From 68a415c584988c5b18200bcc0ab9925a92c7b88a Mon Sep 17 00:00:00 2001 From: Choong-Soo Lee Date: Mon, 21 Oct 2024 17:37:06 -0400 Subject: [PATCH] Add Toyota Highlander Hybrid Report (#3) * Add Toyota Highlander Hybrid * added the report --- README.md | 33 +-- ...a447729c1d15ff89_00000022--b222911f07.html | 233 ++++++++++++++++++ 2 files changed, 250 insertions(+), 16 deletions(-) create mode 100644 longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000022--b222911f07.html diff --git a/README.md b/README.md index feae37f..4906315 100644 --- a/README.md +++ b/README.md @@ -4,19 +4,20 @@ The home of community-sourced data about the fleet of cars [openpilot](https://g ## Longitudinal maneuver reports -| Platform | Description | Report | -|------------------------------|------------------------------------------------|------------------------------------------------------------------------------------------------| -| FORD_F_150_MK14 | master, user report | [View](longitudinal_reports/FORD_F_150_MK14_e36b272d5679115f_000000bb--41f562d6c4.html) | -| KIA_EV6 | master | [View](longitudinal_reports/KIA_EV6_09ed4c7e7b4937fb_00000208--b531b1cb05.html) | -| LEXUS_ES_TSS2 | new tune | [View](longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_00000208--c387e67187.html) | -| 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) | -| TOYOTA_CAMRY_TSS2 (hybrid) | high speed gas step response w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_00000032--0e0ac9c0d1.html) | -| TOYOTA_COROLLA_TSS2 | master | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_a2bddce0b6747e10_000002a8--842d636732.html) | -| TOYOTA_HIGHLANDER_TSS2 | master, user report | [View](longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000063--937039a5e9.html) | -| TOYOTA_PRIUS_TSS2 | pcm accel compensation, user report | [View](longitudinal_reports/TOYOTA_PRIUS_TSS2_74b008694de53cc1_00000034--0faa8ed1ab.html) | +| Platform | Description | Report | +|---------------------------------|------------------------------------------------|------------------------------------------------------------------------------------------------| +| FORD_F_150_MK14 | master, user report | [View](longitudinal_reports/FORD_F_150_MK14_e36b272d5679115f_000000bb--41f562d6c4.html) | +| KIA_EV6 | master | [View](longitudinal_reports/KIA_EV6_09ed4c7e7b4937fb_00000208--b531b1cb05.html) | +| LEXUS_ES_TSS2 | new tune | [View](longitudinal_reports/LEXUS_ES_TSS2_57048cfce01d9625_00000208--c387e67187.html) | +| 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) | +| TOYOTA_CAMRY_TSS2 (hybrid) | high speed gas step response w/ permit braking | [View](longitudinal_reports/TOYOTA_CAMRY_TSS2_7852e9f76b7e6e8a_00000032--0e0ac9c0d1.html) | +| TOYOTA_COROLLA_TSS2 | master | [View](longitudinal_reports/TOYOTA_COROLLA_TSS2_a2bddce0b6747e10_000002a8--842d636732.html) | +| TOYOTA_HIGHLANDER_TSS2 (hybrid) | master, user report | [View](longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000063--937039a5e9.html) | +| TOYOTA_HIGHLANDER_TSS2 (hybrid) | master, user report | [View](longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000022--b222911f07.html) | +| TOYOTA_PRIUS_TSS2 | pcm accel compensation, user report | [View](longitudinal_reports/TOYOTA_PRIUS_TSS2_74b008694de53cc1_00000034--0faa8ed1ab.html) | diff --git a/longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000022--b222911f07.html b/longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000022--b222911f07.html new file mode 100644 index 0000000..4e07a83 --- /dev/null +++ b/longitudinal_reports/TOYOTA_HIGHLANDER_TSS2_a447729c1d15ff89_00000022--b222911f07.html @@ -0,0 +1,233 @@ + +

Longitudinal maneuver report

+

TOYOTA_HIGHLANDER_TSS2

+

a447729c1d15ff89/00000022--b222911f07

+

9674c7b5af0b38837f0902e58e246d1c777df5f9, master, 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': 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,
+  'radarTimeStep': 0.05000000074505806,
+  '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 0.45 0.4 0.5
start from stop 3 3 2.68 2.6 2.74
creep: alternate between +1m/s^2 and -1m/s^23 3 1.63 1.6 1.65
brake step response: -1m/s^2 from 20mph 3 3 0.57 0.55 0.6
brake step response: -4m/s^2 from 20mph 2 3 1.3 1.3 1.3
gas step response: +1m/s^2 from 20mph 3 3 0.72 0.65 0.79
gas step response: +4m/s^2 from 20mph 0 3
+
+

come to stop

+

Run #1

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.397s

Average pitch: 0.14 degrees

+
+

Run #2

 +

Initial aTarget: -0.5 m/s^2, crossed in 0.450s

Average pitch: 0.37 degrees

+
+

Run #3

 +

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

Average pitch: -0.15 degrees

+
+
+

start from stop

+

Run #1

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.697s

Average pitch: 0.89 degrees

+
+

Run #2

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.745s

Average pitch: 1.08 degrees

+
+

Run #3

 +

Initial aTarget: 1.5 m/s^2, crossed in 2.599s

Average pitch: 0.43 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.650s

Average pitch: -0.27 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.605s

Average pitch: -0.14 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 1.649s

Average pitch: -0.17 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.555s

Average pitch: -2.82 degrees

+
+

Run #2

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.598s

Average pitch: -3.71 degrees

+
+

Run #3

 +

Initial aTarget: -1.0 m/s^2, crossed in 0.556s

Average pitch: -2.26 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.300s

Average pitch: -0.95 degrees

+
+

Run #2

 +

Initial aTarget: -4.0 m/s^2, crossed in 1.298s

Average pitch: -2.19 degrees

+
+

Run #3

 +

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

Average pitch: -2.59 degrees

+
+
+

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

+

Run #1

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.652s

Average pitch: -1.64 degrees

+
+

Run #2

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.703s

Average pitch: 0.55 degrees

+
+

Run #3

 +

Initial aTarget: 1.0 m/s^2, crossed in 0.795s

Average pitch: 0.28 degrees

+
+
+

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

+

Run #1

 +

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

Average pitch: 1.55 degrees

+
+

Run #2

 +

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

Average pitch: -0.48 degrees

+
+

Run #3

 +

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

Average pitch: 0.56 degrees

+