comma ai | Can you tune my car? | Vivek Aithal | COMMA_CON talks | research | openpilot | HQ version

[@geohotarchive]

Thank you to the comma team for this amazing event, sharing the livestream and high-quality videos. All credits to them. Follow their official kzbin.info for more livestreams. Check out github.com/commaai/comma-steering-control | blog.comma.ai/0815release/#torque-controller | blog.comma.ai/090release/#torqued-an-auto-tuner-for-lateral-control from $1250 buy -> comma 3X comma.ai/shop/comma-3x | openpilot.comma.ai is the best ADAS system in the world | If you have skill apply on -> comma.ai/jobs | Join the community on github.com/commaai/openpilot & discord.comma.ai | Check if your car is supported -> comma.ai/vehicles | How to setup your car comma.ai/setup | Stay up to date by following twitter.com/comma_ai | Support comma.ai at comma.ai/shop Chapters: 00:00 intro 00:10 development/tunning discord comma channel 00:38 what exactly needs tuning 00:56 how are the cars different 01:06 wheel base difference 01:23 different mass 01:35 steer ratio 01:45 tyre stiffness 01:55 center of gravity 02:05 actuator lag 02:30 difference in lateral trajectory of different cars 03:23 vehicle model 03:55 car dynamics, slip angle, bicycle model 04:32 the vehicle model formula 05:16 paramsd deamon learning 05:42 steering angle offset 06:02 bad wheel alignment 06:48 openpilot closed loop control 07:11 PI(D) control 07:40 absolute lateral acceleration error 08:30 steering control type vs fleet %, torque, steering_angle 09:02 torque control in openpilot 0.8.15 09:35 wheel torque = lateral accel + gravity 10:44 lateral accel vs steer command (toyota rav4 2017) 11:00 distribution of abs. lataccel error in toyota prious (2017 TSS2 2021) 11:35 assumptions 1: given vertical load (mass, CoG) 11:56 contact patch, steering column friction 12:13 distribution of LatAccelFactor and FrictionCoefficient toyota rav4 2017 13:00 torqued (auto-tune) in 0.9.0 13:10 torqued in action 13:52 distribution of abs. lataccel error in toyota highlander (2017, 2020, 2020 hybrid) 14:22 assumptions 2: wheel torque is linearly proportional to steering torque 14:38 backlash, elasticity - friction 15:04 speed independance 15:21 lateral acceleration vs steer command for chevrolet bolt euv 2022 15:53 non-linear algorithm improvment in abs. lateral accel error bolt euv 2022 16:05 0.9.3, left and right turn difference for GM cars 16:58 commaSteeringControl dataset 17:21 largest controls dataset of the kind 18:00 ~12500 hrs openpilot driving, 100+ car models, 10+ brands 18:10 adding more data to dataset in the future 18:20 vehicle model not valid for large slip angles 19:10 future for tuning and controls 19:20 neural techniques to learn complicated feed-forward functions 20:05 final goal move to target audience of one (every car is tunned) 20:32 check out the dataset, come to discord channel 20:45 shoutout twilsonco openpilot user 21:06 questions 21:20 what platforms are using torqd for automatic tunning 21:30 80 % of cars using torqd 22:00 longitudinal for auto tuninig 23:05 how do you deal with hysteresis, actuator lag 24:30 what is the optimal make and model of tyre for openpilot 25:40 replacing controls and tuning with end-to-end machine learning system

[@natpainter8185]

Geo vs Musk, does it appear Hot is gaining the lead? or is all the FUD and algos finally gettin to me????

[@geohotarchive]

@natpainter8185 big things coming in 2024 twitter.com/comma_ai/status/1739318111331819919

[@SuperGuirro]

We want more George content to consoom

[@radhakrishnanmanickavasaga124]

Its clear geo or musk dont have AGI otherwise FSD would have been solved