Run #1

aTarget: -0.7 m/s^2, not crossed

aTarget: 0.3 m/s^2, not crossed

Run #2

aTarget: -0.5 m/s^2, crossed in 0.866s

aTarget: 0.5 m/s^2, crossed in 1.039s