Longitudinal maneuver report

GWM_HAVAL_H6

075b133b6181e058/00000162--df9a818bf7

11e9085c9581e344323b5d01a95a592cd667787b, tizi-haval, https://github.com/alexandresato/openpilot.git

Description: 2026-04-01 tune

CarParams

{ 'alphaLongitudinalAvailable': True,
  'alternativeExperience': 0,
  'autoResumeSng': True,
  'brand': 'gwm',
  'carFingerprint': 'GWM_HAVAL_H6',
  'carFw': [ { 'address': 2016,
               'brand': 'volkswagen',
               'bus': 1,
               'ecu': 'engine',
               'fwVersion': b'\xf1\x873612100XEC56000\xf1\x89S013A01XKN17002',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'"\xf1\x87\xf1\x89\xf1\x82'],
               'responseAddress': 2024,
               'subAddress': 0},
             { 'address': 2016,
               'brand': 'gwm',
               'bus': 1,
               'ecu': 'engine',
               'fwVersion': b'\xf1\x873612100XEC56000\xf1\x89S013A01XKN17002',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'"\xf1\x87\xf1\x89\xf1\x82'],
               'responseAddress': 2024,
               'subAddress': 0}],
  'carVin': 'LGWFFUA54RHXXXXXX',
  'centerToFront': 1.36899995803833,
  'dashcamOnly': False,
  'enableBsm': False,
  'fingerprintSource': 'fw',
  'flags': 0,
  'fuzzyFingerprint': False,
  'lateralTuning': { 'torque': { 'friction': 0.20201100409030914,
                                 'kdDEPRECATED': 0.0,
                                 'kfDEPRECATED': 0.0,
                                 'kiDEPRECATED': 0.0,
                                 'kpDEPRECATED': 0.0,
                                 'latAccelFactor': 1.0916800498962402,
                                 'latAccelOffset': 0.0,
                                 'steeringAngleDeadzoneDeg': 0.0,
                                 'useSteeringAngleDEPRECATED': False}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'kfDEPRECATED': 0.0,
                          'kiBP': [0.0],
                          'kiV': [0.6499999761581421],
                          'kpBP': [0.0],
                          'kpV': [0.0]},
  'mass': 2176.0,
  'maxLateralAccel': 2.0299999713897705,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.0,
  'networkLocation': 'fwdCamera',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': True,
  'radarDelay': 0.0,
  'radarUnavailable': True,
  'rotationalInertia': 3826.404296875,
  'safetyConfigs': [ { 'safetyModel': 'gwm',
                       'safetyParam': 1,
                       'safetyParam2DEPRECATED': 0,
                       'safetyParamDEPRECATED': 0}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'startAccel': 0.0,
  'startingState': False,
  'steerActuatorDelay': 0.15000000596046448,
  'steerAtStandstill': False,
  'steerControlType': 'torque',
  'steerLimitAlert': False,
  'steerLimitTimer': 0.4000000059604645,
  'steerRatio': 17.416000366210938,
  'steerRatioRear': 0.0,
  'stopAccel': -0.550000011920929,
  'stoppingDecelRate': 0.75,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 238325.578125,
  'tireStiffnessRear': 376744.1875,
  'transmissionType': 'unknown',
  'vEgoStarting': 0.10000000149011612,
  'vEgoStopping': 0.10000000149011612,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.73799991607666}

Summary

maneuver	crossed	runs	mean	min	max
come to stop	3	3	2.63	1.55	3.7
start from stop	3	3	1.15	1.05	1.25
creep: alternate between +1m/s^2 and -1m/s^2	3	3	0.98	0.95	1
brake step response: -1m/s^2 from 20mph	3	3	0.3	0.24	0.4
brake step response: -4m/s^2 from 20mph	2	3	0.42	0.4	0.45
gas step response: +1m/s^2 from 20mph	3	3	0.85	0.75	0.9
gas step response: +4m/s^2 from 20mph	0	3

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 1.552s

Average pitch: 2.81 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 2.650s

Average pitch: 1.89 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 3.700s

Average pitch: 2.27 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 1.249s

Average pitch: 2.38 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 1.151s

Average pitch: 1.62 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 1.050s

Average pitch: 0.85 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.997s

Average pitch: -0.27 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 1.001s

Average pitch: -0.26 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.951s

Average pitch: -0.27 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.245s

Average pitch: -0.92 degrees

Run #2

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

Average pitch: -0.76 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.250s

Average pitch: -0.69 degrees

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

Run #1

Initial aTarget: -4.0 m/s^2, crossed in 0.449s

Average pitch: -0.87 degrees

Run #2

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

Average pitch: -0.66 degrees

Run #3

Initial aTarget: -4.0 m/s^2, crossed in 0.401s

Average pitch: -0.33 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.901s

Average pitch: 0.17 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.899s

Average pitch: 1.63 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.751s

Average pitch: 2.17 degrees

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

Run #1

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

Average pitch: 2.45 degrees

Run #2

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

Average pitch: 2.40 degrees

Run #3

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

Average pitch: 1.59 degrees