Longitudinal maneuver report

FORD_MAVERICK_MK1

6cc716ffa2eb1f32/00000007--2a12e72bc9

6a2ae346aba068307a522bad8fe655430ed4f159, master, https://github.com/commaai/openpilot.git

Description: master, user report

CarParams

{ 'alternativeExperience': 1,
  'autoResumeSng': True,
  'carFingerprint': 'FORD_MAVERICK_MK1',
  'carFw': [ { 'address': 2000,
               'brand': 'ford',
               'bus': 1,
               'ecu': 'debug',
               'fwVersion': b'1U5T-14G374-EM\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': 2016,
               'brand': 'ford',
               'bus': 1,
               'ecu': 'engine',
               'fwVersion': b'RZ6A-14C204-CB\x00\x00\x00\x00\x00\x00'
                            b'\x00\x00\x00\x00',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xf1\x88'],
               'responseAddress': 2024,
               'subAddress': 0},
             { 'address': 1840,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'eps',
               'fwVersion': b'NZ6C-14D003-AL\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': 1842,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'shiftByWire',
               'fwVersion': b'NZ6P-14G395-AD\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': 1798,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'fwdCamera',
               'fwVersion': b'NZ6T-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': 1888,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'abs',
               'fwVersion': b'PZ6C-2D053-EF\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': 1892,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'fwdRadar',
               'fwVersion': b'NZ6T-14D049-AA\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': 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': 1798,
               'brand': 'ford',
               'bus': 0,
               'ecu': 'fwdCamera',
               'fwVersion': b'\x04M\x99\xd3\xa9 vU:\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\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'\x02\x04\x0e\x07\x01\x02\x02\x02\x06\x02\x01\x00'
                            b'\x08\xfe\x01\x03\x01\x03\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\x00\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\x00'
                            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"\xff\xfc'\xc3\x80\x00\x00\x00\x00\x00",
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xde\x03'],
               'responseAddress': 1806,
               'subAddress': 0}],
  'carName': 'ford',
  'carVin': '3FTTW8S9XRRA21330',
  'centerToFront': 1.3534400463104248,
  'dashcamOnly': False,
  'enableBsm': True,
  'enableDsu': False,
  'experimentalLongitudinalAvailable': False,
  'fingerprintSource': 'fw',
  'flags': 0,
  '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': 1786.0,
  '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': 3963.868408203125,
  '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': 17.0,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'stoppingDecelRate': 0.800000011920929,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 219084.28125,
  'tireStiffnessRear': 272114.59375,
  'transmissionType': 'automatic',
  'vEgoStarting': 0.5,
  'vEgoStopping': 0.5,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 3.0759999752044678}

Summary

maneuver crossed runs mean min max
come to stop 3 3 0.32 0.29 0.35
start from stop 3 3 0.89 0.85 0.91
creep: alternate between +1m/s^2 and -1m/s^22 3 0.7 0.69 0.7
brake step response: -1m/s^2 from 20mph 3 3 0.48 0.45 0.5
brake step response: -4m/s^2 from 20mph 0 3
gas step response: +1m/s^2 from 20mph 3 3 1.77 1.2 2.35
gas step response: +4m/s^2 from 20mph 0 3

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 0.351s

Average pitch: 1.32 degrees

Run #2

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

Average pitch: 0.96 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.290s

Average pitch: 1.00 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 0.907s

Average pitch: 1.49 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.899s

Average pitch: 1.86 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.851s

Average pitch: 1.72 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.687s

Average pitch: 1.85 degrees

Run #2 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.687s

Average pitch: 2.50 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.704s

Average pitch: 1.76 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.452s

Average pitch: 1.46 degrees

Run #2

Initial aTarget: -1.0 m/s^2, crossed in 0.499s

Average pitch: 1.19 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.485s

Average pitch: 1.19 degrees

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

Run #1

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

Average pitch: 0.71 degrees

Run #2

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

Average pitch: 1.01 degrees

Run #3

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

Average pitch: 1.15 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 1.197s

Average pitch: 2.26 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 1.751s

Average pitch: 1.91 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 2.355s

Average pitch: 1.92 degrees

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

Run #1

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

Average pitch: 2.03 degrees

Run #2

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

Average pitch: 2.14 degrees

Run #3

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

Average pitch: 2.32 degrees