Longitudinal maneuver report

FORD_F_150_MK14

e36b272d5679115f/00000195--ad05d32b7e

a270443834db83e5e5df5ac26947844f491d2f1d, sf_model, https://github.com/hiimisaac/openpilot

CarParams

{ 'alternativeExperience': 1,
  'autoResumeSng': True,
  'carFingerprint': 'FORD_F_150_MK14',
  'carFw': [ { 'address': 2000,
               'brand': 'ford',
               'bus': 1,
               'ecu': 'debug',
               'fwVersion': b'PU5T-14G676-EC\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': 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': 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': True,
  'enableBsm': True,
  'enableDsu': False,
  'experimentalLongitudinalAvailable': True,
  'fingerprintSource': 'fixed',
  'flags': 1,
  'fuzzyFingerprint': False,
  'lateralTuning': {'pid': {'kf': 0.0}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'kf': 1.0,
                          'kiBP': [0.0],
                          'kiV': [0.5],
                          '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,
  'radarUnavailable': True,
  'rotationalInertia': 6822.1162109375,
  'safetyConfigs': [ { 'safetyModel': 'ford',
                       'safetyParam': 3,
                       'safetyParam2DEPRECATED': 0,
                       'safetyParamDEPRECATED': 0}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'startAccel': 0.0,
  'startingState': False,
  'steerActuatorDelay': 0.20000000298023224,
  'steerControlType': 'angle',
  'steerLimitAlert': False,
  'steerLimitTimer': 1.0,
  'steerRatio': 17.0,
  '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 0.37 0.35 0.39
start from stop 3 3 1 0.99 1
creep: alternate between +1m/s^2 and -1m/s^23 3 0.84 0.8 0.86
brake step response: -1m/s^2 from 20mph 3 3 0.53 0.49 0.6
brake step response: -4m/s^2 from 20mph 1 3 1.3 1.3 1.3
gas step response: +1m/s^2 from 20mph 3 3 0.88 0.59 1.16
gas step response: +4m/s^2 from 20mph 0 3

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 0.390s

Average pitch: 0.03 degrees

Run #2 (invalid maneuver!)

Initial aTarget: -0.5 m/s^2, crossed in 0.308s

Average pitch: 0.25 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.354s

Average pitch: 0.47 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 1.002s

Average pitch: 1.44 degrees

Run #2

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

Average pitch: 0.87 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 1.001s

Average pitch: 1.00 degrees

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

Run #1

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

Average pitch: 1.16 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.861s

Average pitch: 0.93 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.802s

Average pitch: 0.96 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.510s

Average pitch: 1.52 degrees

Run #2

Initial aTarget: -1.0 m/s^2, crossed in 0.490s

Average pitch: 1.44 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.599s

Average pitch: 1.99 degrees

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

Run #1

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

Average pitch: 1.38 degrees

Run #2

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

Average pitch: 1.12 degrees

Run #3

Initial aTarget: -4.0 m/s^2, crossed in 1.301s

Average pitch: 1.72 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.588s

Average pitch: 2.06 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.898s

Average pitch: 2.38 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 1.160s

Average pitch: 1.84 degrees

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

Run #1

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

Average pitch: 1.78 degrees

Run #2

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

Average pitch: 1.43 degrees

Run #3

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

Average pitch: 1.77 degrees