- FCA Hybrid OpenPilot/ACC jvePilot
- Install
- Customizing
I have a 2018 Grand Cherokee Trailhawk, so I'm only able to confirm features using this vehicle.
@debugged-hosting: Confirmed working on a 2017 Gas Chrysler Pacifica
This is my personal OpenPilot fork that includes features that I feel make it a better driving experience for me and possibly others.
- Smother driving in traffic as jvePilot will do a better job at predicting traffic and adjust ACC speed accordingly
- Slow for cars cutting in before ACC does
- Slow in a turn, so you don't have to change the set speed yourself (Speeds are configurable)
- Auto resume after ACC comes to a stop behind vehicle (Can be disabled)
- Auto follow feature to adjust the follow distance based on speed (Speeds are configurable)
- ACC Eco to limit the throttle when accelerating
- Pressing the gas does not disengage jvePilot (Can be disabled)
- Report blind spot indicators to jvePilot for better lane change safety
- Setting to sync jvePilot speed to vehicle speedometer
This fork combines the speed control logic of OpenPilot with the vehicles Adaptive Cruse Control (ACC). It does this by changing the ACC speed to match the value OpenPilot calculates as the desired speed. This brings some of OpenPilots longitudinal control to these vehicles. Including things like slowing while cornering and slowing when it detects cut-ins. It will also smooth the braking of ACC when driving in traffic.
On FCA vehicles, only the steering is controlled by jvePilot and speed is left up to the ACC of the vehicle. This fork takes control of the ACC speed setting and adjusts the ACC speed to match the speed jvePilot would be targeting if it actually was able to control the gas and brakes. It does this by simulating ACC+ and ACC- button presses on the steering wheel to change the ACC speed. It is limited as ACC only goes down to 20 mph, so it doesn't help as low speeds.
ACC will come to a stop behind vehicles, however, if stopped too long, it will either stay stopped until resume is pressed, or simply disengage ACC altogether.
For the case where ACC simply cancels, the driver has to press and hold the brake to keep the vehicle stopped.
Auto resume makes life easier by resuming ACC when the vehicle in front of you begin to move, or, you let off the brake after coming to a standstill.
While stopped, you can still disengage jvePilot by pressing the Cancel button.
Auto Follow is a way to automate the changing of the stock follow distance setting. It sets the follow distance to closer at slow speeds and increases it the faster you go. Setting the follow speed to one/two bars helps with keeping up with cars that take off when stopped or at slow speeds. The faster you go, the more distance you want, so you can have more confidence in ACC being able to stop in case it needs to.
The current enabled state of Auto Follow is displayed on the bottom of the jvePilot display. Pressing Follow + or - will disable Auto Follow giving you full control to set the follow distance. To re-enable Auto Follow, hold either Follow + or - for half a second or tap the button on the display.
When enabled, jvePilot will limit how far ahead the ACC setting is above the current speed.
This prevents the vehicle from using an aggressive throttle to get up to speed saving on gas/battery.
The ACC Eco button is located in the lower right corner of the display.
Tapping the button cycles between off, level 1, and level 2 eco settings.
Level 2 provides the slowest acceleration and is selected when both leaves are green.
Level 1 should provide a balance is selected when only one leaf is green.
If you feel these settings are not right for you or your vehicle, see the ACC Eco setting to adjust them.
Much like your vehicles eco/sport modes, the current setting is persisted between drives.
When using this branch, you will be setting the max ACC speed on the jvePilot display instead of the one in the dashboard. jvePilot will then set the ACC setting in the dashboard to the targeted speed, but never exceeding the max speed set on the jvePilot display. A quick press of the ACC+ and ACC- buttons will change this speed by 5 mph on the jvePilot display, while a long deliberate press (about a 1/2 second press) changes it by 1 mph. DO NOT hold the ACC+ or ACC- buttons for longer that a 1 second. Either make quick or long deliberate presses only.
Do not look at the dashboard when setting your ACC max speed. Instead, only look at the one on the jvePilot display. The reason you need to look at jvePilot is because jvePilot will be changing the one in the dashboard. It will be adjusting it as needed, never raising it above the one set on the jvePilot display.
ONLY look at the MAX speed on jvePilot when setting the ACC speed instead of the dashboard!
The easiest way to install jvePilot is to factory reset and use this Custom Software URL: https://bit.ly/jvepilot
/jvePilot-release - The latest release. Will contain the latest version I feel is ready for general use.
If you get Controls Mismatch or LKAS faults, try this.
This is usually done automatically, but sometimes you need to run it when you first install.
Run this to force an update: pkill -f boardd; cd /data/openpilot/panda/board; make; reboot
opParms is a handy tool to change parameters without diving into any json files or code.
First, ssh in to your device and make sure you're in /data/openpilot, then start opEdit:
cd /data/openpilot
./op_edit.pyShould jvePilot slow down when in a curve?
Adjust how much slowing occurs in a curve.
Example: Setting this to 1.2 will cause jvePilot to drive 20% faster in turns than if it was set to the default 1.0.
Experimental. Change speed drop-off angle.
This adjusts how much amount the vehicle slows as the curve increases.
Increase if you see too much slowing at faster speeds, while slower speeds feel correct.
Example: Start by changing this in 1.0 +/- increments to make the vehicle go faster in more shallow curves.
Personally, I use 2.0 on my Jeep to make it go a little faster in a particular off ramp.
Set to True if you want Auto Follow to be disabled by default
When your speed (in MPH) is below this setting, Auto Follow will set the follow setting to one bar.
When your reach this speed (in MPH), Auto Follow will set the follow setting to two bars.
When your reach this speed (in MPH), Auto Follow will set the follow setting to three bars.
When your reach this speed (in MPH), Auto Follow will set the follow setting to four bars.
These setting are how far ahead, in MPH, of your current speed ACC will be set.
The higher the number, the more aggressive ACC will be when accelerating.
Use this setting to adjust ACC Eco level 1 (one green leaf) for a balance of speed and eco-ness
Use this setting to adjust ACC Eco level 2 (two green leaves) for maximum eco-ness
The lead distance ratios are the ratio to adjust the distance jvePilot follows based on the follow distance selected. This is done by adjusting the reported radar distance to the lead car. Having a ratio set to 2.6 causes this fork to report the lead car as being 2.6 times further away that it actually is. Causing jvePilot to move closer to that car. NOTE: It's impossible to get closer than what ACC will allow. The default values are what worked for me to get jvePilot to be close to the ACC distance while still allowing ACC be the limiting factor to the distance.
Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 1 bar
Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 2 bars
Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 3 bars
Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 4 bars
Your camera offset to use in lane_planner.py. Helps fix lane hugging
Disable the feature that allows jvePilot to auto resume from an ACC stop.
Disable the feature that allows jvePilot to stay engaged when pressing the gas.
Adjust speed displayed by jvePilot to match the real world.
I have to set this to 1.052 to increase the reported speed by 5.2% to match my Jeeps speedometer, which is pretty accurate.
Number of centiseconds to consider an ACC +/- button being pressed as long deliberate presses. (30 = .30 seconds)
Reverse the stock ACC +/- button's 1mph on short press and 5mph on long press. Set to False to return to stock
- This is my experimental branch, so I'm not responsible for any damage this may cause.
- jvePilot still does not have direct control of the gas and brakes! Changing the ACC speed does not always result in the vehicle braking unless the difference in speed is large enough. If the speed difference is small, the vehicle just lets off the gas.
- ACC can't go slower that 20mph
- ACC doesn't do a good job at seeing things that are already stopped
- 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.
 |
 |
 |
 |
 |
 |
 |
 |
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 2016-18, 2020-21 | 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 | 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 2015, 2017 | 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 2018-19, 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 2018-21 | 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.
