Lateral maneuver report by elkoled · Pull Request #37562 · commaai/openpilot

elkoled · 2026-03-05T04:31:26Z

Lateral maneuver report

Disclaimer: Do not use this tool on public roads.

Description:
Adds lateral maneuver mode that works in a similar way to longitudinal maneuver mode.
The tool commands lateral acceleration steps at different speeds to profile steering response.

Usage:

Check out a development branch such as master on the comma device.
Enable "Lateral Maneuver Mode" in Settings > Developer on the device while offroad. Alternatively, set the parameter manually:
```
echo -n 1 > /data/params/d/LateralManeuverMode
```
Turn the vehicle back on. Comma will show "Lateral Maneuver Mode".
Openpilot will command lateral acceleration steps in this mode. Once ready, set ACC manually to the target speed shown on screen and let openpilot stabilize lateral. After 3 seconds of steady straight driving, the maneuver will begin automatically. Openpilot lateral control stays engaged between maneuvers normally while waiting for the next maneuver's readiness conditions. The maneuver will be aborted and repeated if speed is out of range, steering is touched or openpilot disengages.
When the testing is complete, an alert shows "Maneuvers Finished." Complete the route by pulling over and turning off the vehicle.
As with the longitudinal report, get the route ID from connect.comma.ai and generate the report:
python tools/lateral_maneuvers/generate_report.py 98395b7c5b27882e/000001cc--5a73bde686

Verification
Report for Kia EV6:
KIA_EV6_98395b7c5b27882e_000001cc--5a73bde686.html

github-actions · 2026-03-05T04:34:08Z

UI Preview

mici: ⚠️ Videos differ! View Diff Report
big: ⚠️ Videos differ! View Diff Report

adeebshihadeh · 2026-03-20T21:05:38Z

    # Steering PID loop and lateral MPC
    # Reset desired curvature to current to avoid violating the limits on engage
-    new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    if self.sm.recv_frame['lateralManeuverPlan'] > 0 and self.sm.valid['lateralManeuverPlan']:


use sm.all_checks?

using sm.valid as the other optional services do, this does not require ignore.

github-actions · 2026-03-24T00:23:42Z

Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

✅ 0 changed, 66 passed, 0 errors

sshane · 2026-03-24T05:14:40Z

what the

TheSecurityDev · 2026-03-27T22:18:38Z

what the

@sshane Adeeb broke recording on ffmpeg here I believe (I think for hardware that doesn't support HW acceleration):
commaai/dependencies@0fc2d13

* lateral report * mutually exclude buttons * gating * set maneuver * add timer * timer text * fix plot * use curvature * more curves * fix gating * rm delay * highway speed only * msg * add sine * add step-down * use relative * text * stabilize * tuning * windup * text * winddown * no windup * tuning * more tuning * more * formatting * test faster * extend sine * report crossings * add readme * clean report * fix lint * gating * fix * straighter * compensate roll * rm abs roll * len * Revert "rm abs roll" This reverts commit a22d6bb. * Revert "compensate roll" This reverts commit dfda521. * print actuators * show curve and roll * tune roll * text * slower * timer * too much banked streets in US * readme * filter incomplete * plot jerk * plot angle jerk * lil edits * fix lint * apply suggestions * better table * apply comments * clean * shane comments * deflicker --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Two follow-on issues discovered when running pytest against the merged schema migration: 1. Import: use vendored openpilot.common.parameterized (project standard per the merge conflict resolution) instead of the third-party parameterized package, which is no longer in the venv. 2. SubMaster fixtures: controlsd.py now subscribes to lateralManeuverPlan (added by upstream PR commaai#37562). Add it to all 11 mock service lists so self.sm.valid['lateralManeuverPlan'] doesn't KeyError. pytest selfdrive/controls/tests/test_controlsd.py: 60 passed in 3.53s.

* lateral report * mutually exclude buttons * gating * set maneuver * add timer * timer text * fix plot * use curvature * more curves * fix gating * rm delay * highway speed only * msg * add sine * add step-down * use relative * text * stabilize * tuning * windup * text * winddown * no windup * tuning * more tuning * more * formatting * test faster * extend sine * report crossings * add readme * clean report * fix lint * gating * fix * straighter * compensate roll * rm abs roll * len * Revert "rm abs roll" This reverts commit a22d6bb. * Revert "compensate roll" This reverts commit dfda521. * print actuators * show curve and roll * tune roll * text * slower * timer * too much banked streets in US * readme * filter incomplete * plot jerk * plot angle jerk * lil edits * fix lint * apply suggestions * better table * apply comments * clean * shane comments * deflicker --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

lateral report

73eca56

elkoled added 28 commits March 4, 2026 20:56

mutually exclude buttons

9fea11d

gating

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set maneuver

ddef305

add timer

2d03295

timer text

92121a7

fix plot

32a6e24

use curvature

01a120e

more curves

25aae7a

fix gating

3548b9c

rm delay

38c20d0

highway speed only

dbc8bdc

msg

0101e8c

add sine

d56c303

add step-down

25055d7

use relative

16028b6

text

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stabilize

a2bad47

tuning

a08a58f

windup

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text

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winddown

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no windup

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tuning

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more tuning

a75076b

more

b642649

formatting

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test faster

4ba856c

extend sine

900e207

elkoled and others added 4 commits March 17, 2026 11:56

filter incomplete

79aff22

plot jerk

0104e62

plot angle jerk

8e3f071

lil edits

6250122

adeebshihadeh reviewed Mar 20, 2026

View reviewed changes

elkoled added 2 commits March 20, 2026 16:38

fix lint

c4c8fdb

apply suggestions

ef19d0e

better table

e5cdbdd