Longitudinal maneuver report

VOLKSWAGEN_ID4_MK2

e0e091ddbbef0297/00000035--d40726e4ef

f1746f2e2de9c92ec2fc1bccacf6c9c715a66f96, master, https://github.com/commaai/openpilot.git

CarParams

{ 'alphaLongitudinalAvailable': False,
  'alternativeExperience': 0,
  'autoResumeSng': True,
  'brand': 'volkswagen',
  'carFingerprint': 'VOLKSWAGEN_ID4_MK2',
  'carFw': [ { '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},
             { '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}],
  '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,
                                          'kpBP': [0.0],
                                          'kpV': [0.0]},
                          'kiBP': [0.0, 30.0],
                          'kiV': [0.4000000059604645, 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 stop330.620.450.75
start from stop330.970.851.1
creep: alternate between +1m/s^2 and -1m/s^2330.80.750.85
brake step response: -1m/s^2 from 20mph330.780.60.9
brake step response: -3.5m/s^2 from 20mph331.31.21.35
gas step response: +1m/s^2 from 20mph330.550.450.7
gas step response: +2m/s^2 from 20mph330.680.550.8

come to stop

Run #1

Initial aTarget: -0.5 m/s^2, crossed in 0.451s

Average pitch: 0.24 degrees

Run #2

Initial aTarget: -0.5 m/s^2, crossed in 0.651s

Average pitch: 0.18 degrees

Run #3

Initial aTarget: -0.5 m/s^2, crossed in 0.748s

Average pitch: 0.11 degrees

start from stop

Run #1

Initial aTarget: 1.5 m/s^2, crossed in 1.101s

Average pitch: 0.72 degrees

Run #2

Initial aTarget: 1.5 m/s^2, crossed in 0.850s

Average pitch: 0.95 degrees

Run #3

Initial aTarget: 1.5 m/s^2, crossed in 0.949s

Average pitch: 1.69 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.851s

Average pitch: -0.91 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.801s

Average pitch: -0.96 degrees

Run #3

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

Average pitch: -1.01 degrees

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

Run #1

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

Average pitch: -0.79 degrees

Run #2

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

Average pitch: -0.30 degrees

Run #3

Initial aTarget: -1.0 m/s^2, crossed in 0.848s

Average pitch: 0.41 degrees

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

Run #1

Initial aTarget: -3.5 m/s^2, crossed in 1.350s

Average pitch: 2.22 degrees

Run #2

Initial aTarget: -3.5 m/s^2, crossed in 1.202s

Average pitch: 1.87 degrees

Run #3

Initial aTarget: -3.5 m/s^2, crossed in 1.350s

Average pitch: 0.34 degrees

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

Run #1

Initial aTarget: 1.0 m/s^2, crossed in 0.499s

Average pitch: 0.80 degrees

Run #2

Initial aTarget: 1.0 m/s^2, crossed in 0.698s

Average pitch: 0.24 degrees

Run #3

Initial aTarget: 1.0 m/s^2, crossed in 0.453s

Average pitch: -0.13 degrees

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

Run #1

Initial aTarget: 2.0 m/s^2, crossed in 0.799s

Average pitch: -0.06 degrees

Run #2

Initial aTarget: 2.0 m/s^2, crossed in 0.553s

Average pitch: 2.30 degrees

Run #3

Initial aTarget: 2.0 m/s^2, crossed in 0.700s

Average pitch: 1.98 degrees