CH - Certified Herbalist V2

[fossil cliff]

^

CH - Certified Herbalist V2

[digital citrus]

I'm impressed, on my test road, it's able to handle the really sharp turns without cutting at all anymore

It gets close to the line but it doesn't go over like previous models were

Additionally, if you take a hard 90 degree turn with steering enabled still, it seems to find the lane position a lot faster than it used to and straightens out properly

I'm curious how folks who use experimental think about handling 90° turns at stop signs with this model

[bronze parrot]

Very impressed for me so far.

Stop lights are VERY assertive.

[glossy dune]

Deceleration on the highway exit is so good. I’m very impressed. It definitely handles the curve much better.

[bronze parrot]

That’s some nice deceleration from Experimental Mode!

So far CHv2 is very very nice for me

[pseudo mango]

So you like CHV2 the most? @bronze parrot

[bronze parrot]

Yes, so far CHv2 is pretty good

[craggy smelt]

Those that are happy with CHv2 I’d suggest to also give it another try to LAv2… I find they are very similar, but I don’t know why I kind of feel LAv2 a bit more consistent … if that’s also your experience let me know !!

[digital citrus]

anyone have unintentional lane changes?

i haven't

[craggy smelt]

Nope! I’ve never had those

[oblique flicker]

Is it available in the dev-c3 branch?

[bronze parrot]

The latest, yes.

[oblique flicker]

Great 🙂

[bronze parrot]

#dev-feedback message

[proper roost]

I felt that CHv2 hugs the right less than LAv2.

[small locust]

CHv2 definitely my favorite since moonrise so far, it's keeping in the middle of the lane better, and lane changes are now not too passive or aggressive

[bronze parrot]

Same here!

[bronze parrot]

How high is your mounting?

[proper roost]

Couple inches below the cam in the middle

I think it has improved now

I’m also running NNLC

[bronze parrot]

We're going to sync with the latest master some time tomorrow in dev-c3, there's a new change with how the calibration is done that may improve some performance.

[rugged dome]

CHv2 now takes turns unassisted 🙂 sometimes.. It prefers turn lanes with markings which is only a percentage in Australia

[bronze parrot]

Nice!

I've been liking CHv2 a lot

[sinful haven]

wait, does it say turning right when the model turns right or is it due to the turn signal being on?

On vacation so can't try it atm

[smoky stream]

I’d say CH v2 is game changer for me. I heard their next model is a big one

So excited for that

And imagine when they start GPT models 🙌

[sinful haven]

last model I used was New Delhi. can't wait to try out the latest models when I come back 😛

[smoky stream]

This model can make left and right turns now

But it’s still spotty .

And it will depend on the vehicle you drive also.

[sinful haven]

yeah I heard it's much better with the turns than previous models so that's something to look forward too!

[bronze parrot]

CHv2 is so centered for my car, it’s great

My mounting location is exactly the same as comma’s Sonata’s for reference

[elfin wren]

being centered is one of the main reason that makes a model great. drive like a human - left bias < centered driving when it comes to hands free . you get more confident when its centered. imho

[sage bough]

But humans are centered only a very small proportion of the time. Mostly we move left and right depending on who is in the adjacent lane and according to necessity we cross the lane markings without blinking an eyelid, this is why LANELESS is the way to go.

[elfin wren]

the key here is we humans are holding the wheel so we know we have full control vs hands free on left bias. Maybe its just me but i prefer CHv2 for being mostly centered or close to centered compared to other models- this is without using tricks.

[small locust]

I've noticed on CHv2 that it will hug right of the center in the lane, IF you are on the right most lane and you have a curb and cannot change lanes to the right.

[sage bough]

I was just making a statement.

[elfin wren]

same here. btw im a longtime advocate of centered driving hence you see me doing a lot of hacks to accomplish that. but with chv2 no need for hacks its centered most of the time at least on my local route.

and i hope with the accolades chv2 is getting, comma should move to centered driving going forward and car should react accordingly e,g big rig to the left , car moves to the right a bit

[rugged dome]

Turn signal

[sinful haven]

ah ok thanks

[misty portal]

Love how centered this model is! However, I'm definitely not seeing these 90 degree turns I see some people posting lol. Even with LLNC my 21 Kia Niro EV just can't handle that kind of torque

[quick scroll]

Same for me ('21 Palisade). I'm still waiting for the day it can just take a 90* turn

[sage bough]

I’m surprised HKG have excellent torque. I have a 2023 Kia Sportage hybrid, on Dev-c3, BDv2 with NNLC activated in experimental mode, it did the 90 degree turns with ease. It could be model related, I have no idea. That said with the last three new models with Dev-c3 last update it has regressed (With and without NNLC), I’m told I have to drive for a a couple of hours for the car to recalibrate its torque. @Twilsonco eluded to an upcoming Change to NNLC, hoping things get better 🤞

[sinful haven]

my car has done 90 degree turns with some turns with past models but not always consistent. Hoping to see some major improvements with turning onto secondary streets from main roads 🤞

[molten vale]

Should this show up in the sunny pilot driving model selector? Because for me it is not. The last one for me is New Delhi.

[bronze parrot]

dev-c3 or staging-c3 for now.

[molten vale]

Thanks for The immediate response!

[misty portal]

CHv2 Experimental is still an uncomfortable drive with all the weird herky jerky accelerating, braking, accelerating, braking. And I have to manually press the accelerator to get up to the speed I have set. Then when I get it there and let off the pedal, the speed very gradually decelerates, dropping 1mph every 10 seconds or so.

[west belfry]

true, especially in countries where motocyclists zip zapping between the lanes

[sage bough]

Not just motorcyclists, cars too

[sinful haven]

just tested out this model and it seems to be worse with stop lights and stop signs where it wont see it until the last minute at times or possibly miss them. as for turning, haven't seen much improvement if any. showing similar behavior as past models where it would sometimes attempt to turn but would slowly come up to the side road, and then do a half attempt of a turn and then fail to make it

also seems to not handle parked cars well anymore either where it would usually stop right behind it

when handling the small roundabouts, it seems to be struggling a bit compared to when I tested it with farmville

going to stay on this model for a bit and if i dont see anything improve, ill probably reset calibration or try out LAv2

[sinful haven]

guess the right word would be that it seems to hesitate a lot when trying to turn

only did local road driving (drove 11 miles around town lol), no highways yet

[oblique flicker]

I can see improvement in turns where the road is clearly marked or it's pretty obvious where the road limits are.
When the street is with a lot of stopped cars and no marking, etc. it's just confused.
In terms of Highway driving, for me, it's as good as BDv2.
The last update of the driver monitoring seems to be better for me. It's not so annoying when you are looking at the display or the person next to you.

[real heron]

Enjoying CHv2, but I’ve noticed that stop signs and red lights are more of a suggestion than a rule. It’ll slow down at a stop sign, but never fully stop. Has anyone else had that experience?

[west belfry]

same issue but i think similar experience with LA2 as well.

[sage bough]

Yup me too, the most annoying thing is that it will on occasions do unwanted lane changes usually to the left lane, likes to be in the left lane, on the highway these can be dangerous. I’m back to LAv2

[chrome inlet]

CHv2 with DEC has been heavenly the last few days

[chrome inlet]

I've had this experience with every model for stop signs. Stop lights are better.

[misty portal]

https://github.com/commaai/openpilot/compare/master...chlr

New model incoming?

[digital citrus]

copy/pasting from another server

alright, i've had weird CHv2 behavior 2 days in a row
anyone experiencing it trying to take exits like much older iterations of OP used to do?

it's sent it into a turn-off lane like this twice now

this one it did it with a lead car that wasn't turning (these are google maps screenshots)

[sinful haven]

Going to be trying this out on highways in a few days (unless chlr is available on sp quickly and everyone loves it :P) so I'll be interested to see how it performs compared to what you guys are seeing

[fallen badge]

I had it follow a lead car down an exit ramp over the weekend. It was the ramp I wanted to take so I let it do it but it made the choice incorrectly and without knowing my destination. I have not experienced an weird/unsafe lane changes as someone else mentioned above

[bronze parrot]

I've experienced it a few times on the thruway too with CHv2.

[golden isle]

+1 I had CHv2 follow a car across a dashed line and off an exit.

Also it ping pongs more than I'd like

[digital citrus]

sorry, this is without a lead car

https://replicate.com/p/nobuvbzbpen7ydkm3djoerhylu

[tropic tulip]

with CHv2 sometime my car starting to slow down, max speed is set to 130, detected allowed speed is 130, nothing in front of me, but car is slowly decelerating ... usually it keep it around 90km/h

[steady cobalt]

Hey I had to switch to running the latest CHv2 because LAv2 was driving horribly! I even reset the calibration but it still was basically driving drunk, always veering too far to the left or the right of the lane.

CHv2 is doing a good job for the most part, but it still gets a little confused with a strong crosswind or rough roads which cause my EV6 to move left or right (laterally)

I'm also using NNLC and have driven about 200 miles on CHv2, so hopefully it can become more stable

I'm happy to share more development data to help refine the model. Sunny, I believe you still have access to my Comma 3X for debugging purposes

[simple wagon]

CHv2 is quite goated

Handles curves much better now. Holds the inside lane which is a lot more comfortable when there a car in the neighboring lane.

[noble heart]

I agree, yesterday I had a lead in front, we’re going straight the lights turn yellow, the lead kept going. In the past, it wouldve followed the lead and run the red but not with CHv2. It seems like it prioritized the lights over lead because this was before the lead crossed the lines. The timing was super impressive, also it did it way smoother than I would’ve.

[high cave]

I have had to pull over and calibrate a twice now just to make sure that everything was erased, but I have an Ioniq 5 2024 and it now rides the right hand line and when turing will cut into another lane or be on the line which had had me grab control - did not happen to me before.

[bronze parrot]

If you’ve reset calibration, your learned torque lateral control values are also reset. You’ll need to drive around a bit for the new values to be learned. Could be cause by that.

Some folks with Ioniq 5 have mentioned this in the past too.

[solemn oracle]

I don't understand how DEC is usable/preferred by people, because on my sonata it's always uncomfortably late to switch to blended and slams the brakes last minute

is there some configuration i dont know about or something i could be doing wrong?

light/stopped car detection is definitely really nice and early on chv2 with dec off though

[bronze parrot]

It works super well in my 2021 Sonata N Line

I have radar tracks enabled, but shouldn't matter as much

[noble heart]

is this why whenever I reinstall sunnypilot, it behaves a little strange the first couple days? Thats good to know!

[bronze parrot]

Yep!

Now, if you know the ballpark of your cars stable and consistent learned values, you can use the settings to set your offline values for learning. It could help.

[pseudo island]

May I ask where's the dynamic experimental control(DEC)? I didn't find it in Toggles

[golden isle]

It's in the onscreen menu behind a gear icon

Bottom left during vehicle on

[hard chasm]

Chv2 model is extremely impressive in lateral for curvy roads. Slow down for curves with vision is also massively improved since a few months ago.

[golden isle]

I find it to slow down too much sometimes

[solemn oracle]

when openpilot is driving, i would much rather it drive conservatively than try to go fast, so i like this behavior

[tired grail]

My dec just shows inactive ? Is there a way to make it work?

[bronze parrot]

You must have Experimental Mode enabled.

This is not the proper channel for such questions, in the future feel free to bring it up in #sunnypilot-faq .