Longitudinal maneuver report

TOYOTA_CAMRY_TSS2

08e4c2a99df165b1/00000307--d00f531092/:7

9674c7b5af0b38837f0902e58e246d1c777df5f9, master, https://github.com/commaai/openpilot.git

Description: master w/ permit braking

CarParams

{ 'alternativeExperience': 1,
  'autoResumeSng': True,
  'carFingerprint': 'TOYOTA_CAMRY_TSS2',
  'carFw': [ { 'address': 1968,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'abs',
               'fwVersion': b'F152633D00\x00\x00\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>', b'\x1a\x88\x01'],
               'responseAddress': 1976,
               'subAddress': 0},
             { 'address': 1920,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'srs',
               'fwVersion': b'8917F06580\x00\x00\x00\x00\x00\x00',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>', b'\x1a\x88\x01'],
               'responseAddress': 1928,
               'subAddress': 0},
             { 'address': 1988,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'hvac',
               'fwVersion': b'8865F3301501    ',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>', b'\x1a\x88\x01'],
               'responseAddress': 1996,
               'subAddress': 0},
             { 'address': 1953,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'eps',
               'fwVersion': b'8965B33630\x00\x00\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>', b'\x1a\x88\x01'],
               'responseAddress': 1961,
               'subAddress': 0},
             { 'address': 1792,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'engine',
               'fwVersion': b'\x018966306Q6000\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
               'responseAddress': 1800,
               'subAddress': 0},
             { 'address': 2002,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'hybrid',
               'fwVersion': b'\x02899830621000\x00\x00\x00\x0089985331300'
                            b'0\x00\x00\x00\x00',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
               'responseAddress': 2010,
               'subAddress': 0},
             { 'address': 1872,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'fwdCamera',
               'fwVersion': b'\x028646F3305300\x00\x00\x00\x008646G530120'
                            b'0\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
               'responseAddress': 1880,
               'subAddress': 109},
             { 'address': 1872,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'fwdRadar',
               'fwVersion': b'\x018821F6201200\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
               'responseAddress': 1880,
               'subAddress': 15}],
  'carName': 'toyota',
  'carVin': '4T1C31AK4NU573702',
  'centerToFront': 1.2427712678909302,
  'dashcamOnly': False,
  'enableBsm': False,
  'enableDsu': False,
  'experimentalLongitudinalAvailable': False,
  'fingerprintSource': 'fw',
  'flags': 280,
  'fuzzyFingerprint': False,
  'lateralTuning': { 'torque': { 'friction': 0.11843600124120712,
                                 'kf': 1.0,
                                 'ki': 0.10000000149011612,
                                 'kp': 1.0,
                                 'latAccelFactor': 2.354832410812378,
                                 'latAccelOffset': 0.0,
                                 'steeringAngleDeadzoneDeg': 0.0,
                                 'useSteeringAngle': True}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'kf': 1.0,
                          'kiBP': [0.0],
                          'kiV': [0.5],
                          'kpBP': [0.0],
                          'kpV': [0.0]},
  'mass': 1678.2127685546875,
  'maxLateralAccel': 2.3689000606536865,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.0,
  'networkLocation': 'fwdCamera',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': True,
  'radarDelay': 0.0,
  'radarTimeStep': 0.05000000074505806,
  'radarUnavailable': False,
  'rotationalInertia': 3140.43017578125,
  'safetyConfigs': [ { 'safetyModel': 'toyota',
                       'safetyParam': 73,
                       'safetyParam2DEPRECATED': 0,
                       'safetyParamDEPRECATED': 0}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'startAccel': 0.0,
  'startingState': False,
  'steerActuatorDelay': 0.11999999731779099,
  'steerControlType': 'torque',
  'steerLimitAlert': False,
  'steerLimitTimer': 0.4000000059604645,
  'steerRatio': 13.699999809265137,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'stoppingDecelRate': 0.30000001192092896,
  'tireStiffnessFactor': 0.7932999730110168,
  'tireStiffnessFront': 163310.546875,
  'tireStiffnessRear': 202840.5625,
  'transmissionType': 'unknown',
  'vEgoStarting': 0.25,
  'vEgoStopping': 0.25,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.8244800567626953}

Summary

maneuver crossed runs mean min max
come to stop 3 3 0.4 0.35 0.46
start from stop 3 3 0.36 0.35 0.4
creep: alternate between +1m/s^2 and -1m/s^22 3 0.32 0.3 0.35
brake step response: -1m/s^2 from 20mph 3 3 0.52 0.49 0.55
brake step response: -4m/s^2 from 20mph 1 3 1.19 1.19 1.19
gas step response: +1m/s^2 from 20mph 3 3 0.77 0.65 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 0.458s

Average pitch: -0.55 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.389s

Average pitch: -0.05 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.352s

Average pitch: 0.20 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 0.399s

Average pitch: 0.88 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.348s

Average pitch: 2.53 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.348s

Average pitch: -1.61 degrees

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

Run #1 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.347s

Average pitch: 2.53 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.297s

Average pitch: -0.71 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.350s

Average pitch: -0.53 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.550s

Average pitch: -0.06 degrees

Run #2

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

Average pitch: 0.61 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.512s

Average pitch: 0.58 degrees

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

Run #1

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

Average pitch: -0.47 degrees

Run #2

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

Average pitch: -0.07 degrees

Run #3

Initial aTarget: -4.0 m/s^2, crossed in 1.192s

Average pitch: -0.15 degrees

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

Run #1

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

Average pitch: 1.23 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.900s

Average pitch: 1.33 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.748s

Average pitch: 1.03 degrees

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

Run #1

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

Average pitch: 1.43 degrees

Run #2

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

Average pitch: 1.30 degrees

Run #3

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

Average pitch: 1.53 degrees