Longitudinal maneuver report

VOLKSWAGEN_ID4_MK2

e0e091ddbbef0297/0000002e--9e96400b2b

ad5afe222d543c59522906f0d2eae438d321bdb1, master, https://github.com/commaai/openpilot.git

CarParams

{ 'alphaLongitudinalAvailable': False,
  'alternativeExperience': 0,
  'autoResumeSng': True,
  'brand': 'volkswagen',
  'carFingerprint': 'VOLKSWAGEN_ID4_MK2',
  'carFw': [ { 'address': 1871,
               'brand': 'volkswagen',
               'bus': 0,
               'ecu': 'fwdCamera',
               'fwVersion': b'\xf1\x871EA980653B \xf1\x895510',
               '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\x871EA907567C \xf1\x890099',
               'logging': False,
               'obdMultiplexing': False,
               'request': [b'"\xf1\x87\xf1\x89\xf1\x82'],
               'responseAddress': 1985,
               'subAddress': 0}],
  'carVin': '1V2WSPE8XRC017510',
  'centerToFront': 1.246500015258789,
  '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': True,
  'fingerprintSource': 'fw',
  'flags': 240,
  'fuzzyFingerprint': False,
  'lateralTuning': { 'pid': { 'kf': 1.0,
                              'kiBP': [10.0, 40.0],
                              'kiV': [0.0, 0.11999999731779099],
                              'kpBP': [10.0, 40.0],
                              'kpV': [0.0, 1.4500000476837158]}},
  'longitudinalActuatorDelay': 0.30000001192092896,
  'longitudinalTuning': { 'deprecated': {'kf': 0.0},
                          'kiBP': [0.0, 30.0],
                          'kiV': [0.4000000059604645, 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': False,
  'rotationalInertia': 4247.53173828125,
  'safetyConfigs': [ { 'deprecated': {'safetyParam': 0, 'safetyParam2': 0},
                       'safetyModel': 'volkswagenMeb',
                       'safetyParam': 2}],
  'secOcKeyAvailable': False,
  'secOcRequired': False,
  'steerActuatorDelay': 0.30000001192092896,
  'steerAtStandstill': True,
  'steerControlType': 'curvature',
  'steerLimitTimer': 0.4000000059604645,
  'steerRatio': 15.600000381469727,
  'steerRatioRear': 0.0,
  'stopAccel': -0.550000011920929,
  'tireStiffnessFactor': 1.0,
  'tireStiffnessFront': 284325.90625,
  'tireStiffnessRear': 367741.125,
  'transmissionType': 'direct',
  'wheelSpeedFactor': 1.0,
  'wheelbase': 2.7699999809265137}

Summary

maneuvercrossedrunsmeanminmax
come to stop330.620.50.75
start from stop330.880.850.9
creep: alternate between +1m/s^2 and -1m/s^2230.750.750.75
brake step response: -1m/s^2 from 20mph330.730.60.85
brake step response: -3.5m/s^2 from 20mph331.331.251.5
gas step response: +1m/s^2 from 20mph330.520.50.55
gas step response: +2m/s^2 from 20mph330.720.70.75

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 0.498s

Average pitch: 0.94 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.752s

Average pitch: -1.46 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.602s

Average pitch: 0.81 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 0.899s

Average pitch: 1.19 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.901s

Average pitch: 1.64 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.848s

Average pitch: 1.60 degrees

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

Run #1

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

Average pitch: -0.69 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.751s

Average pitch: -0.08 degrees

Run #3 (invalid maneuver!)

Initial aTarget: 1.0 m/s^2, crossed in 0.850s

Average pitch: 2.35 degrees

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

Run #1

Initial aTarget: -1.0 m/s^2, crossed in 0.599s

Average pitch: 1.07 degrees

Run #2

Initial aTarget: -1.0 m/s^2, crossed in 0.850s

Average pitch: 0.10 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.750s

Average pitch: -0.79 degrees

brake step response: -3.5m/s^2 from 20mph

Run #1

Initial aTarget: -3.5 m/s^2, crossed in 1.249s

Average pitch: 0.71 degrees

Run #2

Initial aTarget: -3.5 m/s^2, crossed in 1.500s

Average pitch: 0.70 degrees

Run #3

Initial aTarget: -3.5 m/s^2, crossed in 1.250s

Average pitch: 0.66 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.546s

Average pitch: 2.93 degrees

Run #2

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

Average pitch: 1.01 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.501s

Average pitch: 1.23 degrees

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

Run #1

Initial aTarget: 2.0 m/s^2, crossed in 0.702s

Average pitch: 1.03 degrees

Run #2

Initial aTarget: 2.0 m/s^2, crossed in 0.701s

Average pitch: 1.49 degrees

Run #3

Initial aTarget: 2.0 m/s^2, crossed in 0.750s

Average pitch: 1.47 degrees