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