Longitudinal maneuver report

TESLA_MODEL_Y

aebd8f1d4ea16066/00000234--32df0536f7

eecff738506eafb38debb527c42cb65426aa2e02, master, https://github.com/commaai/openpilot.git

CarParams

{ 'alphaLongitudinalAvailable': True,
  'alternativeExperience': 0,
  'autoResumeSng': True,
  'brand': 'tesla',
  'carFingerprint': 'TESLA_MODEL_Y',
  'carFw': [ { 'address': 1840,
               'brand': 'tesla',
               'bus': 0,
               'ecu': 'eps',
               'fwVersion': b'TeMYG4_Main_0.0.0 (78),Y4003.06.0',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'"\xf1\x95'],
               'responseAddress': 1848,
               'subAddress': 0}],
  'carVin': '00000000000000000',
  'centerToFront': 1.4450000524520874,
  'dashcamOnly': False,
  'deprecated': { 'communityFeature': False,
                  'directAccelControl': False,
                  'enableApgs': False,
                  'enableCamera': False,
                  'enableDsu': False,
                  'enableGasInterceptor': False,
                  'hasStockCamera': False,
                  'isPandaBlack': False,
                  'longitudinalActuatorDelayLowerBound': 0.0,
                  'maxSteeringAngleDeg': 0.0,
                  'minSpeedCan': 0.0,
                  'radarTimeStep': 0.05000000074505806,
                  'safetyModel': 'silent',
                  'safetyModelPassive': 'silent',
                  'safetyParam': 0,
                  'startAccel': 0.0,
                  'startingAccelRate': 0.0,
                  'startingState': False,
                  'steerLimitAlert': False,
                  'steerRateCost': 0.0,
                  'stoppingControl': False,
                  'stoppingDecelRate': 0.0,
                  'vEgoStarting': 0.0,
                  'vEgoStopping': 0.0},
  'enableBsm': False,
  'fingerprintSource': 'fw',
  'flags': 2,
  'fuzzyFingerprint': False,
  'lateralTuning': {'pid': {'kf': 0.0}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'deprecated': {'kf': 0.0},
                          'kiBP': [0.0],
                          'kiV': [0.0],
                          'kpBP': [0.0],
                          'kpV': [0.0]},
  'mass': 2208.0,
  'maxLateralAccel': 2.5,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.0,
  'networkLocation': 'fwdCamera',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': True,
  'radarDelay': 0.0,
  'radarUnavailable': True,
  'rotationalInertia': 4325.73486328125,
  'safetyConfigs': [ { 'deprecated': {'safetyParam': 0, 'safetyParam2': 0},
                       'safetyModel': 'tesla',
                       'safetyParam': 3}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'steerActuatorDelay': 0.10000000149011612,
  'steerAtStandstill': True,
  'steerControlType': 'angle',
  'steerLimitTimer': 0.4000000059604645,
  'steerRatio': 12.0,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 241830.375,
  'tireStiffnessRear': 382284.53125,
  'transmissionType': 'unknown',
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.890000104904175}

Summary

maneuver	crossed	runs	mean	min	max
brake step response: -1m/s^2 from 20mph	3	2	0.42	0.4	0.45
brake step response: -4m/s^2 from 20mph	3	3	2	1.9	2.15
gas step response: +1m/s^2 from 20mph	2	3	0.52	0.45	0.6
gas step response: +4m/s^2 from 20mph	0	3
come to stop	3	3	0.57	0.35	0.85
start from stop	3	3	0.47	0.45	0.5
creep: alternate between +1m/s^2 and -1m/s^2	3	3	0.6	0.5	0.65
brake step response: -1m/s^2 from 20mph	3	1	0.42	0.4	0.45

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.401s

Average pitch: -0.58 degrees

Run #2

Initial aTarget: -1.0 m/s^2, crossed in 0.399s

Average pitch: -2.15 degrees

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

Run #1

Initial aTarget: -4.0 m/s^2, crossed in 1.900s

Average pitch: -3.13 degrees

Run #2

Initial aTarget: -4.0 m/s^2, crossed in 2.150s

Average pitch: 1.34 degrees

Run #3

Initial aTarget: -4.0 m/s^2, crossed in 1.950s

Average pitch: 1.23 degrees

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

Run #1 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.500s

Average pitch: 1.26 degrees

Run #2

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

Average pitch: 1.14 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.448s

Average pitch: 0.20 degrees

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

Run #1

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

Average pitch: 0.52 degrees

Run #2

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

Average pitch: 1.25 degrees

Run #3

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

Average pitch: -0.81 degrees

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 0.350s

Average pitch: 0.05 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.501s

Average pitch: -0.10 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.851s

Average pitch: -0.21 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 0.451s

Average pitch: 0.02 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.451s

Average pitch: -0.06 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.501s

Average pitch: -0.66 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.500s

Average pitch: 1.52 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.652s

Average pitch: -0.73 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.650s

Average pitch: -0.76 degrees

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

Run #1

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

Average pitch: -2.43 degrees