Longitudinal maneuver report

FORD_F_150_MK14

e36b272d5679115f/000000bb--41f562d6c4

ad9ea48f554931f40ab5767a37865847b6bb839a, genie-op, git@github.com:ford-op/openpilot.git

Description: User report

CarParams

{ 'alternativeExperience': 1,
  'autoResumeSng': True,
  'carFingerprint': 'FORD_F_150_MK14',
  'carFw': [ { 'address': 1842,
               'brand': 'ford',
               'bus': 1,
               'ecu': 'shiftByWire',
               'fwVersion': b'ML3P-3G596-BA\x00\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': 2000,
               'brand': 'ford',
               'bus': 1,
               'ecu': 'debug',
               'fwVersion': b'PU5T-14G676-CC\x00\x00\x00\x00\x00\x00'
                            b'\x00\x00\x00\x00',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xf1\x88'],
               'responseAddress': 2008,
               'subAddress': 0},
             { 'address': 1888,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'abs',
               'fwVersion': b'\xda0',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xde\x02'],
               'responseAddress': 1896,
               'subAddress': 0}],
  'carName': 'ford',
  'carVin': '00000000000000000',
  'centerToFront': 1.6236000061035156,
  'dashcamOnly': False,
  'enableBsm': True,
  'enableDsu': False,
  'experimentalLongitudinalAvailable': True,
  'fingerprintSource': 'fixed',
  'flags': 1,
  'fuzzyFingerprint': False,
  'lateralParams': {'torqueBP': [], 'torqueV': []},
  'lateralTuning': { 'pid': { 'kf': 0.0,
                              'kiBP': [],
                              'kiV': [],
                              'kpBP': [],
                              'kpV': []}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'kf': 1.0,
                          'kiBP': [0.0],
                          'kiV': [0.0],
                          'kpBP': [0.0],
                          'kpV': [0.0]},
  'mass': 2136.0,
  'maxLateralAccel': 1.5,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.0,
  'networkLocation': 'fwdCamera',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': True,
  'radarDelay': 0.0,
  'radarTimeStep': 0.05000000074505806,
  'radarUnavailable': True,
  'rotationalInertia': 6822.11572265625,
  'safetyConfigs': [ { 'safetyModel': 'ford',
                       'safetyParam': 3,
                       'safetyParam2DEPRECATED': 0,
                       'safetyParamDEPRECATED': 0}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'startAccel': 0.0,
  'startingState': False,
  'steerActuatorDelay': 0.019999999552965164,
  'steerControlType': 'angle',
  'steerLimitAlert': False,
  'steerLimitTimer': 1.0,
  'steerRatio': 17.0,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'stoppingDecelRate': 0.800000011920929,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 262017.953125,
  'tireStiffnessRear': 325440.5,
  'transmissionType': 'automatic',
  'vEgoStarting': 0.5,
  'vEgoStopping': 0.5,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 3.690000057220459}

Summary

maneuver crossed runs mean min max
come to stop 2 3 0.39 0.39 0.4
start from stop 4 4 1.01 0.99 1.05
creep: alternate between +1m/s^2 and -1m/s^23 3 0.85 0.84 0.86
brake step response: -1m/s^2 from 20mph 3 3 0.44 0.4 0.46
brake step response: -4m/s^2 from 20mph 2 3 0.93 0.85 1.01
gas step response: +1m/s^2 from 20mph 2 3 0.42 0.34 0.49
gas step response: +4m/s^2 from 20mph 0 3

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 0.389s

Average pitch: 0.29 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.399s

Average pitch: 0.23 degrees

Run #3 (invalid maneuver!)

Initial aTarget: -0.5 m/s^2, crossed in 0.198s

Average pitch: 0.46 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 1.049s

Average pitch: 1.32 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.992s

Average pitch: 1.42 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.998s

Average pitch: 1.35 degrees

Run #4

Initial aTarget: 1.5 m/s^2, crossed in 1.000s

Average pitch: 1.22 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: 0.90 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.855s

Average pitch: 0.90 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.843s

Average pitch: 1.19 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.456s

Average pitch: 0.64 degrees

Run #2

Initial aTarget: -1.0 m/s^2, crossed in 0.450s

Average pitch: 1.43 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.400s

Average pitch: 1.86 degrees

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

Run #1

Initial aTarget: -4.0 m/s^2, crossed in 0.852s

Average pitch: 1.01 degrees

Run #2

Initial aTarget: -4.0 m/s^2, crossed in 1.009s

Average pitch: 0.90 degrees

Run #3

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

Average pitch: 0.81 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, not crossed

Average pitch: 2.29 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.492s

Average pitch: 1.41 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.340s

Average pitch: 1.04 degrees

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

Run #1

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

Average pitch: 1.04 degrees

Run #2

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

Average pitch: 1.14 degrees

Run #3

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

Average pitch: 1.12 degrees