Longitudinal maneuver report

TESLA_MODEL_3

c0fe59cc1ebbd1b3/0000000f--06e674a8d7

d96bea5d5c82ee841c8053b5c3a93216dc2adf6b, tesla, https://github.com/lukasloetkolben/openpilot.git

Description: User report

CarParams

{ 'alternativeExperience': 1,
  'autoResumeSng': True,
  'carFingerprint': 'TESLA_MODEL_3',
  'carFw': [ { 'address': 1840,
               'brand': 'tesla',
               'bus': 0,
               'ecu': 'eps',
               'fwVersion': b'TeM3_E014p10_0.0.0 (16),E014.17.00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xf1\x95'],
               'responseAddress': 1848,
               'subAddress': 0}],
  'carName': 'tesla',
  'carVin': '00000000000000000',
  'centerToFront': 1.4375,
  'dashcamOnly': False,
  'enableBsm': False,
  'enableDsu': False,
  'experimentalLongitudinalAvailable': False,
  'fingerprintSource': 'fw',
  'flags': 0,
  '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': 2035.0,
  'maxLateralAccel': 2.5,
  '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': 3945.52880859375,
  'safetyConfigs': [ { 'safetyModel': 'tesla',
                       'safetyParam': 1,
                       'safetyParam2DEPRECATED': 0,
                       'safetyParamDEPRECATED': 0}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'startAccel': 0.0,
  'startingState': False,
  'steerActuatorDelay': 0.25,
  'steerControlType': 'angle',
  'steerLimitAlert': False,
  'steerLimitTimer': 1.0,
  'steerRatio': 12.0,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'stoppingDecelRate': 0.800000011920929,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 222882.609375,
  'tireStiffnessRear': 352332.0,
  'transmissionType': 'unknown',
  'vEgoStarting': 0.5,
  'vEgoStopping': 0.5,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.875}

Summary

maneuver crossed runs mean min max
start from stop 3 4 0.51 0.45 0.63
creep: alternate between +1m/s^2 and -1m/s^21 2 0.6 0.6 0.6
brake step response: -1m/s^2 from 20mph 2 3 0.42 0.4 0.45
brake step response: -4m/s^2 from 20mph 3 3 0.75 0.6 1.05
gas step response: +1m/s^2 from 20mph 2 3 0.35 0.3 0.4
gas step response: +4m/s^2 from 20mph 0 3

start from stop

Run #1 (invalid maneuver!)

Initial aTarget: 1.5 m/s^2, not crossed

Average pitch: -1.79 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.450s

Average pitch: -0.14 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.449s

Average pitch: -0.24 degrees

Run #4

Initial aTarget: 1.5 m/s^2, crossed in 0.628s

Average pitch: -0.49 degrees

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

Run #1 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.649s

Average pitch: -0.54 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.600s

Average pitch: 0.67 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.449s

Average pitch: 0.33 degrees

Run #2

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

Average pitch: 0.28 degrees

Run #3 (invalid maneuver!)

Initial aTarget: -1.0 m/s^2, crossed in 0.352s

Average pitch: 0.97 degrees

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

Run #1

Initial aTarget: -4.0 m/s^2, crossed in 0.599s

Average pitch: -1.59 degrees

Run #2

Initial aTarget: -4.0 m/s^2, crossed in 0.600s

Average pitch: -1.82 degrees

Run #3

Initial aTarget: -4.0 m/s^2, crossed in 1.052s

Average pitch: -1.82 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.300s

Average pitch: 0.80 degrees

Run #2

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

Average pitch: 0.75 degrees

Run #3 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.551s

Average pitch: 0.54 degrees

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

Run #1

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

Average pitch: -1.06 degrees

Run #2

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

Average pitch: -1.28 degrees

Run #3

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

Average pitch: 0.84 degrees