Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Ajzride]

I will send you pictures of setting but

My in lane factor is 0.00
Lane change factor is 0.60
Predicted curvature blend rate is 0.40
Path angle amplitude 5.00
Path angle in curve reaction 0.17
Brake actuator activate -0.14
Brake actuator release delta is 0.08
It's some time change lane aggressively and also some time do cut lines while curve on road

Switch to the “low“ profile. Increase lane change factor to 0.72

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[Harveen]

Switch to the “low“ profile. Increase lane change factor to 0.72

Ok I will try this and what i need to enter for in lane factor value

 

[Ajzride]

Ok I will try this and what i need to enter for in lane factor value

in lane position does not affect control. It is simply a preference of being closer to the left stripe or the right stripe. Negative numbers go left and positive numbers go right. I wouldn’t go more than 0.2 in either direction to start.

 

[GatorJax]

Thank you for everything you do to create, maintain and update this software. I have been using the Comma 3x and Bluepilot for the past 9 months and find each update a nice improvement. I can usually get any questions I have answered by reading this forum but this last update has me a little confused as to the settings. I began using bluepilot with laneless. In the new update with the legacy laneful mode, do the other settings matter (predicted and path angle) since it is just centering between the lines? I am using the low tuning profile with laneful mode but get a slow pingpong on a longer turn. It centers fine on a straight away with no pingpong. I’ve tried custom tuning beginning with the low settings and adjusting in curve reduction but doesn’t seem to change much. That’s why I was wondering if having laneful on negates the other settings or if I just need to drop in curve reduction more? It is currently at .15, predicted curvature of .60 and amplitude of 2.25. Any suggestions would be appreciated.

 

[Ajzride]

Thank you for everything you do to create, maintain and update this software. I have been using the Comma 3x and Bluepilot for the past 9 months and find each update a nice improvement. I can usually get any questions I have answered by reading this forum but this last update has me a little confused as to the settings. I began using bluepilot with laneless. In the new update with the legacy laneful mode, do the other settings matter (predicted and path angle) since it is just centering between the lines? I am using the low tuning profile with laneful mode but get a slow pingpong on a longer turn. It centers fine on a straight away with no pingpong. I’ve tried custom tuning beginning with the low settings and adjusting in curve reduction but doesn’t seem to change much. That’s why I was wondering if having laneful on negates the other settings or if I just need to drop in curve reduction more? It is currently at .15, predicted curvature of .60 and amplitude of 2.25. Any suggestions would be appreciated.

For a slow ping pong we need to increase the signal, not reduce it. I would make the in-curve reduction higher. For low the default is about 0.2, so try 0.4 or 0.5.

Sometimes a curve gets ping pong because the model is late or early into the curve, and there is not much we can do about that except hope for better models in the future.

“laneful“ does not overrides the other settings, it just changes where those settings think center is.

 

[Harveen]

in lane position does not affect control. It is simply a preference of being closer to the left stripe or the right stripe. Negative numbers go left and positive numbers go right. I wouldn’t go more than 0.2 in either direction to start.

Everything looks good except little ping pong between lines

 

[m_bt54]

I’m seeing the same with the ping pong, I’ve mostly not been using it because it’s making me seasick. It was perfect before I upgraded to 2.1. I did have to reset my device because of a failed update so I am wondering if I have some setting different than before. I also notice the driver alerts are much more naggy now

 

[Ajzride]

Everything looks good except little ping pong between lines

I’m seeing the same with the ping pong, I’ve mostly not been using it because it’s making me seasick. It was perfect before I upgraded to 2.1. I did have to reset my device because of a failed update so I am wondering if I have some setting different than before.

I don't want to sound like a jerk, but these posts are worthless without more data. What are your settings?

 

[Ajzride]

I also notice the driver alerts are much more naggy now

No changes at all to the DM program. It does recalibrate your pose every drive, so pay attention to your head position for the first 30 seconds you are above 15 mph every drive, because that will become the position it judges you against for the rest of the drive.

 

[m_bt54]

No changes at all to the DM program. It does recalibrate your pose every drive, so pay attention to your head position for the first 30 seconds you are above 15 mph every drive, because that will become the position it judges you against for the rest of the drive.

Let me know if there is anything else worth sharing or if any of this is unnecessary in the future

 

[Ajzride]

Let me know if there is anything else worth sharing or if any of this is unnecessary in the future

These are the two useful pictures. Do you feel like the ping pong is fast (less than 3 seconds side to side) or slow (sometimes called a wander)?

 

[m_bt54]

These are the two useful pictures. Do you feel like the ping pong is fast (less than 3 seconds side to side) or slow (sometimes called a wander)?

More slow, almost like a boat slowly rocking back and forth. I can even see my wheel turning all the way till I almost get to the lane on one side then doing the same the other way over and over

 

[Ajzride]

More slow, almost like a boat slowly rocking back and forth. I can even see my wheel turning all the way till I almost get to the lane on one side then doing the same the other way over and over

Swap to the medium profile and let's see how the behavior changes. it might not be perfect but we can learn a lot from the difference in behavior.

Do you know how to upload and share a route?

 

[m_bt54]

unfortunately that is the one thing I have tried as I had seen it mentioned either here or on the Discord. It is slightly better with low than medium.

I thought i knew how to upload a route by going to the connect.comma.ai site. I’m currently not seeing any of my past routes there but its possibly related to the fact that I canceled the connect prime trial this morning.

 

[Ajzride]

unfortunately that is the one thing I have tried as I had seen it mentioned either here or on the Discord. It is slightly better with low than medium.

I thought i knew how to upload a route by going to the connect.comma.ai site. I’m currently not seeing any of my past routes there but its possibly related to the fact that I canceled the connect prime trial this morning.

No, you should still see routes regardless of Prime status. But the device has to be on wifi and not driving to upload routes. If it has not been on wifi in a while, it will take some time to back-populate. Once they show up, let's look at some data. It sounds counter-intuitive that a slow ping pong got worse moving from low to mid, I need to analyze the route.

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