Date of the stream 29 Jul 2023.
from $1250 - comma 3X https://comma.ai/shop/comma-3x
best ADAS system in the world - https://openpilot.comma.ai

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Research:
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- https://blog.comma.ai/090release/

View original video on Youtube:
-    • COMMA_CON | July 29, 2023 | San Diego  
comma.ai youtube playlist:
-    • comma.ai youtube archive (youtube.com...  

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

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