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AP2 back to using one camera on 2017.32.6 ca28227

Discussion in 'Autonomous Vehicles' started by daktari, Aug 27, 2017.

  1. daktari

    daktari Member

    Joined:
    Jan 21, 2017
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    Location:
    Norway
    I have been wondering about this since I got 17.26.96 or what it was called, because of the excessive swerving in any minor undulation or crest. Even when myself can see the lanes clear, the car does not. Enough speculations, I tried.

    Second picture, 1830, did not work. Gave only a weak and short left lane marker in display, TACC available, autosteer not possible to activate.
    https://teslamotorsclub.com/tmc/attachments/dsc_1830-jpg.244001/

    First pic, 1829, worked fine with autosteer and TACC. No problems.
    https://teslamotorsclub.com/tmc/attachments/dsc_1829-jpg.244000/

    I am on 2017.32.6 ca28227

    Can anyone please try also and confirm my findings?
    Why are they going backwards?
     
    • Informative x 5
  2. CalBlue 85D

    CalBlue 85D Member

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    Aug 27, 2016
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    SF Bay Area
    That's what Elon means by AP1 parity. You can't have parity if you have three or more working cameras.... ; )
     
    • Funny x 14
  3. boaterva

    boaterva Supporting Member

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    Northern Virginia, USA
    I think we need a <groan> button as well as a <funny> button! :D
     
    • Like x 1
    • Funny x 1
  4. bswn1

    bswn1 Member

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    This is a good thing if true!
     
  5. bswn1

    bswn1 Member

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    • Like x 1
  6. verygreen

    verygreen Curious member

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    17.26.xx is when they switched their neural net to a much smaller one (about 2x reduction). the vision thread still uses two cameras - you can see calibrations for both are updated all the time, but possibly the NN model is just deficient in whatever way leading to less stable vision.

    17.32 uses same model (as are all in-between releases) so visuals-wise there should not be any improvements since then, just the control logic changes.
     
    • Informative x 7
    • Helpful x 1
  7. daktari

    daktari Member

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    Verygreen, can you see changes in the data stream if you cover a camera or two?
     
  8. chillaban

    chillaban Active Member

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    May 5, 2016
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    Bay Area
    I don't think this test necessarily says that AP2 uses one camera now. It does however paint a clear picture of which camera is the primary/main camera (which is hardly surprising given the names of the cameras). The narrow one likely is still used to recognized stopped cars from a longer distance, but it's not critical to a functioning Autopilot, unlike the main camera.
     
  9. verygreen

    verygreen Curious member

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    not really. For that I need a way to intercept what's fed into GPU which is kind of complicated.

    But the NN model is named "main_narrow" so must imply it's model for both.
     
    • Like x 1
  10. daktari

    daktari Member

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    Agree, but it does say that you need the left one only.
    I would speculate that the lane markers would be there from the narrow/tele camera also, as I guess it has a blind spot in front of the car only. You could be correct that tele only identifies cars, (and is used to improve or secure what the radar identifies). That is the feeling I get, cars do not read the road far enough ahead.
    Anyone know the difference in field and depth of view from Ap1 and Ap2 main cam?
     
  11. mrkisskiss

    mrkisskiss Member

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    Jan 26, 2017
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    Location:
    London
    I thought it'd only use the main camera during highway driving, since it was seemingly activated when they enabled high speed auto steer?

    I suppose the test would be to cover the camera then see if you get the high speed auto steer stuff... multi-lane changes etc.

    On local roads, it probably still uses narrow camera almost exclusively... which would also explain why it's much less reliable I guess.
     
  12. Brick_top

    Brick_top Member

    Joined:
    Aug 7, 2015
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    Location:
    Portugal
    Hi, I don't have a tesla but I'm curious about something.

    Has AP2 already come anywhere close to the level of the videos shown at the time of the hardware release?
     
    • Funny x 3
  13. daktari

    daktari Member

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    Location:
    Norway
    Do you mean that the car use GPS to identify road type and switch which camera is used for lane keeping based on that?
    I did both local road and local highway, and car behaved similar på both roads in the 2 different camera blackouts. Speeds 40 km/h and 80km/h. I did not do high speed highway with lane change. Maybe someone else will try?
    I would also believe the narrow camera, which has a tele amplification, is better suited for high speed straight roads than local roads.
     
  14. mrkisskiss

    mrkisskiss Member

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    I would imagine that whilst the narrow camera is most useful for identifying cars within the same lane, the main camera is probably better suited for detecting cars and markings in adjacent lanes thanks to its wider field of view - the narrow camera really only sees the car directly in front. Ultimately, I think when they activate the fisheye camera we'll probably start seeing a change in how vehicles are represented on the IC.
     
  15. mitchellh3

    mitchellh3 Member

    Joined:
    Nov 18, 2016
    Messages:
    110
    Location:
    Los Angeles, CA
    No comment on camera usage but the car does use GPS to identify road types.

    The logs and internal spelunking by green has shown there are something like 6 road classifications that seem to come from map data synced with GPS. It uses this to determine Autosteer restrictions for example.

    (You may already know this, in which case I'm sorry I misunderstood your statement)
     
    • Informative x 1
  16. lunitiks

    lunitiks ˭ ˭ ʽʽʽʽʽʽʽʽʽ ʭ ʼʼʼʼʼʼʼʼʼ ˭ ˭

    Joined:
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    Prawn Island, VC
    Way beyond. Approaching self awareness now
     
    • Funny x 19
  17. AnxietyRanger

    AnxietyRanger Well-Known Member

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    AP2 is actually writing all my messages on TMC.

    That's my excuse, anyway.
     
    • Funny x 7
  18. verygreen

    verygreen Curious member

    Joined:
    Jan 16, 2017
    Messages:
    1,164
    Location:
    TN
    btw I captured a new trip-log snapshot made with 17.32 release and they added more stuff there, now has speed and curve info (sorry the sample is real small and I have no time to go outside for a longer drive):

    Code:
    {
        "snapshot-version": "0.3",
        "wall-time": "xxx",
        "monotonic-time": "xxx",
        "sha1": "xxx",
        "requester": "autopilot-trip-log",
        "request-clock-type": "monotonic",
        "request-trigger-time": "xxx",
        "boot-sec-info": "0x00000002",
        "vehicle-type": "M3-RHD",
        "entries": {
            "autosteer": {
                "time_s": {
                    "autosteer_unavailable": {
                        "ROAD_CLASS_UNKNOWN": "32",
                        "ROAD_CLASS_1": "0",
                        "ROAD_CLASS_2": "0",
                        "ROAD_CLASS_3": "0",
                        "ROAD_CLASS_4": "0",
                        "ROAD_CLASS_5": "94",
                        "ROAD_CLASS_6": "0",
                        "SPEED_UNKNOWN": "0",
                        "SPEED_NEGATIVE_MPS": "12",
                        "SPEED_0_TO_5_MPS": "57",
                        "SPEED_5_TO_10_MPS": "21",
                        "SPEED_10_TO_15_MPS": "31",
                        "SPEED_15_TO_20_MPS": "2",
                        "SPEED_20_TO_25_MPS": "0",
                        "SPEED_25_TO_30_MPS": "0",
                        "SPEED_30_TO_35_MPS": "0",
                        "SPEED_35_TO_40_MPS": "0",
                        "SPEED_40_TO_45_MPS": "0",
                        "SPEED_45_TO_50_MPS": "0",
                        "SPEED_50_OR_ABOVE_MPS": "0",
                        "CURVE_RADIUS_UNKNOWN": "109",
                        "CURVE_RADIUS_0_TO_100_M": "0",
                        "CURVE_RADIUS_100_TO_250_M": "7",
                        "CURVE_RADIUS_250_TO_500_M": "3",
                        "CURVE_RADIUS_500_TO_1000_M": "1",
                        "CURVE_RADIUS_1000_TO_2000_M": "1",
                        "CURVE_RADIUS_2000_TO_5000_M": "1",
                        "CURVE_RADIUS_5000_TO_10000_M": "0",
                        "CURVE_RADIUS_10000_TO_100000_M": "0",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0",
                        "GPS_FUSION_OFF_S": "0",
                        "GPS_FUSION_ON_S": "126",
                        "GPS_FIX_OFF_S": "0",
                        "GPS_FIX_ON_S": "126",
                        "SATELLITE_RANGE_0_TO_3_S": "0",
                        "SATELLITE_RANGE_4_TO_7_S": "0",
                        "SATELLITE_RANGE_8_TO_12_S": "0",
                        "SATELLITE_RANGE_13_AND_UP_S": "126"
                    },
                    "autosteer_available": {
                        "ROAD_CLASS_UNKNOWN": "1",
                        "ROAD_CLASS_1": "0",
                        "ROAD_CLASS_2": "0",
                        "ROAD_CLASS_3": "0",
                        "ROAD_CLASS_4": "0",
                        "ROAD_CLASS_5": "0",
                        "ROAD_CLASS_6": "0",
                        "SPEED_UNKNOWN": "0",
                        "SPEED_NEGATIVE_MPS": "0",
                        "SPEED_0_TO_5_MPS": "0",
                        "SPEED_5_TO_10_MPS": "0",
                        "SPEED_10_TO_15_MPS": "1",
                        "SPEED_15_TO_20_MPS": "0",
                        "SPEED_20_TO_25_MPS": "0",
                        "SPEED_25_TO_30_MPS": "0",
                        "SPEED_30_TO_35_MPS": "0",
                        "SPEED_35_TO_40_MPS": "0",
                        "SPEED_40_TO_45_MPS": "0",
                        "SPEED_45_TO_50_MPS": "0",
                        "SPEED_50_OR_ABOVE_MPS": "0",
                        "CURVE_RADIUS_UNKNOWN": "0",
                        "CURVE_RADIUS_0_TO_100_M": "0",
                        "CURVE_RADIUS_100_TO_250_M": "0",
                        "CURVE_RADIUS_250_TO_500_M": "0",
                        "CURVE_RADIUS_500_TO_1000_M": "0",
                        "CURVE_RADIUS_1000_TO_2000_M": "0",
                        "CURVE_RADIUS_2000_TO_5000_M": "0",
                        "CURVE_RADIUS_5000_TO_10000_M": "0",
                        "CURVE_RADIUS_10000_TO_100000_M": "0",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0",
                        "GPS_FUSION_OFF_S": "0",
                        "GPS_FUSION_ON_S": "2",
                        "GPS_FIX_OFF_S": "0",
                        "GPS_FIX_ON_S": "2",
                        "SATELLITE_RANGE_0_TO_3_S": "0",
                        "SATELLITE_RANGE_4_TO_7_S": "0",
                        "SATELLITE_RANGE_8_TO_12_S": "0",
                        "SATELLITE_RANGE_13_AND_UP_S": "2"
                    },
                    "autosteer_on": {
                        "ROAD_CLASS_UNKNOWN": "0",
                        "ROAD_CLASS_1": "0",
                        "ROAD_CLASS_2": "0",
                        "ROAD_CLASS_3": "0",
                        "ROAD_CLASS_4": "0",
                        "ROAD_CLASS_5": "0",
                        "ROAD_CLASS_6": "0",
                        "SPEED_UNKNOWN": "0",
                        "SPEED_NEGATIVE_MPS": "0",
                        "SPEED_0_TO_5_MPS": "0",
                        "SPEED_5_TO_10_MPS": "0",
                        "SPEED_10_TO_15_MPS": "0",
                        "SPEED_15_TO_20_MPS": "0",
                        "SPEED_20_TO_25_MPS": "0",
                        "SPEED_25_TO_30_MPS": "0",
                        "SPEED_30_TO_35_MPS": "0",
                        "SPEED_35_TO_40_MPS": "0",
                        "SPEED_40_TO_45_MPS": "0",
                        "SPEED_45_TO_50_MPS": "0",
                        "SPEED_50_OR_ABOVE_MPS": "0",
                        "CURVE_RADIUS_UNKNOWN": "0",
                        "CURVE_RADIUS_0_TO_100_M": "0",
                        "CURVE_RADIUS_100_TO_250_M": "0",
                        "CURVE_RADIUS_250_TO_500_M": "0",
                        "CURVE_RADIUS_500_TO_1000_M": "0",
                        "CURVE_RADIUS_1000_TO_2000_M": "0",
                        "CURVE_RADIUS_2000_TO_5000_M": "0",
                        "CURVE_RADIUS_5000_TO_10000_M": "0",
                        "CURVE_RADIUS_10000_TO_100000_M": "0",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0",
                        "GPS_FUSION_OFF_S": "0",
                        "GPS_FUSION_ON_S": "0",
                        "GPS_FIX_OFF_S": "0",
                        "GPS_FIX_ON_S": "0",
                        "SATELLITE_RANGE_0_TO_3_S": "0",
                        "SATELLITE_RANGE_4_TO_7_S": "0",
                        "SATELLITE_RANGE_8_TO_12_S": "0",
                        "SATELLITE_RANGE_13_AND_UP_S": "0"
                    }
                },
                "odometry_m": {
                    "autosteer_unavailable": {
                        "ROAD_CLASS_UNKNOWN": "0.000000",
                        "ROAD_CLASS_1": "0.000000",
                        "ROAD_CLASS_2": "0.000000",
                        "ROAD_CLASS_3": "0.000000",
                        "ROAD_CLASS_4": "0.000000",
                        "ROAD_CLASS_5": "600.000000",
                        "ROAD_CLASS_6": "0.000000",
                        "SPEED_UNKNOWN": "0.000000",
                        "SPEED_NEGATIVE_MPS": "0.000000",
                        "SPEED_0_TO_5_MPS": "0.000000",
                        "SPEED_5_TO_10_MPS": "100.000000",
                        "SPEED_10_TO_15_MPS": "500.000000",
                        "SPEED_15_TO_20_MPS": "0.000000",
                        "SPEED_20_TO_25_MPS": "0.000000",
                        "SPEED_25_TO_30_MPS": "0.000000",
                        "SPEED_30_TO_35_MPS": "0.000000",
                        "SPEED_35_TO_40_MPS": "0.000000",
                        "SPEED_40_TO_45_MPS": "0.000000",
                        "SPEED_45_TO_50_MPS": "0.000000",
                        "SPEED_50_OR_ABOVE_MPS": "0.000000",
                        "CURVE_RADIUS_UNKNOWN": "600.000000",
                        "CURVE_RADIUS_0_TO_100_M": "0.000000",
                        "CURVE_RADIUS_100_TO_250_M": "0.000000",
                        "CURVE_RADIUS_250_TO_500_M": "0.000000",
                        "CURVE_RADIUS_500_TO_1000_M": "0.000000",
                        "CURVE_RADIUS_1000_TO_2000_M": "0.000000",
                        "CURVE_RADIUS_2000_TO_5000_M": "0.000000",
                        "CURVE_RADIUS_5000_TO_10000_M": "0.000000",
                        "CURVE_RADIUS_10000_TO_100000_M": "0.000000",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0.000000",
                        "GPS_FUSION_OFF_M": "0.000000",
                        "GPS_FUSION_ON_M": "600.000000",
                        "GPS_FIX_OFF_M": "0.000000",
                        "GPS_FIX_ON_M": "600.000000",
                        "SATELLITE_RANGE_0_TO_3_M": "0.000000",
                        "SATELLITE_RANGE_4_TO_7_M": "0.000000",
                        "SATELLITE_RANGE_8_TO_12_M": "0.000000",
                        "SATELLITE_RANGE_13_AND_UP_M": "600.000000"
                    },
                    "autosteer_available": {
                        "ROAD_CLASS_UNKNOWN": "0.000000",
                        "ROAD_CLASS_1": "0.000000",
                        "ROAD_CLASS_2": "0.000000",
                        "ROAD_CLASS_3": "0.000000",
                        "ROAD_CLASS_4": "0.000000",
                        "ROAD_CLASS_5": "0.000000",
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                        "SPEED_NEGATIVE_MPS": "0.000000",
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                        "SPEED_10_TO_15_MPS": "0.000000",
                        "SPEED_15_TO_20_MPS": "0.000000",
                        "SPEED_20_TO_25_MPS": "0.000000",
                        "SPEED_25_TO_30_MPS": "0.000000",
                        "SPEED_30_TO_35_MPS": "0.000000",
                        "SPEED_35_TO_40_MPS": "0.000000",
                        "SPEED_40_TO_45_MPS": "0.000000",
                        "SPEED_45_TO_50_MPS": "0.000000",
                        "SPEED_50_OR_ABOVE_MPS": "0.000000",
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                        "CURVE_RADIUS_0_TO_100_M": "0.000000",
                        "CURVE_RADIUS_100_TO_250_M": "0.000000",
                        "CURVE_RADIUS_250_TO_500_M": "0.000000",
                        "CURVE_RADIUS_500_TO_1000_M": "0.000000",
                        "CURVE_RADIUS_1000_TO_2000_M": "0.000000",
                        "CURVE_RADIUS_2000_TO_5000_M": "0.000000",
                        "CURVE_RADIUS_5000_TO_10000_M": "0.000000",
                        "CURVE_RADIUS_10000_TO_100000_M": "0.000000",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0.000000",
                        "GPS_FUSION_OFF_M": "0.000000",
                        "GPS_FUSION_ON_M": "0.000000",
                        "GPS_FIX_OFF_M": "0.000000",
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                        "SATELLITE_RANGE_0_TO_3_M": "0.000000",
                        "SATELLITE_RANGE_4_TO_7_M": "0.000000",
                        "SATELLITE_RANGE_8_TO_12_M": "0.000000",
                        "SATELLITE_RANGE_13_AND_UP_M": "0.000000"
                    },
                    "autosteer_on": {
                        "ROAD_CLASS_UNKNOWN": "0.000000",
                        "ROAD_CLASS_1": "0.000000",
                        "ROAD_CLASS_2": "0.000000",
                        "ROAD_CLASS_3": "0.000000",
                        "ROAD_CLASS_4": "0.000000",
                        "ROAD_CLASS_5": "0.000000",
                        "ROAD_CLASS_6": "0.000000",
                        "SPEED_UNKNOWN": "0.000000",
                        "SPEED_NEGATIVE_MPS": "0.000000",
                        "SPEED_0_TO_5_MPS": "0.000000",
                        "SPEED_5_TO_10_MPS": "0.000000",
                        "SPEED_10_TO_15_MPS": "0.000000",
                        "SPEED_15_TO_20_MPS": "0.000000",
                        "SPEED_20_TO_25_MPS": "0.000000",
                        "SPEED_25_TO_30_MPS": "0.000000",
                        "SPEED_30_TO_35_MPS": "0.000000",
                        "SPEED_35_TO_40_MPS": "0.000000",
                        "SPEED_40_TO_45_MPS": "0.000000",
                        "SPEED_45_TO_50_MPS": "0.000000",
                        "SPEED_50_OR_ABOVE_MPS": "0.000000",
                        "CURVE_RADIUS_UNKNOWN": "0.000000",
                        "CURVE_RADIUS_0_TO_100_M": "0.000000",
                        "CURVE_RADIUS_100_TO_250_M": "0.000000",
                        "CURVE_RADIUS_250_TO_500_M": "0.000000",
                        "CURVE_RADIUS_500_TO_1000_M": "0.000000",
                        "CURVE_RADIUS_1000_TO_2000_M": "0.000000",
                        "CURVE_RADIUS_2000_TO_5000_M": "0.000000",
                        "CURVE_RADIUS_5000_TO_10000_M": "0.000000",
                        "CURVE_RADIUS_10000_TO_100000_M": "0.000000",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0.000000",
                        "GPS_FUSION_OFF_M": "0.000000",
                        "GPS_FUSION_ON_M": "0.000000",
                        "GPS_FIX_OFF_M": "0.000000",
                        "GPS_FIX_ON_M": "0.000000",
                        "SATELLITE_RANGE_0_TO_3_M": "0.000000",
                        "SATELLITE_RANGE_4_TO_7_M": "0.000000",
                        "SATELLITE_RANGE_8_TO_12_M": "0.000000",
                        "SATELLITE_RANGE_13_AND_UP_M": "0.000000"
                    }
                }
            },
            "acc": {
                "time_s": {
                    "acc_unavailable": {
                        "ROAD_CLASS_UNKNOWN": "18",
                        "ROAD_CLASS_1": "0",
                        "ROAD_CLASS_2": "0",
                        "ROAD_CLASS_3": "0",
                        "ROAD_CLASS_4": "0",
                        "ROAD_CLASS_5": "57",
                        "ROAD_CLASS_6": "0",
                        "SPEED_UNKNOWN": "0",
                        "SPEED_NEGATIVE_MPS": "12",
                        "SPEED_0_TO_5_MPS": "56",
                        "SPEED_5_TO_10_MPS": "7",
                        "SPEED_10_TO_15_MPS": "0",
                        "SPEED_15_TO_20_MPS": "0",
                        "SPEED_20_TO_25_MPS": "0",
                        "SPEED_25_TO_30_MPS": "0",
                        "SPEED_30_TO_35_MPS": "0",
                        "SPEED_35_TO_40_MPS": "0",
                        "SPEED_40_TO_45_MPS": "0",
                        "SPEED_45_TO_50_MPS": "0",
                        "SPEED_50_OR_ABOVE_MPS": "0",
                        "CURVE_RADIUS_UNKNOWN": "75",
                        "CURVE_RADIUS_0_TO_100_M": "0",
                        "CURVE_RADIUS_100_TO_250_M": "0",
                        "CURVE_RADIUS_250_TO_500_M": "0",
                        "CURVE_RADIUS_500_TO_1000_M": "0",
                        "CURVE_RADIUS_1000_TO_2000_M": "0",
                        "CURVE_RADIUS_2000_TO_5000_M": "0",
                        "CURVE_RADIUS_5000_TO_10000_M": "0",
                        "CURVE_RADIUS_10000_TO_100000_M": "0",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0"
                    },
                    "acc_available": {
                        "ROAD_CLASS_UNKNOWN": "15",
                        "ROAD_CLASS_1": "0",
                        "ROAD_CLASS_2": "0",
                        "ROAD_CLASS_3": "0",
                        "ROAD_CLASS_4": "0",
                        "ROAD_CLASS_5": "37",
                        "ROAD_CLASS_6": "0",
                        "SPEED_UNKNOWN": "0",
                        "SPEED_NEGATIVE_MPS": "0",
                        "SPEED_0_TO_5_MPS": "1",
                        "SPEED_5_TO_10_MPS": "14",
                        "SPEED_10_TO_15_MPS": "32",
                        "SPEED_15_TO_20_MPS": "2",
                        "SPEED_20_TO_25_MPS": "0",
                        "SPEED_25_TO_30_MPS": "0",
                        "SPEED_30_TO_35_MPS": "0",
                        "SPEED_35_TO_40_MPS": "0",
                        "SPEED_40_TO_45_MPS": "0",
                        "SPEED_45_TO_50_MPS": "0",
                        "SPEED_50_OR_ABOVE_MPS": "0",
                        "CURVE_RADIUS_UNKNOWN": "34",
                        "CURVE_RADIUS_0_TO_100_M": "0",
                        "CURVE_RADIUS_100_TO_250_M": "7",
                        "CURVE_RADIUS_250_TO_500_M": "3",
                        "CURVE_RADIUS_500_TO_1000_M": "2",
                        "CURVE_RADIUS_1000_TO_2000_M": "1",
                        "CURVE_RADIUS_2000_TO_5000_M": "1",
                        "CURVE_RADIUS_5000_TO_10000_M": "0",
                        "CURVE_RADIUS_10000_TO_100000_M": "0",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0"
                    },
                    "acc_on": {
                        "ROAD_CLASS_UNKNOWN": "0",
                        "ROAD_CLASS_1": "0",
                        "ROAD_CLASS_2": "0",
                        "ROAD_CLASS_3": "0",
                        "ROAD_CLASS_4": "0",
                        "ROAD_CLASS_5": "0",
                        "ROAD_CLASS_6": "0",
                        "SPEED_UNKNOWN": "0",
                        "SPEED_NEGATIVE_MPS": "0",
                        "SPEED_0_TO_5_MPS": "0",
                        "SPEED_5_TO_10_MPS": "0",
                        "SPEED_10_TO_15_MPS": "0",
                        "SPEED_15_TO_20_MPS": "0",
                        "SPEED_20_TO_25_MPS": "0",
                        "SPEED_25_TO_30_MPS": "0",
                        "SPEED_30_TO_35_MPS": "0",
                        "SPEED_35_TO_40_MPS": "0",
                        "SPEED_40_TO_45_MPS": "0",
                        "SPEED_45_TO_50_MPS": "0",
                        "SPEED_50_OR_ABOVE_MPS": "0",
                        "CURVE_RADIUS_UNKNOWN": "0",
                        "CURVE_RADIUS_0_TO_100_M": "0",
                        "CURVE_RADIUS_100_TO_250_M": "0",
                        "CURVE_RADIUS_250_TO_500_M": "0",
                        "CURVE_RADIUS_500_TO_1000_M": "0",
                        "CURVE_RADIUS_1000_TO_2000_M": "0",
                        "CURVE_RADIUS_2000_TO_5000_M": "0",
                        "CURVE_RADIUS_5000_TO_10000_M": "0",
                        "CURVE_RADIUS_10000_TO_100000_M": "0",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0"
                    }
                },
                "odometry_m": {
                    "acc_unavailable": {
                        "ROAD_CLASS_UNKNOWN": "0.000000",
                        "ROAD_CLASS_1": "0.000000",
                        "ROAD_CLASS_2": "0.000000",
                        "ROAD_CLASS_3": "0.000000",
                        "ROAD_CLASS_4": "0.000000",
                        "ROAD_CLASS_5": "0.000000",
                        "ROAD_CLASS_6": "0.000000",
                        "SPEED_UNKNOWN": "0.000000",
                        "SPEED_NEGATIVE_MPS": "0.000000",
                        "SPEED_0_TO_5_MPS": "0.000000",
                        "SPEED_5_TO_10_MPS": "0.000000",
                        "SPEED_10_TO_15_MPS": "0.000000",
                        "SPEED_15_TO_20_MPS": "0.000000",
                        "SPEED_20_TO_25_MPS": "0.000000",
                        "SPEED_25_TO_30_MPS": "0.000000",
                        "SPEED_30_TO_35_MPS": "0.000000",
                        "SPEED_35_TO_40_MPS": "0.000000",
                        "SPEED_40_TO_45_MPS": "0.000000",
                        "SPEED_45_TO_50_MPS": "0.000000",
                        "SPEED_50_OR_ABOVE_MPS": "0.000000",
                        "CURVE_RADIUS_UNKNOWN": "0.000000",
                        "CURVE_RADIUS_0_TO_100_M": "0.000000",
                        "CURVE_RADIUS_100_TO_250_M": "0.000000",
                        "CURVE_RADIUS_250_TO_500_M": "0.000000",
                        "CURVE_RADIUS_500_TO_1000_M": "0.000000",
                        "CURVE_RADIUS_1000_TO_2000_M": "0.000000",
                        "CURVE_RADIUS_2000_TO_5000_M": "0.000000",
                        "CURVE_RADIUS_5000_TO_10000_M": "0.000000",
                        "CURVE_RADIUS_10000_TO_100000_M": "0.000000",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0.000000"
                    },
                    "acc_available": {
                        "ROAD_CLASS_UNKNOWN": "0.000000",
                        "ROAD_CLASS_1": "0.000000",
                        "ROAD_CLASS_2": "0.000000",
                        "ROAD_CLASS_3": "0.000000",
                        "ROAD_CLASS_4": "0.000000",
                        "ROAD_CLASS_5": "600.000000",
                        "ROAD_CLASS_6": "0.000000",
                        "SPEED_UNKNOWN": "0.000000",
                        "SPEED_NEGATIVE_MPS": "0.000000",
                        "SPEED_0_TO_5_MPS": "0.000000",
                        "SPEED_5_TO_10_MPS": "100.000000",
                        "SPEED_10_TO_15_MPS": "500.000000",
                        "SPEED_15_TO_20_MPS": "0.000000",
                        "SPEED_20_TO_25_MPS": "0.000000",
                        "SPEED_25_TO_30_MPS": "0.000000",
                        "SPEED_30_TO_35_MPS": "0.000000",
                        "SPEED_35_TO_40_MPS": "0.000000",
                        "SPEED_40_TO_45_MPS": "0.000000",
                        "SPEED_45_TO_50_MPS": "0.000000",
                        "SPEED_50_OR_ABOVE_MPS": "0.000000",
                        "CURVE_RADIUS_UNKNOWN": "600.000000",
                        "CURVE_RADIUS_0_TO_100_M": "0.000000",
                        "CURVE_RADIUS_100_TO_250_M": "0.000000",
                        "CURVE_RADIUS_250_TO_500_M": "0.000000",
                        "CURVE_RADIUS_500_TO_1000_M": "0.000000",
                        "CURVE_RADIUS_1000_TO_2000_M": "0.000000",
                        "CURVE_RADIUS_2000_TO_5000_M": "0.000000",
                        "CURVE_RADIUS_5000_TO_10000_M": "0.000000",
                        "CURVE_RADIUS_10000_TO_100000_M": "0.000000",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0.000000"
                    },
                    "acc_on": {
                        "ROAD_CLASS_UNKNOWN": "0.000000",
                        "ROAD_CLASS_1": "0.000000",
                        "ROAD_CLASS_2": "0.000000",
                        "ROAD_CLASS_3": "0.000000",
                        "ROAD_CLASS_4": "0.000000",
                        "ROAD_CLASS_5": "0.000000",
                        "ROAD_CLASS_6": "0.000000",
                        "SPEED_UNKNOWN": "0.000000",
                        "SPEED_NEGATIVE_MPS": "0.000000",
                        "SPEED_0_TO_5_MPS": "0.000000",
                        "SPEED_5_TO_10_MPS": "0.000000",
                        "SPEED_10_TO_15_MPS": "0.000000",
                        "SPEED_15_TO_20_MPS": "0.000000",
                        "SPEED_20_TO_25_MPS": "0.000000",
                        "SPEED_25_TO_30_MPS": "0.000000",
                        "SPEED_30_TO_35_MPS": "0.000000",
                        "SPEED_35_TO_40_MPS": "0.000000",
                        "SPEED_40_TO_45_MPS": "0.000000",
                        "SPEED_45_TO_50_MPS": "0.000000",
                        "SPEED_50_OR_ABOVE_MPS": "0.000000",
                        "CURVE_RADIUS_UNKNOWN": "0.000000",
                        "CURVE_RADIUS_0_TO_100_M": "0.000000",
                        "CURVE_RADIUS_100_TO_250_M": "0.000000",
                        "CURVE_RADIUS_250_TO_500_M": "0.000000",
                        "CURVE_RADIUS_500_TO_1000_M": "0.000000",
                        "CURVE_RADIUS_1000_TO_2000_M": "0.000000",
                        "CURVE_RADIUS_2000_TO_5000_M": "0.000000",
                        "CURVE_RADIUS_5000_TO_10000_M": "0.000000",
                        "CURVE_RADIUS_10000_TO_100000_M": "0.000000",
                        "CURVE_RADIUS_100000_OR_ABOVE_M": "0.000000"
                    }
                }
            },
            "alc": {
                "aborted": "0",
                "completed": "0",
                "initiated": "0",
                "requested": "0"
            },
            "driver_interventions": {
                "steering": {
                    "total": "0",
                    "ROAD_CLASS_UNKNOWN": "0",
                    "ROAD_CLASS_1": "0",
                    "ROAD_CLASS_2": "0",
                    "ROAD_CLASS_3": "0",
                    "ROAD_CLASS_4": "0",
                    "ROAD_CLASS_5": "0",
                    "ROAD_CLASS_6": "0",
                    "SPEED_UNKNOWN": "0",
                    "SPEED_NEGATIVE_MPS": "0",
                    "SPEED_0_TO_5_MPS": "0",
                    "SPEED_5_TO_10_MPS": "0",
                    "SPEED_10_TO_15_MPS": "0",
                    "SPEED_15_TO_20_MPS": "0",
                    "SPEED_20_TO_25_MPS": "0",
                    "SPEED_25_TO_30_MPS": "0",
                    "SPEED_30_TO_35_MPS": "0",
                    "SPEED_35_TO_40_MPS": "0",
                    "SPEED_40_TO_45_MPS": "0",
                    "SPEED_45_TO_50_MPS": "0",
                    "SPEED_50_OR_ABOVE_MPS": "0",
                    "CURVE_RADIUS_UNKNOWN": "0",
                    "CURVE_RADIUS_0_TO_100_M": "0",
                    "CURVE_RADIUS_100_TO_250_M": "0",
                    "CURVE_RADIUS_250_TO_500_M": "0",
                    "CURVE_RADIUS_500_TO_1000_M": "0",
                    "CURVE_RADIUS_1000_TO_2000_M": "0",
                    "CURVE_RADIUS_2000_TO_5000_M": "0",
                    "CURVE_RADIUS_5000_TO_10000_M": "0",
                    "CURVE_RADIUS_10000_TO_100000_M": "0",
                    "CURVE_RADIUS_100000_OR_ABOVE_M": "0",
                    "CIPV_NOT_ASSOCIATED": "0",
                    "CIPV_ASSOCIATED": "0",
                    "STEERING_WHEEL_SPEED_0_TO_100_DEGPS": "0",
                    "STEERING_WHEEL_SPEED_100_TO_200_DEGPS": "0",
                    "STEERING_WHEEL_SPEED_200_TO_300_DEGPS": "0",
                    "STEERING_WHEEL_SPEED_300_TO_400_DEGPS": "0",
                    "STEERING_WHEEL_SPEED_400_TO_500_DEGPS": "0",
                    "STEERING_WHEEL_SPEED_500_DEGPS_AND_UP": "0"
                },
                "braking": {
                    "total": "0",
                    "ROAD_CLASS_UNKNOWN": "0",
                    "ROAD_CLASS_1": "0",
                    "ROAD_CLASS_2": "0",
                    "ROAD_CLASS_3": "0",
                    "ROAD_CLASS_4": "0",
                    "ROAD_CLASS_5": "0",
                    "ROAD_CLASS_6": "0",
                    "SPEED_UNKNOWN": "0",
                    "SPEED_NEGATIVE_MPS": "0",
                    "SPEED_0_TO_5_MPS": "0",
                    "SPEED_5_TO_10_MPS": "0",
                    "SPEED_10_TO_15_MPS": "0",
                    "SPEED_15_TO_20_MPS": "0",
                    "SPEED_20_TO_25_MPS": "0",
                    "SPEED_25_TO_30_MPS": "0",
                    "SPEED_30_TO_35_MPS": "0",
                    "SPEED_35_TO_40_MPS": "0",
                    "SPEED_40_TO_45_MPS": "0",
                    "SPEED_45_TO_50_MPS": "0",
                    "SPEED_50_OR_ABOVE_MPS": "0",
                    "CURVE_RADIUS_UNKNOWN": "0",
                    "CURVE_RADIUS_0_TO_100_M": "0",
                    "CURVE_RADIUS_100_TO_250_M": "0",
                    "CURVE_RADIUS_250_TO_500_M": "0",
                    "CURVE_RADIUS_500_TO_1000_M": "0",
                    "CURVE_RADIUS_1000_TO_2000_M": "0",
                    "CURVE_RADIUS_2000_TO_5000_M": "0",
                    "CURVE_RADIUS_5000_TO_10000_M": "0",
                    "CURVE_RADIUS_10000_TO_100000_M": "0",
                    "CURVE_RADIUS_100000_OR_ABOVE_M": "0",
                    "CIPV_NOT_ASSOCIATED": "0",
                    "CIPV_ASSOCIATED": "0",
                    "BRAKING_1_TO_MINUS_1_M_S_SQ": "0",
                    "BRAKING_MINUS_1_TO_MINUS_2_M_S_SQ": "0",
                    "BRAKING_MINUS_2_TO_MINUS_4_M_S_SQ": "0",
                    "BRAKING_MINUS_4_TO_MINUS_6_M_S_SQ": "0",
                    "BRAKING_MINUS_6_TO_MINUS_8_M_S_SQ": "0",
                    "BRAKING_MINUS_8_M_S_SQ_AND_BELOW": "0"
                },
                "stalk": {
                    "total": "0",
                    "ROAD_CLASS_UNKNOWN": "0",
                    "ROAD_CLASS_1": "0",
                    "ROAD_CLASS_2": "0",
                    "ROAD_CLASS_3": "0",
                    "ROAD_CLASS_4": "0",
                    "ROAD_CLASS_5": "0",
                    "ROAD_CLASS_6": "0",
                    "SPEED_UNKNOWN": "0",
                    "SPEED_NEGATIVE_MPS": "0",
                    "SPEED_0_TO_5_MPS": "0",
                    "SPEED_5_TO_10_MPS": "0",
                    "SPEED_10_TO_15_MPS": "0",
                    "SPEED_15_TO_20_MPS": "0",
                    "SPEED_20_TO_25_MPS": "0",
                    "SPEED_25_TO_30_MPS": "0",
                    "SPEED_30_TO_35_MPS": "0",
                    "SPEED_35_TO_40_MPS": "0",
                    "SPEED_40_TO_45_MPS": "0",
                    "SPEED_45_TO_50_MPS": "0",
                    "SPEED_50_OR_ABOVE_MPS": "0",
                    "CURVE_RADIUS_UNKNOWN": "0",
                    "CURVE_RADIUS_0_TO_100_M": "0",
                    "CURVE_RADIUS_100_TO_250_M": "0",
                    "CURVE_RADIUS_250_TO_500_M": "0",
                    "CURVE_RADIUS_500_TO_1000_M": "0",
                    "CURVE_RADIUS_1000_TO_2000_M": "0",
                    "CURVE_RADIUS_2000_TO_5000_M": "0",
                    "CURVE_RADIUS_5000_TO_10000_M": "0",
                    "CURVE_RADIUS_10000_TO_100000_M": "0",
                    "CURVE_RADIUS_100000_OR_ABOVE_M": "0",
                    "CIPV_NOT_ASSOCIATED": "0",
                    "CIPV_ASSOCIATED": "0"
                }
            },
            "system_interventions": {
                "EPAS_EAC_DENIED": "0",
                "COMPONENT_MIA": "0",
                "CRUISE_FAULT": "0",
                "CID_SWITCH_DISABLED": "0",
                "DRIVING_OFF_NAV": "0",
                "HEALTH_MONITOR": "0",
                "VEHICLE_SPEED_ABOVE_MAX": "0",
                "FOLLOWER_OUTPUT_INVALID": "0",
                "PLANNER_OUTPUT_INVALID": "0",
                "EPAS_ERROR_CODE": "0",
                "CAMERA_FAILSAFES": "0",
                "ACC_CANCEL": "0",
                "SIDE_COLLISION_IMMINENT": "0",
                "TRAILER_MODE_ACTIVATION": "0",
                "CAMERA_WATCHDOG": "0",
                "CAMERA_MSG_MIA": "0",
                "ME_MAIN_STATE": "0",
                "APP_ME_STATE": "0"
            },
            "config": {
                "version": "1.1",
                "lc_enable": "true",
                "autopilot_car": "true",
                "radar_type": "bosch"
            }
        }
    }
    [code]
     
    • Informative x 10
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  19. mitchellh3

    mitchellh3 Member

    Joined:
    Nov 18, 2016
    Messages:
    110
    Location:
    Los Angeles, CA
    Actually there is a lot of new things here @verygreen. I'm sure you saw. :)
    • "driver interventions" is a new top-level key. Interestingly driver interventions are tracked by: steering the wheel, hitting the brake, and manually hitting the AP stalk.
    • "system interventions" is a new top-level key. Some interesting stuff in here...
    • config version is now "1.1" (though snapshot-version is the same), not surprising since they added a bunch of new fields.
    • "radar_type" now exists, I'm assuming this will say "continental" for HW2.5 cars.
    Which opens so many questions:
    • What is "GPS_FUSION" ?
    • In system interventions we have "DRIVING_OFF_NAV". Is this indicative in any way of driving off of an HD map? i.e. in an area where an HD map isn't available. I know the APE system isn't downloading maps yet but that error code is present in the struct. And I only make this jump because I know that the ape map download code just recently seems complete.
    • Why do curve radiuses go so dang high? :p
    My hot take on the way this data is changing is that they're preparing to collect a lot more data about Autosteer failure scenarios. Or they already are, its uncertain based on @verygreen's log if some values are always zero currently awaiting the future or if its possible to actually trip them.
     
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  20. conman

    conman Member

    Joined:
    Aug 19, 2017
    Messages:
    251
    Location:
    Melbourne, Australia
    All interesting stuff you're finding out from those logs, thanks. I think this validates my approach of using AS wherever possible to allow it to fail or where I need to override it. I have a route that I regularly take the car on after each update to see what progress the EAP has made where it fails routinely about 4 times on the stretch of road or drives me across to the other side of the road in spite of very clear road markings. I was thinking of starting a regular video of the test with each update but don't have a place to mount a cam/phone at the moment.
     

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