Comma AI self driver assistant

[astrand1]

Hope these pics aren’t too shitty for you to see. Let me know if I missed something you need to see.

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[Ajzride]

There are two places the vehicle can be specified (I’m going to clean that up). The BlurPilot menu, bc the vehicle menu. Can you check to make sure they agree?

 

[B177y]

Never thought I'd see this in my Pro!

Tuning question for BluePilot 3.0:

I got a lot of lateral ping-pong. I have changed my "Driving Personality" to "relaxed". The neural network NNLC toggle says "unavailable for this platform"

What other settings should I be looking for or adjusting to calm down the ping pong on BP 3.0?

If you have already answered this question in the ICE F-150 forum, let me know and I will check out those threads.

Thanks again for all the help!

 

[Ajzride]

Never thought I'd see this in my Pro!

Tuning question for BluePilot 3.0:

I got a lot of lateral ping-pong. I have changed my "Driving Personality" to "relaxed". The neural network NNLC toggle says "unavailable for this platform"

What other settings should I be looking for or adjusting to calm down the ping pong on BP 3.0?

If you have already answered this question in the ICE F-150 forum, let me know and I will check out those threads.

Thanks again for all the help!

BluePilot Menu —> right side click the lateral tab.

enable advanced lateral control and increase PC Blend Ratio. I’m running 0.75 right now.

 

[Ajzride]

Never thought I'd see this in my Pro!

Tuning question for BluePilot 3.0:

I got a lot of lateral ping-pong. I have changed my "Driving Personality" to "relaxed". The neural network NNLC toggle says "unavailable for this platform"

What other settings should I be looking for or adjusting to calm down the ping pong on BP 3.0?

If you have already answered this question in the ICE F-150 forum, let me know and I will check out those threads.

Thanks again for all the help!

Driving personality is about gas/brake, not lateral.

NNLC is for Torque based cars.

 

[astrand1]

BluePilot Menu —> right side click the lateral tab.

enable advanced lateral control and increase PC Blend Ratio. I’m running 0.75 right now.

I’m going to have to adjust this too. It’s undrivable with this update on the highway anyway. Holy shit.

 

[astrand1]

BluePilot Menu —> right side click the lateral tab.

enable advanced lateral control and increase PC Blend Ratio. I’m running 0.75 right now.

I don’t seem to have this setting.

 

[Ajzride]

I don’t seem to have this setting.

 

[B177y]

This device is truly amazing! What a game changer. I can't thank everyone involved on this thread enough for helping walk me through this.

I took a long test drive with the PC Blend on 0.75 and then 0.80. Both seem to do a very slow side to side drift. Not nearly as bad as the default setting, but still enough to possibly attract attention from other drivers or LE. Does the Comma "learn" and get better? Are there any other settings that would tighten up the tolerance?

What is the best source for something similar to an owner's manual for the Comma device itself and for BluePilot? Do I need to go to Discord or GitHub? Or just keep bombing this thread?

I am also curious if anyone with a lightning is keeping the comma powered up through the OBD port? Is this going to trigger 12 volt problems with the Lightning mico-12-volt or is it a low enough draw that it doesn't matter? Seems like a great idea to keep it powered up to do the updates and data transfers to home Wi-Fi.

 

[astrand1]

Thank you. Just adjusted to .75 and will see how it is in a few minutes.

 

[Ajzride]

This device is truly amazing! What a game changer. I can't thank everyone involved on this thread enough for helping walk me through this.

I took a long test drive with the PC Blend on 0.75 and then 0.80. Both seem to do a very slow side to side drift. Not nearly as bad as the default setting, but still enough to possibly attract attention from other drivers or LE. Does the Comma "learn" and get better? Are there any other settings that would tighten up the tolerance?

What is the best source for something similar to an owner's manual for the Comma device itself and for BluePilot? Do I need to go to Discord or GitHub? Or just keep bombing this thread?

I am also curious if anyone with a lightning is keeping the comma powered up through the OBD port? Is this going to trigger 12 volt problems with the Lightning mico-12-volt or is it a low enough draw that it doesn't matter? Seems like a great idea to keep it powered up to do the updates and data transfers to home Wi-Fi.

A slow drift means you may have gone to far. Try backing down to 0.6.

 

[Ajzride]

What is the best source for something similar to an owner's manual for the Comma device itself and for BluePilot? Do I need to go to Discord or GitHub? Or just keep bombing this thread?

The downside of opensource programs is how distrubted the documentation can be. I tried to put a ton of data in the first 10 posts of the thread on the ICE forum, I would start there.

You can read this to:

https://blog.comma.ai/openpilot-in-2021/

 

[B177y]

For anyone in the future that installs a Comma, here's what I've done with the help and guidance of everyone else on this thread. Hopefully if you have read this far, this will help you get set up quicker and save some time:

- I downloaded BluePilot 3.0 using @Ajzride 's link:

installer.comma.ai/BluePilotDev/staging-3.0

Install. When it reboots and gets stuck on the large white comma logo, unplug the USB and plug back in to power cycle. As soon as it starts up, start tapping the screen until you get an option to erase or something like that - I don't remember exactly what it says, but it will be obvious. Install again using the same link. This time when it reboots, it will boot into BluePilot. I also had to use my phone's hotspot to download as my home wifi caused the Comma to stop at 10% while downloading. I have no idea why this happened or why my hotspot worked, but if you have a similar error, try a different network


- I used post #324 and post #333 - #344 to make the USB breakout board and add the 120 ohm resistors to prevent the cascade of errors on the truck. Works great! These posts show amazing problem solving collaboration from multiple forum members. I wrapped the breakout board and the USB connectors in flat black wire harness tape to camouflage and protect everything. The USB breakout board is fragile - ask me how I know. Don't put any up/down stress on the USB connections that are on the board, just plug straight in and out. The item comes with 2 boards in the box. I ended up purchasing a second kit after using both boards. This part is a work in progress and I may try to incorporate some small project boxes to protect and strengthen this.


- The pic below shows my settings for Lateral Tuning for what I feel is the best ride with minimal side to side ping ponging.

Settings > Bluepilot > Lat Tuning (right side picture of steering wheel) > Lane Change Factor keep at stock setting of 0.75 and change the Predicted Curvature Blend Ratio to 0.60 (Thanks @Ajzride !)

Drive and enjoy!

Tweak all of the other settings to your liking. I preferred to keep using the Lightning's longitudinal control (forward radar) vs the Comma's. The Comma seemed to ride closer to the car in front and I like to keep my distance. The Comma has 3 distance settings and the truck has 4. I use #4 - furthest distance.

 

[B177y]

Thanks, had to look up MADS. I think I may have made my question more complicated than it needed to be by mentioning 1PD/2PD. Really I'm just curious about efficiency overall: I'm guessing efficiency shouldn't be affected much, if at all, if the truck is still using regenerative rather than friction for the bulk of its breaking. I was wondering if the software would be more aggressive than me in acceleration and/or harder when breaking. Again, probably over-thinking this.

After messing around and tweaking with the settings today, efficiency was the same.

Whether you have 1pd on or off, regen braking always happens until the braking that is requested is greater than what can be provided by the regen and then the friction brakes are activated. From my observation, the truck ACC and the Comma ACC both regen while slowing and stopping.

 

[Ajzride]

After messing around and tweaking with the settings today, efficiency was the same.

Whether you have 1pd on or off, regen braking always happens until the braking that is requested is greater than what can be provided by the regen and then the friction brakes are activated. From my observation, the truck ACC and the Comma ACC both regen while slowing and stopping.

1PD was working fine on my Mach E friday, so I suspect that Comma might have made an update that got rolled into staging-3.0 that fixed 1PD

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