Longitudinal maneuver report

VOLKSWAGEN_ID4_MK1

aebd8f1d4ea16066/000000c4--6932a266c7

3b77df6ec0fd053bd9d62e03e01832e2450e3023, id4, https://github.com/commaai/openpilot.git

CarParams

{ 'alphaLongitudinalAvailable': True,
  'alternativeExperience': 0,
  'autoResumeSng': True,
  'brand': 'volkswagen',
  'carFingerprint': 'VOLKSWAGEN_ID4_MK1',
  'carFw': [ { 'address': 1813,
               'brand': 'volkswagen',
               'bus': 1,
               'ecu': 'srs',
               'fwVersion': b'\xf1\x875WA959655R \xf1\x890717',
               'logging': False,
               'obdMultiplexing': False,
               'request': [b'"\xf1\x87\xf1\x89\xf1\x82'],
               'responseAddress': 1919,
               'subAddress': 0},
             { 'address': 1871,
               'brand': 'volkswagen',
               'bus': 0,
               'ecu': 'fwdCamera',
               'fwVersion': b'\xf1\x871EA980653D \xf1\x895332',
               'logging': True,
               'obdMultiplexing': False,
               'request': [b'"\xf1\x87\xf1\x89\xf1\x82'],
               'responseAddress': 1977,
               'subAddress': 0},
             { 'address': 1879,
               'brand': 'volkswagen',
               'bus': 0,
               'ecu': 'fwdRadar',
               'fwVersion': b'\xf1\x871EA907572H \xf1\x890234',
               'logging': False,
               'obdMultiplexing': False,
               'request': [b'"\xf1\x87\xf1\x89\xf1\x82'],
               'responseAddress': 1985,
               'subAddress': 0}],
  'carVin': '1V2CMPE81PC030799',
  'centerToFront': 1.246500015258789,
  'dashcamOnly': False,
  'enableBsm': False,
  'fingerprintSource': 'fixed',
  'flags': 48,
  'fuzzyFingerprint': False,
  'lateralTuning': {'pid': {'kf': 0.0}},
  'longitudinalActuatorDelay': 0.15000000596046448,
  'longitudinalTuning': { 'kfDEPRECATED': 0.0,
                          'kiBP': [0.0],
                          'kiV': [0.0],
                          'kpBP': [0.0],
                          'kpV': [0.0]},
  'mass': 2360.0,
  'maxLateralAccel': 2.5,
  'minEnableSpeed': -1.0,
  'minSteerSpeed': 0.4000000059604645,
  'networkLocation': 'gateway',
  'notCar': False,
  'openpilotLongitudinalControl': True,
  'passive': False,
  'pcmCruise': False,
  'radarDelay': 0.0,
  'radarUnavailable': True,
  'rotationalInertia': 4247.53173828125,
  'safetyConfigs': [ { 'safetyModel': 'volkswagenMeb',
                       'safetyParam': 1,
                       'safetyParam2DEPRECATED': 0,
                       'safetyParamDEPRECATED': 0}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'startAccel': 0.0,
  'startingState': False,
  'steerActuatorDelay': 0.30000001192092896,
  'steerAtStandstill': True,
  'steerControlType': 'angle',
  'steerLimitAlert': False,
  'steerLimitTimer': 0.4000000059604645,
  'steerRatio': 15.600000381469727,
  'steerRatioRear': 0.0,
  'stopAccel': -0.550000011920929,
  'stoppingDecelRate': 0.800000011920929,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 284325.90625,
  'tireStiffnessRear': 367741.125,
  'transmissionType': 'direct',
  'vEgoStarting': 0.10000000149011612,
  'vEgoStopping': 0.5,
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.7699999809265137}

Summary

maneuver	crossed	runs	mean	min	max
come to stop	2	3	0.82	0.7	0.94
start from stop	3	3	2.92	2.25	3.55
creep: alternate between +1m/s^2 and -1m/s^2	2	3	8.2	2.75	13.66
brake step response: -1m/s^2 from 20mph	3	3	0.78	0.6	1.1
brake step response: -4m/s^2 from 20mph	1	3	1.4	1.4	1.4
gas step response: +1m/s^2 from 20mph	3	3	0.77	0.6	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 0.944s

Average pitch: -0.84 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.701s

Average pitch: -1.78 degrees

Run #3 (invalid maneuver!)

Initial aTarget: -0.5 m/s^2, crossed in 0.800s

Average pitch: -1.77 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 2.973s

Average pitch: -1.69 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 3.546s

Average pitch: -1.63 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 2.249s

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 2.750s

Average pitch: -0.81 degrees

Run #2 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 7.713s

Average pitch: -0.94 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 13.659s

Average pitch: -0.36 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.653s

Average pitch: 0.78 degrees

Run #2

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

Average pitch: 0.11 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 1.099s

Average pitch: -0.06 degrees

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

Run #1

Initial aTarget: -4.0 m/s^2, crossed in 1.401s

Average pitch: -1.06 degrees

Run #2

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

Average pitch: -2.39 degrees

Run #3

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

Average pitch: -2.20 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.950s

Average pitch: -0.75 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.601s

Average pitch: -0.93 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.745s

Average pitch: -0.01 degrees

gas 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: 0.87 degrees

Run #3

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

Average pitch: 0.04 degrees