GM: Very slow acceleration when resuming from a stop or slow roll

[Verylukyguy]

trafficstars

Describe the bug

Very slow acceleration when resuming from a stop or after slowing to a near stop for a lead car to turn; it does get normal at around 30 mph.

What hardware does this issue affect?

comma two

Which car does this affect?

GMC Acadia 2018

Provide a route where the issue occurs

e38a02cae1ef1e0c|2022-04-15--07-43-35--3

openpilot version

Master 0.8.14 @ 1fa1c44

Additional info

This has been an ongoing issue from the beginning for the GM port.

@Twilsonco has fixed this in his fork and has even added a toggle for Normal/Sport/Eco/Creep acceleration modes.

[twilsonco]

This is due to MAX_GAS (and it's corresponding value in panda) in selfdrive/car/gm/values being set too low. The max value for the gm gas command is 4095, which is what I use for max gas in my fork. The actual acceleration is then limited by the acceleration limits in OP. I think 4095 is excessive if you don't have a "sport acceleration" mode, but a higher value such as 3584 (half-way from the current value to the max) will allow for more reasonable acceleration (still less than stock ACC is capable of).

[Verylukyguy]

Here is another route where the lead pulls away and the vehicle has very slow acceleration when resuming.

e38a02cae1ef1e0c|2022-07-10--16-41-43--4

[Verylukyguy]

Here is another route where the lead pulls away and the vehicle has very slow acceleration when resuming.

df51b2195de66a9b|2022-10-16--15-55-34--13 @ 16:08:44-13

[Verylukyguy]

Here is a example on a new route at 0:07:34 – 5 on Comma Master at 5b9f2c3

df51b2195de66a9b|2023-02-08--10-02-10--5

[sshane]

@Verylukyguy if you can rally the other ICE GMs to gather routes from a stop, that will help us raise the ICE gas/regen limit across the board.

[1454]

Comma 3, silverado here. Same issue. Excessively slow take up acceleration until about 30ish. Usually have to manually override.

[Verylukyguy]

Here is a stock ACC route in Dashcam Mode: df51b2195de66a9b|2023-08-08--16-37-24--9 At this point in the route, my lead turns off and I experience the fastest acceleration in the route. I let the stock ACC do most of the acceleration on this entire route.

[sshane]

@1454 please provide a route with openpilot toggled off in the Device settings, and have the car come from a stop to at least 30 mph on flat ground. This will help us standardize a solution for all platforms!

[sshane]

@Verylukyguy anything from closer to a stop?

[Verylukyguy]

There is a factory ACC resume from a stop at 16:43:29 – 6

[sshane]

From cookiemonster: fe80a4e1cedec853|2023-08-08--08-58-41

[morrislee]

stock acc route with come to a stop and start from standing still fe80a4e1cedec853|2023-08-08--18-10-55--12

[Verylukyguy]

Here is another stock ACC route with a few examples of accelerations from a stop, I think that the best one is here: df51b2195de66a9b|2023-08-11--17-19-41--7 It was a resume from 0 to 50 mph, there are a few before and after it.

[1454]

I have completed a 4-30+, and 0-27 drives. Traffic slowed up on the second one before I hit 30.

61c6258cac78af08|2023-08-13--13-07-56--0

[Verylukyguy]

Referencing Shane's newest discovery: https://github.com/commaai/opendbc/pull/951