OpenPilot on the F-150 (BlueCruise alternative)

[nakedeye]

I really appreciate all the guides and advice here. I’m loving this and it makes my 50 mile drive from the sticks outside Philly across the river to NJ each day and back, that much more bearable!

one question I have is regarding training the ai better. I find that often times I’ll have it take a turn and it can’t quite fully mange it and I have to assist, no biggie. The problem arises when I straiten out. The ai pulls the vehicle pretty hard until I give it 3-4 seconds and it will eventually find the right path.

is there a way to help the devs work on that?

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[Ajzride]

I really appreciate all the guides and advice here. I’m loving this and it makes my 50 mile drive from the sticks outside Philly across the river to NJ each day and back, that much more bearable!

one question I have is regarding training the ai better. I find that often times I’ll have it take a turn and it can’t quite fully mange it and I have to assist, no biggie. The problem arises when I straiten out. The ai pulls the vehicle pretty hard until I give it 3-4 seconds and it will eventually find the right path.

is there a way to help the devs work on that?

That is not the AI, that’s actually Ford EPAS internal logic not really being designed to make full turns, and kind of freaking out. There is a fix for the issue in testing now, hopefully it can go into a release “SoonTM”

 

[Spiffy]

I really appreciate all the guides and advice here.

is there a way to help the devs work on that?

Big T-bone steaks and any beer other than bud light.

 

[nakedeye]

Big T-bone steaks and any beer other than bud light.

legit, I absolutely will…or rather donate to a go fund me for sure!

this is the shit I dreamt of as a kid. And it’s actually here. It makes me giggle like a little schoolgirl every time I drive.

 

[Ajzride]

This thing will probably be outperforming BC 1.3 before ford even OTA's it in full to the first customer vehicle. The old guard ways just can't keep up in the now. I wouldn't be surprised to hear they've got a dozen lawyers that couldn't tell a potato from a tomato look over things before they begin
to slow roll updates.

Someone thumbs upped an old message and I came across this. You were spot on. We are vastly outperforming BC1.4 which is still not publicly available.

 

[HammaMan]

Someone thumbs upped an old message and I came across this. You were spot on. We are vastly outperforming BC1.4 which is still not publicly available.

End to end neural nets are getting much more powerful. This Ai revolution is increasing our amount of compute 10 fold every 6 months.

That's insane.

 

[Fourthewin]

Someone thumbs upped an old message and I came across this. You were spot on. We are vastly outperforming BC1.4 which is still not publicly available.

The unfortunate part of this is that Ford knows this. I think their encryption on the upcoming 2024 models is in some small part due to this. That have to keep control will their crummy little system.

 

[Ajzride]

The unfortunate part of this is that Ford knows this. I think their encryption on the upcoming 2024 models is in some small part due to this. That have to keep control will their crummy little system.

possible but unlikely. The encryption is required by European laws, and it also reduces theft significantly. 2023 Superduty had it before we got the first OpenPilot up and running on a Ford.

 

[Fourthewin]

possible but unlikely. The encryption is required by European laws, and it also reduces theft significantly. 2023 Superduty had it before we got the first OpenPilot up and running on a Ford.

Don’t ruin my fist shaking with facts, sir.

 

[nakedeye]

That is not the AI, that’s actually Ford EPAS internal logic not really being designed to make full turns, and kind of freaking out. There is a fix for the issue in testing now, hopefully it can go into a release “SoonTM”

I’m curious on this…does that mean that true P2P navigation is going to be enabled, at some point? It was this logic from ford that was preventing it, correct? Or is the SCCM physically just not strong enough to make full turns? I would think that if the truck can parallel park, it can make a 90deg turn?

 

[Ajzride]

I’m curious on this…does that mean that true P2P navigation is going to be enabled, at some point? It was this logic from ford that was preventing it, correct? Or is the SCCM physically just not strong enough to make full turns? I would think that if the truck can parallel park, it can make a 90deg turn?

It’s honestly too soon to know if p2p will work or not. There are 5 of us working on it and we are logging 100+ hours a week combined on the effort. We can get the truck to make 90s sometimes, and other times it just refuses. We are gathering massive amounts of data to try and understand what holds it back sometimes. The other problem is the models are currently designed for cars that are closer to 100” long than 150”long, so the path it plans is a problem for our trucks in tighter turns. The overturn after a curve is an issue too. The current fix only helps if it detects a human making the turn with hands on the wheel, the same fix can’t be applied when hands off, so we are looking for a solution to that too.

I'm fairly confident we can get the truck to make left turns eventually, but right turns onto 2 lane roads might be more than the truck can do, we max out at about 280 degrees of steering wheel turn, and right turns take almost 400 sometimes.

And yes the APA (active park assist) commands can parallel park and make 500 degree wheel moves, but the truck ignores them anytime you are over 9mph. I’ve tried taking a turn at 9mph and you will get lots of horns blown at you, 14-18 is average speed in a right turn.

 

[Ajzride]

Since I let the cat out of the bag I might as well show you guys huh? You can see the windup issue at the end.

 

[HammaMan]

Since I let the cat out of the bag I might as well show you guys huh? You can see the windup issue at the end.

Interesting it can't recover post turn when the truck is pretty good at re-centering without any force on the wheel. Might try something where it's relinquishing control of the wheel followed up with some counter-steering inputs. I'd just did this in the MME where I made a right turn and let go of the wheel and by its nature quickly brought the wheel back to center. Not exactly perfect but a few nudges from a 3x should be enough to straighten it back out relying on the steering's natural tendency to center.

Not sure how you could blend the self centering nature with nudges from the comma unit. In that video it seems to be fighting against the vehicle's desire to center the wheel. If that makes sense

 

[Ajzride]

Interesting it can't recover post turn when the truck is pretty good at re-centering without any force on the wheel. Might try something where it's relinquishing control of the wheel followed up with some counter-steering inputs. I'd just did this in the MME where I made a right turn and let go of the wheel and by its nature quickly brought the wheel back to center. Not exactly perfect but a few nudges from a 3x should be enough to straighten it back out relying on the steering's natural tendency to center.

Not sure how you could blend the self centering nature with nudges from the comma unit. In that video it seems to be fighting against the vehicle's desire to center the wheel. If that makes sense

Yes, the problem is detecting the apex of the turn to know where to "let go of the wheel", especially given how noisy the model's output is in those curves. We have actually enlisted a PHD researcher who is a math and coding genius to help us. He has come up with some crazy algorithms and we are testing them this week.

 

[speedracercjr]

Since I let the cat out of the bag I might as well show you guys huh? You can see the windup issue at the end.

Dang that's crazy! Did it perform the California stop (rolling through) or was that you? Granted that fits in perfect in Houston, but still wondering.

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