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commaai
Bolt EUV: poor lateral control
Describe the bug
Car turns into a turn late and then over corrects which requires extra torque and then sometimes it gets jerky/underdamped.
Which car does this affect?
2022 Bolt EUV Premier non Super Cruise
Provide a route where the issue occurs
0def4a390f6fe5c0|2022-10-08--12-57-26--13
openpilot version
0.8.16
Additional info
Around timestamp 800 car is going about 40 and comes up on a turn which had good visibility prior. It reacts late and has to cut hard to make the turn and goes out of the lane.
We're looking into fixing the Bolt's steering relatively soon, I'll let you know when we have something merged in master/test
Another instance flagged.
This was on 8.17 master 0def4a390f6fe5c0|2022-10-25--16-31-35--21
Almost put me into a curb near the end of this one.
0def4a390f6fe5c0|2022-10-25--17-44-38--9
Under damped oscillating. Don't know if the wheelbase could be wrong, Ackerman or steering angle but it overshoots pretty bad. Also had an issue in this one on the freeway cloverleaf about 5 minutes before getting into town
It almost went off the road yesterday. Latest master-ci build
0def4a390f6fe5c0|2022-11-08--04-42-54--8
https://user-images.githubusercontent.com/1179525/200882184-25b6e417-6d16-417a-b7d7-ff6a6a9a7f22.mp4
Video of the latest issue
We have a new branch you can try here: https://github.com/commaai/openpilot/pull/26371. Please post any feedback you have!
https://installer.comma.ai/commaai/bolt-torque-control
I just got my Comma 3 and I have a Bolt EUV. I'm testing this out and will report back.
We have a new branch you can try here: #26371. Please post any feedback you have!
https://installer.comma.ai/commaai/bolt-torque-control
Trying now
Better but still kind of jerky due to overshooting and under damping
0def4a390f6fe5c0|2022-12-02--15-25-16--22 Part of a longer route. This is the same one from my old issue where it had trouble. Longer version with a few oddities from city driving and experimental being neurotic about gas and brakes:. 0def4a390f6fe5c0|2022-12-02--15-25-16--0
Yeah it definitely cuts the inside of a turn. On ramps and low speed sharp turns especially.
Also something to note I noticed the speedometer on the car is usually 2KM/hr higher than what the comma is showing. Not sure if that factors into the equation when dealing with turning.