commaai
Toyota Corolla Hybrid: Extremely slow acceleration and early braking when using 'Aggressive' mode
Describe the bug
Aggressive mode seems to be opposite of what it intends to do. Acceleration when the lead starts moving is extremely slow and the car tends to brake way too early when stopping for a lead. I've always had these issues with OpenPilot, but though 'Aggressive' mode would help address them, but for some reason it makes them substantially worse.
Which car does this affect?
Toyota Corolla Hybrid 2021
Provide a route where the issue occurs
ecebb0b63434e2f2|2023-06-23--12-14-31--6
openpilot version
0.9.4
Additional info
No response
Can you get a new route with rlogs? The ones for this route are gone already. It looks like (from the rough qlogs) when coming to a stop, it didn't overshoot braking too badly, and was generally following the plan well, so it doesn't look like a control issue there: @haraschax is this late braking expected? It looks like he might have enabled kind of late.
But it did lag when resuming later in the segment, I'm looking into how the PCM transforms our acceleration request when I have free time here and there, hoping to fix this kind of stuff soon.
The brake response doesn't look great, but I don't think it's unexpected.
Not right now. My Comma is on it's way back to me after some hardware repairs, but I'll upload some more drive when I get it later this week.
Here are a few more segments with extremely slow acceleration (some in aggressive and some in standard although these settings don't seem to affect my acceleration):
b434e73e06865d48|2023-08-23--17-53-56--18
b434e73e06865d48|2023-08-23--17-53-56--23
b434e73e06865d48|2023-08-23--17-53-56--23
b434e73e06865d48|2023-08-23--17-53-56--31
Since this issue is mostly about slow acceleration with the more recent reports, going to close as completed by https://github.com/commaai/opendbc/pull/1464!
Please make a new issue for the laggy braking if you have any bad examples recently.