Comma AI self driver assistant

[Ajzride]

Hi Alan, Good morning!

I did that first even tho is was saying the truck wasn't recognized and given some of the errors others had seen.

That's weird for sure. Perhaps it failed to push from sunnylink to the device.

I do need it to be more forceful with the steering torque going round corners as it wants me to take over mid corner.

you have hit the comma safety limits, they prevent it from being more forceful so it can't drive you off the road and you can't fight it. This is why we say the Comma is a BlueCruise alternative, not a Tesla FSD alternative.

However this was with no offline maps installed. I put the US opensource offline maps on late last night.

maps don't help steering, that is 100% vision. Only things maps can be used for is speed adjustment.

On the highway it did fine except for lane position needs tweaking some as it is riding too far to the right.

The C4 is mounted dead center just below the mirror mount as recommended. Obviously needs a lot more testing but pretty good for a first venture out.

Any recommendations?

A) some models hug more to one side or the other, play with models before you start adjusting tuning. Many people say that Notre Dame fixes hugging right.
B) if models don't help

menu --> bluepilot --> enable advanced lane positioning
menu --> bluepilot --> in-lane offset = -0.1

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[galstaf]

menu --> bluepilot --> in-lane offset = -0.1

If I have been informed correctly this means move 10 centimetres to the left?

So I have been tweaking the list of settings (shown above) to make it more readable and useful to put on the forum. Hopefully useful to other newbies.
This is what AI has come up with for the sunnypilot settings. Is it correct, or correctish?

enable_lane_positioning = 1
Type: Boolean (On/Off)
What it does:
Enables smart lane positioning within the lane, not just simple centerline following.
0 = Basic centering only.
1 = Intelligent lane positioning that can slightly shift within the lane (for example, away from large adjacent vehicles, or toward the center of a narrow lane).
Recommended range:
1 is recommended, as long as the behavior feels natural to you.


custom_path_offset = 0.0
Type: Float (meters)
What it does:
Applies a fixed lateral offset to the path relative to the lane center.
Negative values move the car left.
Positive values move the car right.
Example:
0.2 → 20 cm to the right of lane center.
Recommended range:
Typically between −0.5 and +0.5 meters.
For most users, 0.0 is recommended so the car stays in the center

 

[Ajzride]

If I have been informed correctly this means move 10 centimetres to the left?

So I have been tweaking the list of settings (shown above) to make it more readable and useful to put on the forum. Hopefully useful to other newbies.
This is what AI has come up with for the sunnypilot settings. Is it correct, or correctish?

enable_lane_positioning = 1
Type: Boolean (On/Off)
What it does:
Enables smart lane positioning within the lane, not just simple centerline following.
0 = Basic centering only.
1 = Intelligent lane positioning that can slightly shift within the lane (for example, away from large adjacent vehicles, or toward the center of a narrow lane).
Recommended range:
1 is recommended, as long as the behavior feels natural to you.


custom_path_offset = 0.0
Type: Float (meters)
What it does:
Applies a fixed lateral offset to the path relative to the lane center.
Negative values move the car left.
Positive values move the car right.
Example:
0.2 → 20 cm to the right of lane center.
Recommended range:
Typically between −0.5 and +0.5 meters.
For most users, 0.0 is recommended so the car stays in the center

i'm writing a full article on the parameters that will be finished this weekend, but I already posted most of them here:

https://www.f150lightningforum.com/...lf-driver-assistant.18266/page-90#post-646400

 

[galstaf]

i'm writing a full article on the parameters that will be finished this weekend, but I already posted most of them here:

https://www.f150lightningforum.com/...lf-driver-assistant.18266/page-90#post-646400

Aye... I already saw that one. It was helpful but being the nerdy type, I want to know what *all* the settings do and what their range is and so on. If it is OK, I will DM what I have so far via the AI. Maybe helpful for something that could help the engineering types out there.

 

[itsjmod]

Hey my brother’s name is Alan! That’s nifty.

If anyone cares about a solid setup, I use the WD40 model (located in legacy models) which doesn’t seem like it should be a good one but has been mentioned by the great Alan himself, so run with that.

It absolutely still is the best one. Not too aggressive, handles way more like a human than the others that I’ve tested. “Handles like a human” isn’t a bad thing, just means it isn’t so robotic and doesn’t worry me or other people by acting differently than the behavior they and I are already expecting.

The only other setting I changed was the in-lane positioning offset to +10. Comma device loves to hug that center line a little too close for my comfort but that’s subjective.

 

[Ajzride]

Hey my brother’s name is Alan! That’s nifty.

If anyone cares about a solid setup, I use the WD40 model (located in legacy models) which doesn’t seem like it should be a good one but has been mentioned by the great Alan himself, so run with that.

It absolutely still is the best one. Not too aggressive, handles way more like a human than the others that I’ve tested. “Handles like a human” isn’t a bad thing, just means it isn’t so robotic and doesn’t worry me or other people by acting differently than the behavior they and I are already expecting.

The only other setting I changed was the in-lane positioning offset to -10. Comma device loves to hug that center line a little too close for my comfort but that’s subjective.

A lane position that is negative would push you more to the left (towards center stripe in north america)

 

[itsjmod]

Meant +10 sorry edited

@Ajzride Does that mean it will also push you to the right on the interstate when in the left hand lanes?

Just curious cause if it’s not dynamic then what is the point

 

[galstaf]

Ok went out this morning and the c4 worked for a little while then have the "calibration invalid". Rebooted the truck and c4. Still doing it. Tried recalibration 3 times and still failed with the same error.
Has anyone seen this on the c4?
Any ideas?

 

[Ajzride]

Ok went out this morning and the c4 worked for a little while then have the "calibration invalid". Rebooted the truck and c4. Still doing it. Tried recalibration 3 times and still failed with the same error.
Has anyone seen this on the c4?
Any ideas?

that is a new one.

upload the route so I can take a peek:

 

[chriserx]

Ok went out this morning and the c4 worked for a little while then have the "calibration invalid". Rebooted the truck and c4. Still doing it. Tried recalibration 3 times and still failed with the same error.
Has anyone seen this on the c4?
Any ideas?

On the C3 one of 2 things happened here:
1) Mount is loose
2) Comma is not centered and leveled properly, its just good enough to not immediately throw an error, but just bad enough it eventually sees a problem.

While you are looking at a C4 specifically, I suspect it's still one of these issues.

 

[B177y]

@galstaf

For models, I have settled on using North Dakota (Legacy > North Dakota). It's all the goodness of WD40 but it doesn't hug the right side like WD40 did. YMMV, but it's worth a try while you're trying out different models.

 

[Ajzride]

I make all of my prototypes from PLA because it is cheap and easy compared to automotive grade filaments. I left ths one up this morning when I tested it. 3.75 hours later and it is only 81F today.

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