If you like my work, don't hesitate to donate- Paypal-Me
- This fork is maintained to support HKG community. The default branch tracks the latest Master-ci updates.
Notes -
Please feel free to add PR for support for non existing FP.
If you encounter "Car Unrecognized- Please verify fingerprint with the fork owner" message on the screen, please contact me directly on discord for help.
Even though the configuration is auto detected, there may be CAN ERROR in some cases, please contact me directly on discord for help.
This branch uses a different tuning of PI controller for lat(steering). There is a non linear term added with respect to steering request which results in a smoother behavior.
- If you have git pull or update issues -
- Run a clean and reset command -
cd /data/openpilot && git clean -xdf && git reset --hard - Retry git pull -
cd /data/openpilot && git pull
- Run a clean and reset command -
- Check out OP-EDIT to edit tuning set up -
- To open OP-EDIT -
cd /data/openpilot && python op_edit.py - Enter your user name to track your changes.
- Modify values as required.
- To open OP-EDIT -
If you like my work, don't hesitate to donate- Paypal-Me
- What is openpilot?
- Integration with Stock Features
- Supported Hardware
- Supported Cars
- Community Maintained Cars and Features
- Installation Instructions
- Limitations of openpilot ALC and LDW
- Limitations of openpilot ACC and FCW
- Limitations of openpilot DM
- User Data and comma Account
- Safety and Testing
- Testing on PC
- Community and Contributing
- Directory Structure
- Licensing
openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported car makes, models and model years. In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
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In all supported cars:
- Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
- Stock LDW is replaced by openpilot LDW.
Additionally, on specific supported cars (see ACC column in supported cars):
- Stock ACC is replaced by openpilot ACC.
- openpilot FCW operates in addition to stock FCW.
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
At the moment, openpilot supports the EON DevKit and the comma two. A car harness is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external webcams.
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|---|---|---|---|---|---|
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph1 | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph1 | 12mph |
| Acura | RDX 2020-21 | All | Stock | 0mph | 3mph |
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph2 |
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph1 | 12mph |
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph1 | 12mph |
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph1 | 12mph |
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph1 | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph1 | 12mph |
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph1 | 12mph |
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph1 | 12mph |
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | LSS | Stock3 | 0mph | 0mph |
| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2018 | LSS | Stock3 | 0mph | 0mph |
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
| Lexus | NX 2018 | All | Stock3 | 0mph | 0mph |
| Lexus | NX Hybrid 2018 | All | Stock3 | 0mph | 0mph |
| Lexus | RX 2016-18 | All | Stock3 | 0mph | 0mph |
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
| Lexus | RX Hybrid 2016-19 | All | Stock3 | 0mph | 0mph |
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-21 | TSS-P | Stock3 | 20mph1 | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph4 | 0mph |
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph4 | 0mph |
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Corolla 2017-19 | All | Stock3 | 20mph1 | 0mph |
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock3 | 0mph | 0mph |
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander Hybrid 2017-19 | All | Stock3 | 0mph | 0mph |
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius 2016-20 | TSS-P | Stock3 | 0mph | 0mph |
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock3 | 0mph | 0mph |
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 2016-18 | TSS-P | Stock3 | 20mph1 | 0mph |
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock3 | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Sienna 2018-20 | All | Stock3 | 0mph | 0mph |
1Comma Pedal is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. NOTE: The Comma Pedal is not officially supported by comma.
22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
3When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
428mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|---|---|---|---|---|---|
| Audi | A3 2014-17 | Prestige | Stock | 0mph | 0mph |
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
| Buick | Regal 20181 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Cadillac | ATS 20181 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Malibu 20171 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Volt 2017-181 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia 20181 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Holden | Astra 20171 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Superb 2018 | Driver Assistance | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Volkswagen | e-Golf 2014, 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Passat 2016-172 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen | Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
2Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's here
Community Maintained Cars and Features are not verified by comma to meet our safety model. Be extra cautious using them. They are only available after enabling the toggle in Settings->Developer->Enable Community Features.
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
Install openpilot on an EON or comma two by entering https://openpilot.comma.ai during the installer setup.
Follow these video instructions to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
- Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
- The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
- Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
- The device is mounted incorrectly.
- When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
- In the presence of restricted lanes or construction zones.
- When driving on highly banked roads or in presence of strong cross-wind.
- Extremely hot or cold temperatures.
- Bright light (due to oncoming headlights, direct sunlight, etc.).
- Driving on hills, narrow, or winding roads.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
- Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
- The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
- Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
- The device is mounted incorrectly.
- Approaching a toll booth, a bridge or a large metal plate.
- When driving on roads with pedestrians, cyclists, etc...
- In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
- When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
- In presence of vehicles in the same lane that are not moving.
- When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
- When surrounding vehicles perform close cut-ins from neighbor lanes.
- Driving on hills, narrow, or winding roads.
- Extremely hot or cold temperatures.
- Bright light (due to oncoming headlights, direct sunlight, etc.).
- Interference from other equipment that generates radar waves.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
openpilot DM should not be considered an exact measurement of the alertness of the driver.
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
- Low light conditions, such as driving at night or in dark tunnels.
- Bright light (due to oncoming headlights, direct sunlight, etc.).
- The driver's face is partially or completely outside field of view of the driver facing camera.
- The driver facing camera is obstructed, covered, or damaged.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app (iOS, Android). We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software in the loop tests that run on every commit.
- The safety model code lives in panda and is written in C, see code rigor for more details.
- panda has software in the loop safety tests.
- Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware in the loop tests.
- We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
Steps:
- Start the CARLA server on first terminal
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
- Start openpilot on second terminal
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
- Press 1 to engage openpilot
See the full README
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Bug fixes and new car ports are encouraged.
You can add support for your car by following guides we have written for Brand and Model ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. Join our Discord to discuss car ports: most car makes have a dedicated channel.
Want to get paid to work on openpilot? comma is hiring.
And follow us on Twitter.
.
├── cereal # The messaging spec and libs used for all logs
├── common # Library like functionality we've developed here
├── installer/updater # Manages auto-updates of openpilot
├── opendbc # Files showing how to interpret data from cars
├── panda # Code used to communicate on CAN
├── phonelibs # Libraries used on NEOS devices
├── pyextra # Libraries used on NEOS devices
└── selfdrive # Code needed to drive the car
├── assets # Fonts, images and sounds for UI
├── athena # Allows communication with the app
├── boardd # Daemon to talk to the board
├── camerad # Driver to capture images from the camera sensors
├── car # Car specific code to read states and control actuators
├── common # Shared C/C++ code for the daemons
├── controls # Perception, planning and controls
├── debug # Tools to help you debug and do car ports
├── locationd # Soon to be home of precise location
├── logcatd # Android logcat as a service
├── loggerd # Logger and uploader of car data
├── modeld # Driving and monitoring model runners
├── proclogd # Logs information from proc
├── sensord # IMU / GPS interface code
├── test # Unit tests, system tests and a car simulator
└── ui # The UI
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
