Longitudinal maneuver report

TOYOTA_HIGHLANDER_TSS2

a447729c1d15ff89/0000000f--0f720dfa3a

cdee327cad5cddaf6a953a9643e61895afae1910, master-ci, https://github.com/commaai/openpilot.git

CarParams

{ 'alternativeExperience': 1,
  'autoResumeSng': True,
  'carFingerprint': 'TOYOTA_HIGHLANDER_TSS2',
  'carFw': [ { 'address': 1920,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'srs',
               'fwVersion': b'8917F0E380\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'8865F0E01000    ',
               'logging': True,
               'obdMultiplexing': True,
               'request': [b'>', b'\x1a\x88\x01'],
               'responseAddress': 1996,
               'subAddress': 0},
             { 'address': 1953,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'eps',
               'fwVersion': b'8965B48310\x00\x00\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>', b'\x1a\x88\x01'],
               'responseAddress': 1961,
               'subAddress': 0},
             { 'address': 1968,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'abs',
               'fwVersion': b'\x01F152648J4000\x00\x00\x00\x00',
               'logging': False,
               'obdMultiplexing': True,
               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
               'responseAddress': 1976,
               'subAddress': 0},
             { 'address': 2002,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'hybrid',
               'fwVersion': b'\x02899830E18000\x00\x00\x00\x00899850E0800'
                            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': 1792,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'engine',
               'fwVersion': b'\x02896630EB3000\x00\x00\x00\x00897CF480100'
                            b'1\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': 1872,
               'brand': 'toyota',
               'bus': 0,
               'ecu': 'fwdCamera',
               'fwVersion': b'\x028646F4803000\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': '5TDXBRCHXMS524550',
  'centerToFront': 1.2405359745025635,
  'dashcamOnly': False,
  'enableBsm': True,
  'enableDsu': False,
  'experimentalLongitudinalAvailable': False,
  'fingerprintSource': 'fw',
  'flags': 280,
  'fuzzyFingerprint': True,
  'lateralTuning': { 'torque': { 'friction': 0.14519673585891724,
                                 'kf': 1.0,
                                 'ki': 0.10000000149011612,
                                 'kp': 1.0,
                                 'latAccelFactor': 1.9617570638656616,
                                 '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': 2184.42138671875,
  'maxLateralAccel': 1.8611643314361572,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.0,
  'networkLocation': 'fwdCamera',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': True,
  'radarDelay': 0.0,
  'radarUnavailable': False,
  'rotationalInertia': 4073.0048828125,
  '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': 16.0,
  'steerRatioRear': 0.0,
  'stopAccel': -2.0,
  'stoppingDecelRate': 0.30000001192092896,
  'tireStiffnessFactor': 0.800000011920929,
  'tireStiffnessFront': 214366.15625,
  'tireStiffnessRear': 266254.375,
  'transmissionType': 'unknown',
  'vEgoStarting': 0.25,
  'vEgoStopping': 0.25,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.8194000720977783}

Summary

maneuver crossed runs mean min max
come to stop 3 3 0.43 0.35 0.55
start from stop 3 3 1.82 1.4 2.3
creep: alternate between +1m/s^2 and -1m/s^23 3 0.53 0.5 0.55
brake step response: -1m/s^2 from 20mph 2 3 0.55 0.55 0.55
brake step response: -4m/s^2 from 20mph 1 3 1.8 1.8 1.8
gas step response: +1m/s^2 from 20mph 2 3 0.85 0.75 0.95
gas step response: +4m/s^2 from 20mph 0 3

come to stop

Run #1

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

Average pitch: -0.62 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.551s

Average pitch: 0.09 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.400s

Average pitch: -0.19 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 1.748s

Average pitch: 1.00 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 2.300s

Average pitch: 0.66 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 1.401s

Average pitch: 0.65 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.498s

Average pitch: -0.51 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.553s

Average pitch: -0.80 degrees

Run #3

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

Average pitch: -0.43 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.548s

Average pitch: -1.78 degrees

Run #2 (invalid maneuver!)

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

Average pitch: -1.57 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.548s

Average pitch: -1.56 degrees

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

Run #1

Initial aTarget: -4.0 m/s^2, crossed in 1.800s

Average pitch: -1.59 degrees

Run #2

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

Average pitch: -2.50 degrees

Run #3

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

Average pitch: -2.52 degrees

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

Run #1

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

Average pitch: 0.50 degrees

Run #2 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.799s

Average pitch: -0.64 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.749s

Average pitch: -0.33 degrees

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

Run #1

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

Average pitch: -0.42 degrees

Run #2

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

Average pitch: -0.06 degrees

Run #3

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

Average pitch: 0.07 degrees