#BD - Blue diamond V2

175 messages · Page 1 of 1 (latest)

minor garden
#

Undetermined

ruby needle
#

Anyone tried BDv2 yet?

minor garden
#

I’m updating rn

sour patio
#

How?

#

Just update on BD?

#

Nvm found it

#

What’s different?

ocean zenith
#

It's V2

#

There's really no concrete way to describe a new model.

vagrant hollow
#

Key things noticed: long control is the best I’ve had on full e2e no DEC. I also noticed it’s much better when it has a lead car in front. My test was on highway. Also last was the best so far for me on my tests, but it was already the best with v1

sour patio
ocean zenith
#

Cause that was my initial impressions with FV.

vagrant hollow
#

But it was noticeable too

#

But I’d always enable DEC

#

I didn’t have the feeling of wanting to do that on my test drive with v2

sour patio
#

Maybe Sunny will give us a Christmas gift of stock radar tracks with experimental mode 😂

ocean zenith
#

Interesting. Guess I'll have to give BD another shot cause longitudinal is my main priority with new models and I didn't notice much of a difference with V1.

vagrant hollow
#

Yeah give it a try , it’s easy with our model selector now tho

#

I’m proud of that 😂😂😂

ocean zenith
#

Are you just comparing supercombo.onnx history changes on all the official branches?

vagrant hollow
#

On bd-driving, when we see a different hash we pull

past mirage
#

I drove less than a mile. During this, nothing that used to work previously did. It didn’t make any turns, gave me steering warning, and at one point just stopped in the middle of the road. I gave it time to figure things out because I had no one behind me. After it completely stopped, it drove back again.

ocean zenith
vagrant hollow
past mirage
#

This is not helpful, I need to drive more. I’ll share tomorrow when I commute.

past mirage
vagrant hollow
vagrant hollow
# past mirage Yup.

Usually after calibration you gotta drive a little still before it works okay, although I did not have that feeling at all

minor garden
#

I’m really liking BDv2 so far… seems to improve 90 degree turns a ton

past mirage
ruby needle
#

This is probably one of the best models I’ve tested.

minor garden
ruby needle
#

E2E longitudinal in city traffic is pretty good what the heck

#

Steering is so freaking stable and natural

#

Wow

#

Turned off DEC to fully test the model

minor garden
#

Now @wheat forum needs to tell us if his car can make 10 degree turns with the new model 😅

cosmic hemlock
#

-cries with the model not even getting close to the speed limit-

ruby needle
#

And wow, both Laneless and E2E long has been great

minor garden
past mirage
#

Now you all gonna make me go out on a second drive. 😅

minor garden
past mirage
#

How do these models handle day and night, I was always curious about that.

minor garden
#

I haven’t tested roads with no painted lane lines yet but so far main roads are great

ruby needle
#

Usually nighttime isn’t that good for me

#

Man, I feel comfortable using full E2E now

#

I’ve only disengaged long very little times and used the gas pedal to change lanes

cosmic hemlock
minor garden
ruby needle
#

This is actually so good what the heck

cosmic hemlock
#

yeah. what the heck is right

#

someone with a taller vehicle try it and tell me if it's yuck for you too or just me

minor garden
cosmic hemlock
#

Gonna try some testing after my son goes down.

#

😡

warm ivy
#

heh, model doesnt creep to the line when a car makes a right in front.

wheat forum
# minor garden Now <@534368379419754512> needs to tell us if his car can make 10 degree turns w...

i used to prioritized turning ability when testing, now its the overall
feeling of the drive. Basically how high is my confidence on the model on my way to and back from work - see my latest vid. I give it a 9.8 out of 10 ( latest setup) If you guys dont mind, on a scale of 1 to 10 what is your confidence level on BDv2 (lateral)?https://youtu.be/LTsdEbQfm-U?feature=shared&t=949

YouTube
Eyezenheim
Best Model /Version (LATERAL) since NUCLEAR GRADE MODEL for My Ac...
▶ Play video
minor garden
wheat forum
next grove
#

Glad they are detecting cones now also

shut prism
#

Tried it tonight on my 22 ridgeline. It was riding the left line at first on local city roads, but seems to have stabilized after a few miles. I changed lateral to auto, so not sure if that had any impact. Longitudinal seems to work better at stopping vs when I was using NLP on frogpilot. Pretty natural on the interstate and when I came back on local roads.

#

I put it in experimental mode to see if it’d stop at stop signs right after that install. It’d start slowing, but then ultimately stopped braking a few ft before the intersection and I’d roll through.

cosmic hemlock
#

Did it mantain the speed limit?

true patrol
shut prism
calm beacon
#

Just had my first drive using BDv2 this morning going to work. Was a bit anxious considering it was pitch dark outside at 5 am. Did a calibration reset, DEC on and everything on running experimental mode and set to map first and I have to say this was the smoothest drive I've had so far since I got my 3x in my IONIQ5. Everything just felt so good. Lane keeping, breaking, everything. Best model so far if you ask me.

vagrant hollow
tough abyss
#

BD V2 is a great improvement in lateral and longitudinal as well. 😀 ❤️

edgy nacelle
#

Currently using v2 on my .morning driver on the hwy. DLP auto still seems to be the best. Haven't tried e2e as the bolt tune is dog poo up stream. Unless that's been tweaked.

past mirage
cosmic hemlock
# past mirage What is DEC?

Dynamic Experimental Control. It intelligently flips between ACC and the Experimental Mode based on surrounding environments/scenes

past mirage
#

Thanks. I’m still not used to the acronyms. Not sure if it’s better to keep it on or off.

#

I did an hour drive just now, with mixed highway/ and in city. My conclusion is that V2 is worse for me than all the models before.

ruby needle
#

Calibration is reset, and torqued is valid?

#

That’s surprising.

past mirage
#

Calibration is reset yes. What do you mean by torqued?

#

I started recording after it stopped there inching in for about 15 seconds. But look at the second intersection where nav is telling it to go left.

#

Third intersection nav also wants it to go left.

ruby needle
#

Ah, the low speed override with radar tracks

#

Yea that’s not a model issue, but more of a control issue

#

You just got unlock for some of these scenarios lol

#

Radar tracks detected some objects that confused vision to believe it was a lead car

#

It’s sort of a known issue for cars that have radar tracks when using OP long (most Toyota).

past mirage
#

Gotcha. I’m guessing the “take control immediately” also forced the car to stop, confusing the model on the second intersection.

ruby needle
#

You can see that with the chevron being locked on some random objects at low speed in both clips.

#

That’s when low speed override was messing with the controls.

past mirage
#

Anything I can do?

ruby needle
#

I may add a toggle to mitigate this. There’re pros and cons to disable not using radar tracks at low speed, but I’ll see what I can do.

past mirage
#

It used to do these turn before. But maybe i was just lucky back then where it didn’t detect these objects.

ruby needle
#

Yes lol

#

I’ve seen them myself a fair share of times

past mirage
#

But this is just 1 minute of my drive. It did a whole lot weird stuff all through the drive that BD didn’t do nor FV.

ruby needle
#

DEC is still much better to use.

#

I was testing the model fully in E2E just to see how it performs

past mirage
#

Yeah, I’ll turn it back on. It was on half of the way.

ruby needle
#

It’s still better than full E2E.

past mirage
#

Also side note, not sure if this is something you can control, or if I’m even considering all the situations. But you know how the map sometimes doesn’t have a speed limit, is there a way to tell it to assume previous speed limit of speed limit is null?

#

Since I have the car on say 45, I’m driving on a 25mph road, if map doesn’t give it a speed, the car just goes full on hot wheels 🤣

#

Because it assumes since there is no speed limit here, it will switch to my set speed of 45, and accelerates as fast as it can to that speed.

sour patio
ruby needle
whole dome
#

Does DEC work if EM is turn off?

ruby needle
#

No.

sunnypilot - 0.9.5.1 (2023-11-17)
========================
* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
  * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
  * Dynamic Experimental Control is only active while in Experimental Mode
  * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
whole dome
#

Thanks

#

My only wish is that I could set a destination and use it to know when to turn, but not have it navigate and try and turn and brake to follow the route. I’ve been caught off guard a couple times when I went a different way and the car abruptly stopped from 50 mph because it wanted to do a U-turn. Glad no one was behind me. I wish there was a toggle to turn NAV on or off, but still use the map.

past mirage
ruby needle
#

But yea, looking to improve on Toyota/Ford's SLC experience soon.

past mirage
past mirage
ruby needle
#

Have fun!

sour patio
#

What

#

DEC off and drives awesome

#

I’m impressed

#

Good job Sunny and great job on the model (whoever I’m giving credit too)

lethal tundra
cosmic hemlock
ruby needle
lethal tundra
whole dome
#

I’ve been driving around for 2 hours, some expressway and some secondary roads w/traffic lights. On the expressway I found on a long straightaway it will occasionally hug the right side of the lane (tire about 1 foot from line) and gently move to the left side of the lane and almost touch the left side of the lane. I suppose you could call that ping pong, but it was very gentle and over a long distance. Other times it just stayed right in the middle of the lane.

Overall it was satisfactory.

I’m likely driving from Orlando FL to Richmond VA over Christmas and I will try out BDv2 over an 800 mile road trip. If I don’t decide to fly. I drive a 2018 Prius w/SDSU.

tired tundra
#

Had my first drive with the model as well. This one does right turns and curves perfectly whilst going over line in sharp left turns. Farmville went over lines in both left and right sharp turns. On straights farmville drove very centered for me, but this one is more left biased, to the degree that i want to keep hands on wheel when meeting oncoming traffic in left lane.
Also this one is smoother i.e smoother movements of the wheel compared to farmville. Farmville wasnt jerky, but still more so than this one.
Atm not sure if i will go back or stay on this

tired tundra
whole dome
# tired tundra an example 😄

Interesting. My 2018 Prius will understeer, but I have never noticed over steering like your video. But, I’m new to SP. I’ve been using only stable versions of OP for past 3 years, up until a week ago.

tired tundra
bold locust
#

I noticed that V1 it would hover around 40mph for 3 seconds or so before climbing back to 65. On V2, now it seems to hover around 30mph before climbing back to 65.

Have y'all noticed anything like this?

cedar hill
#

Just tried it out with experimental, DEC, NNLC, and camera SCC. It gets up to speed on stroads normally in a way that I won't get honked at, slows down sooner, and stops for yellow lights when it's close and all the red lights in my short straight trip. First time I've giggled with experimental and left it on for the whole trip

ruby needle
#

Same

lethal tundra
#

Tried out for about an hour now with 4 trips, still slows down to 10-20km/h under the speed limit 🥲

sour patio
cosmic hemlock
lethal tundra
lethal tundra
sour patio
#

Drive with DEC on when on the highway so it stops slowing down

lethal tundra
cosmic hemlock
lethal tundra
rugged haven
cedar hill
cosmic hemlock
#

It’s very iffy. I’ve been working on long controls for ford recently and this is certainly the best model for long for acceleration though

snow holly
#

My car doesn't have longitudinal support, so I can only really comment on steering/path performance. If i'm being honest, BDv2 is kinda a downgrade vs FV for me.
It seems to have this inherent suicidal desire to drift left whenever it's the least bit unsure, trying to drive me into painted islands, turning lanes, raised islands, and even oncoming traffic sometimes. I find it's worst when coming over small hills where you can't see the lanes ahead of you; where FV would continue going straight, BDv2 seems to assume that the road will suddenly turn left for some reason, and plans a path based on this crazy assumption. Hell, i've even seen the model planner draw a path straight over the lane lines and into some of the giant concrete barriers on the side of the highway a few times, even though it could see and detect the lane markings and road edge perfectly.
it may well be a huge upgrade for longitudinal, but it feels like a big step backwards for lateral imo

cosmic hemlock
#

I've flipped back to DEC. BDv2 is good in some scenes but it's too unreliable atm

sour patio
#

I take back the blue diamond . It’s garbage for me. Lane changes makes my car go to the other side of the road and randomly also. Too bad . Seems like comma makes one thing good and turns something else to shit

#

🤮

#

Luckily we can go back to old models

#

And sorry just venting . Not going to go back to stock to upload rlogs. But why is something always seems regressed every model

next grove
#

After more time with BDv2, I have to agree that Farmville is better. There is indeed some random pull to the left that's weird

sour patio
#

Lateral seems to have regressed 🤣

warm ivy
#

ppl going back to farmville or BDv1

snow holly
#

I've gone back to fv, though I never tried bdv1

drifting comet
snow holly
#

Dynamic experimental control

#

Basically like the auto laneless setting, but for long instead of lat

sour patio
#

Comma has tons of complaints over on driver feedback 😂 about over and under shooting 🙄

past mirage
wheat forum
ruby needle
#

Yea, BDv2 is still better for me lol

warm ivy
#

over ND?

vagrant hollow
#

I’m on bd v1 and I kinda like it better than bd. 2 and nd . I can’t pinpoint what it is, but I sort of feel v1 more stable than v2

ruby needle
#

BDv2 is still the most stable for me

pliant nebula
#

ND actually seems better to me. Mine is ND, then BDv1, and last BDv2. Though, ND seems better at just staying in the lane. BDv1 did a few other things better, so it may just be which things are most important to you.

idle violet
#

BDv2 was doing a bit of pingponging during the rain tonight though it seemed solid during dry day drives. Going to try out v1 to see how it compares

maiden steeple
#

Can anyone with a Hyundai Motor Group vehicle (or specifically an E-GMP EV) comment on the driving model's steering performance? I'm in a Kia EV6 with the Farmville model and it's better than the older driving models but I was wondering if never models like BD2 would be an upgrade or a downgrade...

rugged oyster
waxen jay
#

Brand new here, hey everyone. I'll just throw in my 2 cents. Tried BDv2 two nights in a row. First night, rock solid, I was very impressed. Second night, it was ping ponging so bad, couldn't understand it. I'm going to give v1 a try tomorrow. Also turned on NNLC, hope that helps

earnest frigate
nimble pumice
#

BD v1 is better for me, tried v2 but had some weird issues and it hugged the lane more than v1. I tried resetting calibration twice on v2 and still v1 was better so I am running V1 until LA available on Sunnypilot