diff --git a/README.md b/README.md index 1c31139..feae37f 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,7 @@ The home of community-sourced data about the fleet of cars [openpilot](https://g | LEXUS_NX_TSS2 | master, user report | [View](longitudinal_reports/LEXUS_NX_TSS2_638cbbe25b377cd1_00000025--94f1abbe23.html) | | TESLA_MODEL_3 | master, user report | [View](longitudinal_reports/TESLA_MODEL_3_c0fe59cc1ebbd1b3_0000000f--06e674a8d7.html) | | TOYOTA_COROLLA_TSS2 (hybrid) | master, user report | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_7c7d3d5e5ff31d51_00000017--84c3f8cedf.html) | +| TOYOTA_COROLLA_TSS2 (hybrid) | master, user report | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_c16896da5621b481_00000038--ba29565d02.html) | | TOYOTA_CAMRY_TSS2 (hybrid) | master | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_08e4c2a99df165b1_00000233--1df13bd705.html) | | TOYOTA_CAMRY_TSS2 (hybrid) | master w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_08e4c2a99df165b1_00000307--d00f531092.html) | | TOYOTA_CAMRY_TSS2 (hybrid) | various start from stop w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_0000002f--b994f1c411.html) | diff --git a/longitudinal_reports/TOYOTA_COROLLA_TSS2_c16896da5621b481_00000038--ba29565d02.html b/longitudinal_reports/TOYOTA_COROLLA_TSS2_c16896da5621b481_00000038--ba29565d02.html new file mode 100644 index 0000000..d2d8d87 --- /dev/null +++ b/longitudinal_reports/TOYOTA_COROLLA_TSS2_c16896da5621b481_00000038--ba29565d02.html @@ -0,0 +1,225 @@ + +

Longitudinal maneuver report

+

TOYOTA_COROLLA_TSS2

+

c16896da5621b481/00000038--ba29565d02

+

9ad23335460eabcb5390bd21a5f5a8bc9dbb7dec, master, https://github.com/commaai/openpilot.git

+

Description: pcm accel compensation

+

CarParams

{ 'alternativeExperience': 1,
+  'autoResumeSng': True,
+  'carFingerprint': 'TOYOTA_COROLLA_TSS2',
+  'carFw': [ { 'address': 1968,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'abs',
+               'fwVersion': b'F152612800\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'8917F02D72\x00\x00\x00\x00\x00\x00',
+               'logging': True,
+               'obdMultiplexing': True,
+               'request': [b'>', b'\x1a\x88\x01'],
+               'responseAddress': 1928,
+               'subAddress': 0},
+             { 'address': 1953,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'eps',
+               'fwVersion': b'\x018965B1254000\x00\x00\x00\x00',
+               'logging': False,
+               'obdMultiplexing': True,
+               'request': [b'>\x00', b'\x10\x01', b'\x10\x03', b'"\xf1\x81'],
+               'responseAddress': 1961,
+               'subAddress': 0},
+             { 'address': 1792,
+               'brand': 'toyota',
+               'bus': 0,
+               'ecu': 'engine',
+               'fwVersion': b'\x028966312Q4000\x00\x00\x00\x008966A470300'
+                            b'0\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'\x028646F1202100\x00\x00\x00\x008646G260140'
+                            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'\x018821F3301400\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': '00000000000000000',
+  'centerToFront': 1.1748000383377075,
+  'dashcamOnly': False,
+  'enableBsm': True,
+  'enableDsu': False,
+  'experimentalLongitudinalAvailable': False,
+  'fingerprintSource': 'fw',
+  'flags': 280,
+  'fuzzyFingerprint': False,
+  'lateralTuning': { 'torque': { 'friction': 0.19570063054561615,
+                                 'kf': 1.0,
+                                 'ki': 0.10000000149011612,
+                                 'kp': 1.0,
+                                 'latAccelFactor': 1.991132378578186,
+                                 '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': 1523.9915771484375,
+  'maxLateralAccel': 1.868866205215454,
+  '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': 2548.41552734375,
+  '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': 13.899999618530273,
+  'steerRatioRear': 0.0,
+  'stopAccel': -2.0,
+  'stoppingDecelRate': 0.30000001192092896,
+  'tireStiffnessFactor': 0.4440000057220459,
+  'tireStiffnessFront': 83003.296875,
+  'tireStiffnessRear': 103094.59375,
+  'transmissionType': 'unknown',
+  'vEgoStarting': 0.25,
+  'vEgoStopping': 0.25,
+  'wheelSpeedFactor': 1.0,
+  'wheelbase': 2.6700000762939453}
+

Summary

+ + + + + + + + + + + + + +
maneuver crossed runs mean min max
come to stop 3 3 0.62 0.56 0.65
start from stop 3 3 3.1 2.76 3.3
creep: alternate between +1m/s^2 and -1m/s^23 3 1.75 1.6 1.9
brake step response: -1m/s^2 from 20mph 3 3 0.65 0.6 0.69
brake step response: -4m/s^2 from 20mph 3 3 1.41 1.34 1.45
gas step response: +1m/s^2 from 20mph 3 3 0.78 0.7 0.86
gas step response: +4m/s^2 from 20mph 0 3
+
+

come to stop

+

Run #1

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.559s

Average pitch: -0.50 degrees

+
+

Run #2

 +

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

Average pitch: -0.36 degrees

+
+

Run #3

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.653s

Average pitch: -0.34 degrees

+
+
+

start from stop

+

Run #1

 +

Initial aTarget: 1.5 m/s^2, crossed in 3.257s

Average pitch: -0.01 degrees

+
+

Run #2

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.756s

Average pitch: 0.28 degrees

+
+

Run #3

 +

Initial aTarget: 1.5 m/s^2, crossed in 3.299s

Average pitch: -0.21 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.896s

Average pitch: -0.16 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.603s

Average pitch: -0.14 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.748s

Average pitch: -0.23 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.651s

Average pitch: -0.43 degrees

+
+

Run #2

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.694s

Average pitch: -0.34 degrees

+
+

Run #3

 +

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

Average pitch: -0.42 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.448s

Average pitch: -0.88 degrees

+
+

Run #2

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.450s

Average pitch: -1.02 degrees

+
+

Run #3

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.340s

Average pitch: -0.55 degrees

+
+
+

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

+

Run #1

 +

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

Average pitch: 0.40 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.791s

Average pitch: 0.61 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.862s

Average pitch: 0.61 degrees

+
+
+

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

+

Run #1

 +

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

Average pitch: 0.43 degrees

+
+

Run #2

 +

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

Average pitch: 0.52 degrees

+
+

Run #3

 +

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

Average pitch: 0.49 degrees

+