Run Summary — 20260711-111559/d1

Best Lap

— s

Avg Lap (2-6)

— s

Penalties

0 / 0.0 count / s

Boost

🚀 743 fires

e_y RMS

— m

vx Max

— m/s

Steer Jerk RMS

— rad/s

Solve Time p95

— ms

Parameters

mpc

N	20
R	[100000.0, 0.0]
a_min	-1.37 m/s²
a_max	1.37 m/s²
delta_max_deg	32.0 deg (0.559 rad)
steer_rate_max	1.4
control_rate	40.0
steering_tire_angle_gain_var	1.639
accel_low_pass_gain	1.0
steer_low_pass_gain	1.0
wp_id_offset	2
use_max_kappa_pred	True
use_path_kappa_vmax	True
infeasible_brake_decel	2.0
v_max	35.0 km/h (9.722 m/s)
ay_max	12.0 m/s²
traj_ay_budget	24.0
Q	[600000.0, 100000000.0, 2000000.0]
QN	[1000000.0, 1000000.0, 10000.0]

reference_path

csv_path	env/awsim_collision_2026/traj_mintime_awsim0701_safe.csv
resolution	0.6
smoothing_distance	2
max_width	6.0

bicycle_model

length	1.087
width	1.45

v2x_obstacle_avoidance

vehicle_radius	0.5
v_max_safety	30.0
position_jump_threshold	5.0
bearing_overlap_lateral_enter_min_m	0.8
bearing_overlap_lateral_exit_min_m	0.5
bearing_overlap_lateral_enter_max_m	2.3
bearing_overlap_lateral_exit_max_m	3.3
bearing_overlap_longitudinal_guard_m	12.0

ref_vel

s1	30.0
s1_1	30.0
s2	30.0
s3	30.0
s4	22.0
s5	30.0
s6	22.0
s7	30.0
s8	25.0
s9	30.0

launch

use_obstacle_avoidance	True
use_boost_acceleration	False

label	race_time [s]	duration [s]	s [m]
start	10.57	5.32	338.3
None	15.97	0.01	73.8
None	16.07	0.01	63.5
None	16.17	0.01	69.7
None	16.27	0.01	73.8
None	16.37	0.01	71.9
None	16.47	0.01	63.5
None	16.57	0.01	63.5
None	16.67	0.01	71.1
None	16.77	0.01	71.8
None	16.87	0.01	71.8
None	16.97	0.01	66.6
None	17.07	0.01	63.1
None	17.17	0.01	69.1
None	17.27	0.01	68.3
None	17.37	0.01	63.6
None	17.47	0.01	68.4
None	17.57	0.01	65.2
None	17.67	0.01	70.2
None	17.77	0.01	70.2
None	17.87	0.01	69.6
None	17.97	0.01	69.9
None	18.07	0.01	71.0
None	18.17	0.01	71.8
None	18.27	0.01	70.8
None	18.37	0.01	66.7
None	18.47	0.01	66.9
None	18.57	0.01	71.6
None	18.67	0.01	71.3
None	18.77	0.01	66.2
None	18.87	0.01	66.3
None	18.97	0.01	67.6
None	19.07	0.01	67.6
None	19.17	0.01	70.9
None	19.27	0.01	70.3
None	19.37	0.01	69.8
None	19.47	0.01	67.5
None	19.57	0.01	67.4
None	19.67	0.01	68.8
None	19.77	0.01	69.3
None	19.87	0.01	68.6
None	19.97	0.01	67.3
None	20.07	0.01	66.9
None	20.17	0.01	66.8
None	20.27	0.01	66.2
None	20.37	0.01	65.7
None	20.47	0.01	68.6
None	20.57	10.09	65.4
None	20.67	10.09	67.7
None	20.77	10.09	65.3
None	20.87	10.00	67.0
None	20.97	9.90	65.1
None	21.07	9.80	66.9
None	21.17	9.70	66.8
None	21.27	9.60	65.4
None	21.37	9.50	64.9
None	21.47	9.40	64.9
None	21.57	9.30	64.9
None	21.67	9.20	66.7
None	21.77	9.10	66.3
None	21.87	9.00	64.2
None	21.97	8.90	64.2
None	22.07	8.80	61.6
None	22.17	8.70	65.3
None	22.27	8.60	65.2
None	22.37	8.50	82.2
None	22.47	8.40	82.2
None	22.57	8.30	77.9
None	22.67	8.20	77.9
None	22.77	8.10	77.9
None	22.87	8.00	82.1
None	22.97	7.90	77.9
None	23.07	7.80	77.9
None	23.17	7.70	76.8
None	23.27	7.60	73.8
None	23.37	7.50	76.8
None	23.47	7.40	81.0
None	23.57	7.30	76.8
None	23.67	7.20	81.0
None	23.77	7.10	76.8
None	23.87	7.00	76.8
None	23.97	6.90	81.0
None	24.07	6.80	76.8
None	24.17	6.70	80.2
None	24.27	6.60	75.8
None	24.37	6.50	79.9
None	24.47	6.40	79.9
None	24.57	6.30	75.8
None	24.67	6.20	75.8
None	24.77	6.10	72.8
None	24.87	6.00	71.7
None	24.97	5.90	74.8
None	25.07	5.80	78.9
None	25.17	5.70	73.8
None	25.27	5.60	70.7
None	25.37	5.50	68.7
None	25.47	5.40	68.7
None	25.57	5.30	30.2
None	25.67	5.20	30.4
None	25.77	5.10	32.6
None	25.87	5.00	31.7
None	25.97	4.90	32.1
None	26.07	4.80	30.8
None	26.17	4.70	30.9
None	26.27	4.60	31.4
None	26.37	4.50	31.5
None	26.47	4.40	32.6
None	26.57	4.30	31.5
None	26.67	4.20	32.5
None	26.77	4.10	32.5
None	26.87	4.00	33.1
None	26.97	3.90	32.0
None	27.07	3.80	32.0
None	27.17	3.70	34.2
None	27.27	3.60	34.7
None	27.37	3.50	32.0
None	27.47	3.40	31.9
None	27.57	3.30	31.8
None	27.67	3.20	31.9
None	27.77	3.10	32.0
None	27.87	3.00	31.7
None	27.97	2.90	32.7
None	28.07	2.80	32.7
None	28.17	2.70	32.0
None	28.27	2.60	32.2
None	28.37	2.50	32.2
None	28.47	2.40	32.5
None	28.57	2.30	32.9
None	28.67	2.20	33.2
None	28.77	2.10	34.0
None	28.87	2.00	34.2
None	28.97	1.90	35.0
None	29.07	1.80	32.9
None	29.17	1.70	49.9
None	29.27	1.60	45.9
None	29.37	1.50	46.8
None	29.47	1.40	46.8
None	29.57	1.30	50.8
None	29.67	1.20	51.0
None	29.77	1.10	50.1
None	29.87	1.00	50.8
None	29.97	0.90	44.5
None	30.07	0.80	51.0
None	30.17	0.70	51.5
None	30.27	0.60	51.0
None	30.37	0.50	45.2
None	30.47	0.40	47.7
None	30.57	0.30	51.0
None	30.67	0.20	50.4
None	30.77	0.10	45.9
None	30.87	—	49.8
None	30.97	—	49.4
None	31.07	—	45.2
None	31.17	—	45.4
None	31.27	—	48.8
None	31.37	—	46.1
None	31.47	—	48.8
None	31.57	—	57.3
None	31.67	—	48.8
None	31.77	—	63.2
None	31.87	—	58.8
None	31.97	—	55.4
None	32.07	—	57.8
None	32.17	—	51.0
None	32.27	—	49.0
None	32.37	—	49.9
None	32.47	—	48.8
None	32.57	—	51.7
None	32.67	—	50.3
None	32.77	—	51.5
None	32.87	—	49.4
None	32.97	—	48.0
None	33.07	—	48.8
None	33.17	—	51.6
None	33.27	—	44.5
None	33.37	—	47.5
None	33.47	—	42.3
None	33.57	—	42.3
None	33.67	—	43.8
None	33.77	—	47.1
None	33.87	—	41.5
None	33.97	—	43.8
None	34.07	—	43.8
None	34.17	—	46.4
None	34.27	—	41.5
None	34.37	—	46.3
None	34.47	—	43.0
None	34.57	—	41.5
None	34.67	—	40.3
None	34.77	—	41.3
None	34.87	—	44.1
None	34.97	—	39.0
None	35.07	—	65.3
None	35.17	—	37.9
None	35.27	—	41.5
None	35.37	—	43.0
None	35.47	—	46.4
None	35.57	—	47.3
None	35.67	—	48.2
None	35.77	—	48.3
None	35.87	—	45.2
None	35.97	—	49.4
None	36.07	—	49.5
None	36.17	—	45.9
None	36.27	—	46.8
None	36.37	—	46.8
None	36.47	—	44.5
None	36.57	—	51.7
None	36.67	—	45.2
None	36.77	—	44.5
None	36.87	—	51.4
None	36.97	—	50.7
None	37.07	—	50.6
None	37.17	—	51.7
None	37.27	—	51.6
None	37.37	—	44.5
None	37.47	—	47.7
None	37.57	—	51.6
None	37.67	—	51.7
None	37.77	—	51.7
None	37.87	—	55.8
None	37.97	—	56.7
None	38.07	—	52.6
None	38.17	—	53.3
None	38.27	—	52.9
None	38.37	—	57.7
None	38.47	—	53.9
None	38.57	—	57.7
None	38.67	—	57.1
None	38.77	—	53.8
None	38.87	—	54.4
None	38.97	—	58.2
None	39.07	—	54.1
None	39.17	—	59.1
None	39.27	—	54.0
None	39.37	—	58.8
None	39.47	—	58.1
None	39.57	—	57.1
None	39.67	—	55.8
None	39.77	—	54.7
None	39.87	—	54.6
None	39.97	—	55.7
None	40.07	—	55.8
None	40.17	—	54.7
None	40.27	—	54.7
None	40.37	—	54.9
None	40.47	—	54.8
None	40.57	—	55.1
None	40.67	—	54.9
None	40.77	—	54.8
None	40.87	—	55.1
None	40.97	—	55.7
None	41.07	—	54.7
None	41.17	—	54.9
None	41.27	—	54.9
None	41.37	—	55.0
None	41.47	—	54.0
None	41.57	—	54.9
None	41.67	—	55.0
None	41.77	—	53.9
None	41.87	—	55.1
None	41.97	—	55.1
None	42.07	—	55.0
None	42.17	—	55.1
None	42.27	—	55.0
None	42.37	—	54.8
None	42.47	—	55.0
None	42.57	—	54.9
None	42.67	—	55.0
None	42.77	—	55.0
None	42.87	—	54.7
None	42.97	—	54.9
None	43.07	—	55.1
None	43.17	—	55.0
None	43.27	—	55.0
None	43.37	—	54.9
None	43.47	—	55.1
None	43.57	—	55.2
None	43.67	—	55.7
None	43.77	—	55.9
None	43.87	—	55.9
None	43.97	—	55.7
None	44.07	—	55.8
None	44.17	—	55.2
None	44.27	—	55.8
None	44.37	—	57.9
None	44.47	—	59.5
None	44.57	—	60.7
None	44.67	—	56.4
None	44.77	—	56.4
None	44.87	—	59.0
None	44.97	—	55.7
None	45.07	—	55.6
None	45.17	—	55.2
None	45.27	—	55.1
None	45.37	—	55.2
None	45.47	—	57.1
None	45.57	—	57.8
None	45.67	—	58.6
None	45.77	—	55.9
None	45.87	—	55.8
None	45.97	—	55.8
None	46.07	—	58.0
None	46.17	—	55.7
None	46.27	—	55.8
None	46.37	—	56.2
None	46.47	—	56.7
None	46.57	—	56.8
None	46.67	—	55.9
None	46.77	—	57.1
None	46.87	—	56.9
None	46.97	—	56.7
None	47.07	—	56.2
None	47.17	—	57.2
None	47.27	—	57.0
None	47.37	—	57.2
None	47.47	—	57.0
None	47.57	—	55.8
None	47.67	—	55.8
None	47.77	—	55.7
None	47.87	—	55.8
None	47.97	—	55.7
None	48.07	—	55.2
None	48.17	—	55.2
None	48.27	—	55.2
None	48.37	—	57.7
None	48.47	—	57.8
None	48.57	—	57.8
None	48.67	—	55.8
None	48.77	—	57.6
None	48.87	—	57.6
None	48.97	—	57.2
None	49.07	—	55.8
None	49.17	—	57.1
None	49.27	—	55.7
None	49.37	—	57.1
None	49.47	—	55.8
None	49.57	—	55.8
None	49.67	—	56.9
None	49.77	—	57.0
None	49.87	—	55.9
None	49.97	—	57.0
None	50.07	—	56.9
None	50.17	—	57.1
None	50.27	—	56.0
None	50.37	—	55.9
None	50.47	—	57.1
None	50.57	—	57.1
None	50.67	—	57.2
None	50.77	—	55.9
None	50.87	—	57.0
None	50.97	—	56.9
None	51.07	—	55.9
None	51.17	—	55.9
None	51.27	—	56.8
None	51.37	—	55.9
None	51.47	—	55.9
None	51.57	—	56.8
None	51.67	—	55.9
None	51.77	—	57.0
None	51.87	—	57.1
None	51.97	—	56.1
None	52.07	—	57.2
None	52.17	—	56.1
None	52.27	—	56.9
None	52.37	—	56.1
None	52.47	—	56.8
None	52.57	—	56.0
None	52.67	—	56.0
None	52.77	—	55.9
None	52.87	—	56.0
None	52.97	—	56.0
None	53.07	—	56.8
None	53.17	—	55.9
None	53.27	—	55.9
None	53.37	—	55.9
None	53.47	—	56.7
None	53.57	—	57.2
None	53.67	—	55.9
None	53.77	—	58.8
None	53.87	—	55.9
None	53.97	—	55.9
None	54.07	—	58.2
None	54.17	—	57.9
None	54.27	—	58.3
None	54.37	—	55.8
None	54.47	—	58.3
None	54.57	—	55.8
None	54.67	—	57.9
None	54.77	—	58.0
None	54.87	—	55.8
None	54.97	—	55.8
None	55.07	—	57.9
None	55.17	—	57.7
None	55.27	—	57.7
None	55.37	—	57.1
None	55.47	—	55.8
None	55.57	—	57.3
None	55.67	—	57.7
None	55.77	—	55.9
None	55.87	—	55.9
None	55.97	—	55.9
None	56.07	—	57.2
None	56.17	—	57.2
None	56.27	—	56.0
None	56.37	—	57.3
None	56.47	—	57.7
None	56.57	—	57.2
None	56.67	—	56.0
None	56.77	—	57.1
None	56.87	—	57.0
None	56.97	—	57.0
None	57.07	—	56.9
None	57.17	—	56.1
None	57.27	—	56.9
None	57.37	—	56.1
None	57.47	—	56.1
None	57.57	—	56.2
None	57.67	—	56.2
None	57.77	—	56.8
None	57.87	—	57.0
None	57.97	—	56.2
None	58.07	—	57.0
None	58.17	—	56.9
None	58.27	—	56.2
None	58.37	—	57.0
None	58.47	—	56.9
None	58.57	—	56.9
None	58.67	—	57.1
None	58.77	—	56.2
None	58.87	—	57.2
None	58.97	—	56.2
None	59.07	—	57.1
None	59.17	—	56.2
None	59.27	—	57.1
None	59.37	—	57.0
None	59.47	—	56.2
None	59.57	—	56.2
None	59.67	—	56.2
None	59.77	—	57.2
None	59.87	—	56.1
None	59.97	—	57.2
None	60.07	—	57.2
None	60.17	—	57.2
None	60.27	—	56.1
None	60.37	—	57.3
None	60.47	—	57.2
None	60.57	—	57.2
None	60.67	—	57.2
None	60.77	—	57.1
None	60.87	—	56.1
None	60.97	—	56.1
None	61.07	—	56.2
None	61.17	—	56.2
None	61.27	—	56.2
None	61.37	—	57.1
None	61.47	—	57.2
None	61.57	—	57.2
None	61.67	—	57.7
None	61.77	—	57.8
None	61.87	—	57.6
None	61.97	—	57.7
None	62.07	—	57.6
None	62.17	—	57.6
None	62.27	—	57.7
None	62.37	—	57.7
None	62.47	—	56.8
None	62.57	—	57.6
None	62.67	—	56.7
None	62.77	—	57.7
None	62.87	—	57.7
None	62.97	—	56.7
None	63.07	—	57.7
None	63.17	—	56.8
None	63.27	—	57.6
None	63.37	—	57.7
None	63.47	—	57.6
None	63.57	—	56.6
None	63.67	—	57.3
None	63.77	—	57.6
None	63.87	—	57.9
None	63.97	—	57.9
None	64.07	—	57.2
None	64.17	—	56.8
None	64.27	—	56.2
None	64.37	—	56.2
None	64.47	—	56.1
None	64.57	—	56.0
None	64.67	—	56.8
None	64.77	—	55.9
None	64.87	—	56.0
None	64.97	—	56.0
None	65.07	—	56.1
None	65.17	—	56.2
None	65.27	—	56.1
None	65.37	—	56.1
None	65.47	—	56.1
None	65.57	—	56.0
None	65.67	—	57.1
None	65.77	—	56.8
None	65.87	—	56.1
None	65.97	—	56.1
None	66.07	—	56.1
None	66.17	—	58.0
None	66.27	—	57.7
None	66.37	—	56.2
None	66.47	—	57.3
None	66.57	—	57.7
None	66.67	—	56.1
None	66.77	—	57.9
None	66.87	—	57.8
None	66.97	—	57.9
None	67.07	—	57.9
None	67.17	—	57.7
None	67.27	—	56.0
None	67.37	—	57.3
None	67.47	—	57.7
None	67.57	—	57.8
None	67.67	—	56.1
None	67.77	—	56.1
None	67.87	—	56.1
None	67.97	—	58.0
None	68.07	—	58.7
None	68.17	—	58.7
None	68.27	—	56.2
None	68.37	—	56.2
None	68.47	—	58.8
None	68.57	—	56.2
None	68.67	—	58.8
None	68.77	—	56.2
None	68.87	—	58.8
None	68.97	—	58.3
None	69.07	—	56.2
None	69.17	—	56.9
None	69.27	—	56.9
None	69.37	—	56.3
None	69.47	—	57.9
None	69.57	—	57.9
None	69.67	—	56.2
None	69.77	—	57.9
None	69.87	—	56.7
None	69.97	—	57.7
None	70.07	—	56.7
None	70.17	—	57.2
None	70.27	—	57.1
None	70.37	—	56.0
None	70.47	—	53.9
None	70.57	—	55.9
None	70.67	—	56.2
None	70.77	—	56.7
None	70.87	—	57.2
None	70.97	—	57.2
None	71.07	—	57.2
None	71.17	—	57.1
None	71.27	—	57.2
None	71.37	—	57.2
None	71.47	—	57.2
None	71.57	—	57.3
None	71.67	—	57.3
None	71.77	—	57.1
None	71.87	—	56.9
None	71.97	—	57.2
None	72.07	—	57.1
None	72.17	—	57.2
None	72.27	—	57.1
None	72.37	—	57.2
None	72.47	—	57.1
None	72.57	—	57.1
None	72.67	—	57.1
None	72.77	—	57.1
None	72.87	—	57.1
None	72.97	—	57.1
None	73.07	—	57.2
None	73.17	—	57.1
None	73.27	—	57.3
None	73.37	—	57.7
None	73.47	—	57.7
None	73.57	—	57.7
None	73.67	—	57.6
None	73.77	—	57.6
None	73.87	—	57.7
None	73.97	—	57.7
None	74.07	—	57.7
None	74.17	—	57.7
None	74.27	—	57.8
None	74.37	—	57.7
None	74.47	—	57.7
None	74.57	—	57.8
None	74.67	—	57.8
None	74.77	—	57.8
None	74.87	—	57.6
None	74.97	—	57.3
None	75.07	—	57.7
None	75.17	—	57.3
None	75.27	—	57.7
None	75.37	—	57.2
None	75.47	—	57.6
None	75.57	—	57.7
None	75.67	—	57.1
None	75.77	—	57.6
None	75.87	—	57.1
None	75.97	—	57.1
None	76.07	—	57.2
None	76.17	—	57.2
None	76.27	—	57.2
None	76.37	—	57.0
None	76.47	—	57.0
None	76.57	—	57.3
None	76.67	—	58.3
None	76.77	—	57.0
None	76.87	—	59.2
None	76.97	—	60.1
None	77.07	—	58.9
None	77.17	—	56.9
None	77.27	—	56.9
None	77.37	—	58.8
None	77.47	—	58.3
None	77.57	—	56.9
None	77.67	—	56.9
None	77.77	—	58.8
None	77.87	—	56.9
None	77.97	—	59.0
None	78.07	—	56.8
None	78.17	—	58.7
None	78.27	—	58.8
None	78.37	—	56.8
None	78.47	—	59.2
None	78.57	—	59.6
None	78.67	—	59.2
None	78.77	—	60.6
None	78.87	—	59.1
None	78.97	—	58.9
None	79.07	—	60.2
None	79.17	—	58.7
None	79.27	—	58.9
None	79.37	—	58.8
None	79.47	—	59.2
None	79.57	—	58.3
None	79.67	—	59.2
None	79.77	—	59.3
None	79.87	—	59.3
None	79.97	—	59.2
None	80.07	—	57.8
None	80.17	—	60.3
None	80.27	—	60.0
None	80.37	—	60.0
None	80.47	—	59.5
None	80.57	—	59.2
None	80.67	—	59.6
None	80.77	—	60.0
None	80.87	—	59.9
None	80.97	—	57.7
None	81.07	—	57.3
None	81.17	—	58.9
None	81.27	—	57.1
None	81.37	—	57.2
None	81.47	—	59.1
None	81.57	—	59.0
None	81.67	—	57.2
None	81.77	—	57.8
None	81.87	—	59.0
None	81.97	—	57.3
None	82.07	—	58.2
None	82.17	—	59.0
None	82.27	—	58.9
None	82.37	—	118.6
None	82.47	—	122.9
None	82.57	—	118.8
None	82.67	—	118.9
None	82.77	—	122.8
None	82.87	—	120.6
None	82.97	—	119.2
None	83.07	—	122.8
None	83.17	—	123.1
None	83.27	—	118.9
None	83.37	—	119.4
None	83.47	—	119.4
None	83.57	—	123.4
None	83.67	—	123.8
None	83.77	—	120.3
None	83.87	—	123.9
None	83.97	—	121.2
None	84.07	—	121.1
None	84.17	—	120.9
None	84.27	—	121.0
None	84.37	—	124.1
None	84.47	—	120.8
None	84.57	—	120.9
None	84.67	—	124.1
None	84.77	—	124.1
None	84.87	—	121.3
None	84.97	—	124.8
None	85.07	—	124.4
None	85.17	—	121.9
None	85.27	—	121.7
None	85.37	—	121.2
None	85.47	—	121.1
None	85.57	—	121.1
None	85.67	—	124.9
None	85.77	—	124.9
None	85.87	—	124.2
None	85.97	—	124.3
None	86.07	—	124.3
None	86.17	—	120.5
None	86.27	—	124.3
None	86.37	—	124.9
None	86.47	—	124.8
None	86.57	—	124.8
None	86.67	—	119.9
None	86.77	—	120.5
None	86.87	—	124.4
None	86.97	—	124.2
None	87.07	—	119.9
None	87.17	—	124.0
None	87.27	—	124.1
None	87.37	—	120.5
None	87.47	—	124.2
None	87.57	—	124.3
None	87.67	—	124.2
None	87.77	—	121.4
None	87.87	—	117.9
None	87.97	—	119.6
None	88.07	—	120.7
None	88.17	—	122.0
None	88.27	—	122.0
None	88.37	—	123.0
None	88.47	—	121.9
None	88.57	—	122.8
None	88.67	—	121.1
None	88.77	—	122.4
None	88.87	—	122.1
None	88.97	—	121.1
None	89.07	—	121.8
None	89.17	—	121.4
None	89.27	—	122.0
None	89.37	—	121.8
None	89.47	—	122.0
None	89.57	—	121.7
None	89.67	—	121.7
None	89.77	—	121.6
None	89.87	—	121.7
None	89.97	—	121.7
None	90.07	—	122.9

Parameters

mpc

reference_path

bicycle_model

v2x_obstacle_avoidance

ref_vel

launch

Boost Fires