[experiment] support groups - #3667
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Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 190 segments for: TOYOTA_ALPHARD_TSS2, TOYOTA_AVALON, TOYOTA_AVALON_2019, TOYOTA_AVALON_TSS2, TOYOTA_CAMRY, TOYOTA_CAMRY_TSS2, TOYOTA_CHR, TOYOTA_CHR_TSS2, TOYOTA_COROLLA, TOYOTA_COROLLA_TSS2, TOYOTA_HIGHLANDER, TOYOTA_HIGHLANDER_TSS2, TOYOTA_PRIUS, TOYOTA_PRIUS_V, TOYOTA_PRIUS_TSS2, TOYOTA_RAV4, TOYOTA_RAV4H, TOYOTA_RAV4_TSS2, TOYOTA_RAV4_TSS2_2022, TOYOTA_RAV4_TSS2_2023, TOYOTA_RAV4_PRIME, TOYOTA_YARIS, TOYOTA_MIRAI, TOYOTA_SIENNA, TOYOTA_SIENNA_4TH_GEN Show changes |
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An attempt at solving fingerprinting, once and for all. If you see a car on comma.ai/vehicles, it'll just work.
Motivating issues:
We currently use proxies to fingerprint, one of CAN ID list matching, ECU FW version matching, or VIN decoding. However, these don't quite check what we need, and we see both false positives and false negatives as a result. What if this trim of car has a different ECU handling ACC (e.g. HDA1 vs HDA2 Hyundai)? What if the Brazilian 2022 Corolla ships with TSS-P ADAS? We should enumerate every instance of something like this we've seen in the past, and make sure it's handled in the new paradigm.
At its core an opendbc "platform" can be broken down into these core pieces:
carState.carControl. This also includes the designed safety model beinNotes:
(make, model, model year)should still have to be manually added, e.g. even if a 2026 Corolla fully matches to the 2025 Corolla support group, it should have to be added to the whitelist. This can happen after our new fingerprinting message, and we can show a nice specific message for this ("New model year detected! Go to Discord...").