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| 1 | +# Stimulus-Response Tests |
| 2 | + |
| 3 | +These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted |
| 4 | +test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive. |
| 5 | + |
| 6 | +While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if |
| 7 | +necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't |
| 8 | +available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result |
| 9 | +in loss of the last minute of testing data. |
| 10 | + |
| 11 | +## Stationary ignition-only tests, part 1 |
| 12 | + |
| 13 | +1. Ignition on, but don't start engine, remain in Park |
| 14 | +2. Open and close each door in a defined order: driver, passenger, rear left, rear right |
| 15 | +3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt |
| 16 | +4. Slowly press and release the accelerator pedal 3 times |
| 17 | +5. Slowly press and release the brake pedal 3 times |
| 18 | +6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable |
| 19 | +7. Return to Park, ignition off |
| 20 | + |
| 21 | +Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or |
| 22 | +pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on |
| 23 | +the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later. |
| 24 | + |
| 25 | +Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus. |
| 26 | +Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's |
| 27 | +door signal is available, the same signal may follow the driver. |
| 28 | + |
| 29 | +## Stationary ignition-only tests, part 2 |
| 30 | + |
| 31 | +1. Ignition on, but don't start engine, remain in Park |
| 32 | +2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust |
| 33 | +3. Set the left turn signal for about five seconds |
| 34 | +4. Operate the left turn signal one time in its touch-to-pass mode |
| 35 | +5. Set the right turn signal for about five seconds |
| 36 | +6. Operate the right turn signal one time in its touch-to-pass mode |
| 37 | +7. Set the hazard / emergency indicator switch for about five seconds |
| 38 | +8. Ignition off |
| 39 | + |
| 40 | +Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement |
| 41 | +isn't necessary for purposes of detecting the ACC button presses. |
| 42 | + |
| 43 | +## Steering angle and steering torque tests |
| 44 | + |
| 45 | +Power steering should be available. On ICE cars, engine RPM may be present. |
| 46 | + |
| 47 | +1. Ignition on, start engine if applicable, remain in Park |
| 48 | +2. Rotate the steering wheel as follows, with a few seconds pause between each step |
| 49 | + * Start as close to exact center as possible |
| 50 | + * Turn to 45 degrees right and hold |
| 51 | + * Turn to 90 degrees right and hold |
| 52 | + * Turn to 180 degrees right and hold |
| 53 | + * Turn to full lock right and hold, with firm pressure against lock |
| 54 | + * Release the wheel and allow it to bounce back slightly from lock |
| 55 | + * Turn to 180 degrees left and hold |
| 56 | + * Return to center and release |
| 57 | +3. Ignition off |
| 58 | + |
| 59 | +Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation |
| 60 | +of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals. |
| 61 | + |
| 62 | +## Low speed / parking lot driving tests |
| 63 | + |
| 64 | +Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves. |
| 65 | + |
| 66 | +1. Ignition on, start engine if applicable, prepare to drive |
| 67 | +2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right. |
| 68 | +3. Come to a complete stop |
| 69 | +4. When and where safe, drive in reverse for a short distance (10-15 feet) |
| 70 | +5. Park the car in a safe place, ignition off |
| 71 | + |
| 72 | +## High speed / highway driving tests |
| 73 | + |
| 74 | +Select a place and time where you can safely set cruise control at normal travel speeds with little interference from |
| 75 | +traffic ahead, and safely test the response of your factory lane guidance system. |
| 76 | + |
| 77 | +1. Ignition on, start engine if applicable, prepare to drive |
| 78 | +2. When safely able, engage adaptive cruise control below 50 mph |
| 79 | +3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph |
| 80 | +4. Disengage adaptive cruise |
| 81 | +5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right |
| 82 | + |
| 83 | +The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise |
| 84 | +setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches |
| 85 | +and holds the setpoint, that can also provide additional confirmation of wheel speed scaling. |
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