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haraschaxspektor56
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Refactor torque stuff (commaai#24921)
* Refactor torque stuff * Add to release * Add substitute and override * Maxlataccel is required * Add to asserts * add ideal car * Need china too * yamls already linted * Fixed some bugs * Fixup * Unreliable data * Add cehck * Better comment * ref commit update
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‎.pre-commit-config.yaml

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@@ -20,7 +20,7 @@ repos:
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hooks:
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- id: mypy
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exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
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additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
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additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
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args:
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- --warn-redundant-casts
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- --warn-return-any

‎docs/CARS.md

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‎release/files_common

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@@ -109,7 +109,9 @@ selfdrive/car/ecu_addrs.py
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selfdrive/car/isotp_parallel_query.py
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selfdrive/car/tests/__init__.py
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selfdrive/car/tests/test_car_interfaces.py
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selfdrive/car/torque_data.json
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selfdrive/car/torque_data/params.yaml
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selfdrive/car/torque_data/substitute.yaml
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selfdrive/car/torque_data/override.yaml
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selfdrive/car/body/*.py
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selfdrive/car/chrysler/*.py

‎selfdrive/car/interfaces.py

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import json
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import yaml
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import os
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import time
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from abc import abstractmethod, ABC
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MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
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ACCEL_MAX = 2.0
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ACCEL_MIN = -3.5
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TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
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TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
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TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
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TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
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# generic car and radar interfaces
@@ -109,9 +111,25 @@ def get_std_params(candidate, fingerprint):
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@staticmethod
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def get_torque_params(candidate, default=float('NaN')):
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with open(TORQUE_SUBSTITUTE_PATH) as f:
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sub = yaml.load(f, Loader=yaml.FullLoader)
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if candidate in sub:
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candidate = sub[candidate]
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with open(TORQUE_PARAMS_PATH) as f:
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data = json.load(f)
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return {key: data[key].get(candidate, default) for key in data}
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params = yaml.load(f, Loader=yaml.FullLoader)
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with open(TORQUE_OVERRIDE_PATH) as f:
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params_override = yaml.load(f, Loader=yaml.FullLoader)
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assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0
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if candidate in params_override:
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out = params_override[candidate]
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elif candidate in params:
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out = params[candidate]
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else:
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raise NotImplementedError(f"Did not find torque params for {candidate}")
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return {key:out[i] for i, key in enumerate(params['legend'])}
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@abstractmethod
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def _update(self, c: car.CarControl) -> car.CarState:

‎selfdrive/car/tests/test_car_interfaces.py

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assert car_interface
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self.assertGreater(car_params.mass, 1)
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self.assertGreater(car_params.maxLateralAccel, 0)
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if car_params.steerControlType != car.CarParams.SteerControlType.angle:
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tuning = car_params.lateralTuning.which()

‎selfdrive/car/torque_data.json

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‎selfdrive/car/torque_data/override.yaml

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legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
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### angle control
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# Nissan appears to have torque
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NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
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NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
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NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
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NISSAN LEAF 2018: [.nan, 1.5, .nan]
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NISSAN ROGUE 2019: [.nan, 1.5, .nan]
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# Tesla has high torque
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TESLA AP1 MODEL S: [.nan, 2.5, .nan]
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TESLA AP2 MODEL S: [.nan, 2.5, .nan]
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# Guess
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FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
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FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
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###
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# No steering wheel
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COMMA BODY: [.nan, 1000, .nan]
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# Totally new car
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KIA EV6 2022: [3.0, 2.5, 0.05]
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# Dashcam or fallback configured as ideal car
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mock: [10.0, 10, 0.0]
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# Manually checked
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HONDA CIVIC 2022: [2.5, 1.2, 0.15]

‎selfdrive/car/torque_data/params.yaml

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ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
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ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
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ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
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AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
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AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
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CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
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CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022]
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CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085]
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CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627]
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CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823]
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CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716]
12+
GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
13+
GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
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HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
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HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
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HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
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HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
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HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
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HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
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HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
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HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
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HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
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HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
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HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
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HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
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HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
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HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
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HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
29+
HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
30+
HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
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HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
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HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
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HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
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HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
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HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
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HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
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HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
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HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
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HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
40+
JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
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JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
42+
KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
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KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
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KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
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KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
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LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554]
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LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212]
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LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
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LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
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LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
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LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
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LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659]
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LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
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LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
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MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
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SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
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SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
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SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
59+
SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
60+
TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
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TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
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TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
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TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
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TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
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TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062]
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TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
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TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
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TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
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TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
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TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
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TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
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TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
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TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
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TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
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TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993]
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TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
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TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724]
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TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664]
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TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
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TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368]
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TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
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TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
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TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
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TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
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TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
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TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
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TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653]
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TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
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TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198]
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VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
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VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
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VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
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VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
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VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
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VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
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legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]

‎selfdrive/car/torque_data/substitute.yaml

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MAZDA 3: MAZDA CX-9 2021
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MAZDA 6: MAZDA CX-9 2021
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MAZDA CX-5: MAZDA CX-9 2021
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MAZDA CX-5 2022: MAZDA CX-9 2021
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MAZDA CX-9: MAZDA CX-9 2021
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TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
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TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
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TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
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TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
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TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
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LEXUS IS 2018: LEXUS NX 2018
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LEXUS CT HYBRID 2018 : LEXUS NX 2018
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LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
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LEXUS NX HYBRID 2020: LEXUS NX 2020
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LEXUS RC 2020: LEXUS NX 2020
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TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
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TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
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KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
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KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
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KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
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KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
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KIA SELTOS 2021: HYUNDAI SONATA 2020
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KIA NIRO HYBRID 2019: KIA NIRO EV 2020
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KIA NIRO HYBRID 2021: KIA NIRO EV 2020
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HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
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HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
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HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
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HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
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HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
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HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
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HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
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HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
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HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
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HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
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HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
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HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
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GENESIS G90 2017: GENESIS G70 2018
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GENESIS G80 2017: GENESIS G70 2018
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GENESIS G70 2020: HYUNDAI SONATA 2020
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HONDA FREED 2020: HONDA ODYSSEY 2018
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HONDA CR-V EU 2016: HONDA CR-V 2016
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HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
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HONDA E 2020: HONDA CIVIC (BOSCH) 2019
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HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
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BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
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CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
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CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
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CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
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HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
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SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
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SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
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SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
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SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
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SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
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VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
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VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
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VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
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VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
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AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
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VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
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VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
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SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
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SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
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# Old subarus don't have much data guessing it's like low torque impreza
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SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
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SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
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SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
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SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
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SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019

‎selfdrive/test/process_replay/ref_commit

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