Ford: long improvements

sshane commented 2 weeks ago

[x] Pitch compensate for deceleration bit (and possibly deceleration, unsure if it's truly acceleration for all pitches) - https://github.com/commaai/opendbc/pull/1418:
[x] Entering a stop, Bronco will let off brakes and coast into lead sometimes - https://github.com/commaai/opendbc/pull/1411
[x] Add small amount of error correction to close the loop, can sometimes leave desired plan in a steady state (might contribute to above) - https://github.com/commaai/opendbc/pull/1413
[x] Add hysteresis to brake bit if noisy - https://github.com/commaai/opendbc/pull/1418
[ ] When coming to a stop in the longitudinal maneuver report, brakes pulse/let go and grab again very quickly
[ ] High reving when accelerating sometimes
[x] Brake overshooting - https://github.com/commaai/opendbc/pull/1419
[x] Understand if AccPrpl_A_Pred is necessary - not at this time, it does not control anything
[x] When braking, even with radar, plan allows the car to get much closer than what is comfortable (is the radar parsing wrong?) - no, but planner has an allow throttle bug being fixed! https://github.com/commaai/openpilot/tree/coast_accel_fixes

sshane commented 2 weeks ago

Re braking undershooting near a stop:

Looks like the stock system experiences this as well and they just get around it via compensating for it:

sshane commented 2 weeks ago

Some routes:

Not able to achieve any engine braking with any of the gas signals alone: https://connect.comma.ai/b9d015f8ff659e1e/00000450--061f5e23f2
Not able to achieve high revving by setting the predicted gas to a negative actuation value: b9d015f8ff659e1e/00000454--f9fec645db
Validated that the gas signal is actually an acceleration that the PCM applies pitch compensation to on uphills: b9d015f8ff659e1e/00000455--ebfb41fbf2
Doing the same with braking downhill, it does pitch compensate as well: b9d015f8ff659e1e/00000458--c28900a890
Stock long braking smoothly behind a few leads: b9d015f8ff659e1e/00000476--0811ccfbce

sshane commented 1 week ago

BrakeSnData_4->BrkTot_Tq_Actl (Nm) describes how much it's braking, you can see how it overshoots initially:

commaai / opendbc