openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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* When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
* When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
* When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
* When navigate on openpilot is active, the path on the map is green
* UI updates
* Navigation settings moved to home screen and map
* Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
* Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
* Bookmarked segments are preserved on the device's storage
* Ford Focus 2018 support
* Kia Carnival 2023 support thanks to sunnyhaibin!
Version 0.9.3 (2023-06-29)
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* New driving model
* Improved height estimation and added height tracking in liveCalibration
* Model inputs refactor
* New driving personality setting
* Three settings: aggressive, standard, and relaxed
* Standard is recommended and the default
* In aggressive mode, lead follow distance is shorter and acceleration response is quicker
* In relaxed mode, lead follow distance is longer
* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
* Improved thermal management logic
Version 0.9.2 (2023-05-22)
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* New driving model
* Reduced turn diving
* Trained on a new dataset
* UI updates
* New experimental mode visualization
* Draw MPC path instead of model-predicted path
* AGNOS 7
* Faster boot time
* Fixes rare no sounds bug
* Fixes bootsplash bug at extreme temperatures
* Buick LaCrosse 2017-19 support thanks to koch-cf!
* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
* Ford Bronco Sport 2021-22 support
* Ford Escape 2020-22 support
* Ford Explorer 2020-22 support
* Ford Kuga 2020-22 support
* Ford Maverick 2022-23 support
* Genesis GV80 2023 support thanks to JWingate80!
* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
* Kia Niro EV 2023 support thanks to JosselinLecocq!
* Lexus ES 2017-18 support
* Lincoln Aviator 2021 support
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28)
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* New driving model
* 30% improved height estimation resulting in better driving performance for tall cars
* Driver monitoring: removed timer resetting on user interaction if distracted
* UI updates
* Adjust alert volume using ambient noise level
* Driver monitoring icon shows driver's head pose
* German translation thanks to Vrabetz and CzokNorris!
* Cadillac Escalade 2017 support thanks to rickygilleland!
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
* Genesis GV60 2023 support thanks to sunnyhaibin!
* Hyundai Tucson 2022-23 support
* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
* Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Toyota C-HR 2021 support thanks to eFiniLan!
* Toyota C-HR Hybrid 2022 support thanks to Korben00!
* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
Version 0.9.0 (2022-11-21)
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* New driving model
* Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
* Less reliance on previous frames makes model more reactive and snappy
* Trained in new reprojective simulator
* Trained in 36 hours from scratch, compared to one week for previous releases
* Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
* Experimental driving mode
* End-to-end longitudinal control
* Stops for traffic lights and stop signs
* Slows down for turns
* openpilot defaults to chill mode, enable experimental mode in settings
* Driver monitoring updates
* New bigger model with added end-to-end distracted trigger
* Reduced false positives during driver calibration
* Self-tuning torque controller: learns parameters live for each car
* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
* UI updates
* Matched speeds shown on car's dash
* Multi-language in navigation
* Improved update experience
* Border turns grey while overriding steering
* Bookmark events while driving; view them in comma connect
* New onroad visualization for experimental mode
* tools: new and improved cabana thanks to deanlee!
* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
* Kia Sportage 2023 support thanks to sunnyhaibin!
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
* Kia Stinger 2022 support thanks to sunnyhaibin!
Version 0.8.16 (2022-08-26)
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* New driving model
* Reduced turn cutting
* Auto-detect right hand drive setting with driver monitoring model
* Improved fan controller for comma three
* New translations
* Japanese thanks to cydia2020!
* Brazilian Portuguese thanks to AlexandreSato!
* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
* Subaru Legacy 2020-22 support thanks to martinl!
* Subaru Outback 2020-22 support
Version 0.8.15 (2022-07-20)
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* New driving model
* Path planning uses end-to-end output instead of lane lines at all times
* Reduced ping pong
* Improved lane centering
* New lateral controller based on physical wheel torque model
* Much smoother control that's consistent across the speed range
* Effective feedforward that uses road roll
* Simplified tuning, all car-specific parameters can be derived from data
* Used on select Toyota and Hyundai models at first
* Significantly improved control on TSS-P Prius
* New driver monitoring model
* Bigger model, covering full interior view from driver camera
* Works with a wider variety of mounting angles
* 3x more unique comma three training data than previous
* Navigation improvements
* Speed limits shown while navigating
* Faster position fix by using raw GPS measurements
* UI updates
* Multilanguage support for settings and home screen
* New font
* Refreshed max speed design
* More consistent camera view perspective across cars
* Reduced power usage: device runs cooler and fan spins less
* AGNOS 5
* Support VSCode remote SSH target
* Support for delta updates to reduce data usage on future OS updates
* Chrysler ECU firmware fingerprinting thanks to realfast!
* Honda Civic 2022 support
* Hyundai Tucson 2021 support thanks to bluesforte!
* Kia EV6 2022 support
* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
* Ram 1500 2019-21 support thanks to realfast!
Version 0.8.14 (2022-06-01)
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* New driving model
* Bigger model, using both of comma three's road-facing cameras
* Better at cut-in detection and tight turns
* New driver monitoring model
* Tweaked network structure to improve output resolution for DSP
* Fixed bug in quantization aware training to reduce quantizing errors
* Resulted in 7x less MSE and no more random biases at runtime
* Added toggle to disable disengaging on the accelerator pedal
* comma body support
* Audi RS3 support thanks to jyoung8607!
* Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
* Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
* Toyota Alphard Hybrid 2021 support
* Toyota Avalon Hybrid 2022 support
* Toyota RAV4 2022 support
* Toyota RAV4 Hybrid 2022 support
Version 0.8.13 (2022-02-18)
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* Improved driver monitoring
* Re-tuned driver pose learner for relaxed driving positions
* Added reliance on driving model to be more scene adaptive
* Matched strictness between comma two and comma three
* Improved performance in turns by compensating for the road bank angle
* Improved camera focus on the comma two
* AGNOS 4
* ADB support
* improved cell auto configuration
* NEOS 19
* package updates
* stability improvements
* Subaru ECU firmware fingerprinting thanks to martinl!
* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Mazda CX-5 2022 support thanks to Jafaral!
* Subaru Impreza 2020 support thanks to martinl!
* Toyota Avalon 2022 support thanks to sshane!
* Toyota Prius v 2017 support thanks to CT921!
* Volkswagen Caravelle 2020 support thanks to jyoung8607!
Version 0.8.12 (2021-12-15)
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* New driving model
* Improved behavior around exits
* Better pose accuracy at high speeds, allowing max speed of 90mph
* Fully incorporated comma three data into all parts of training stack
* Improved follow distance
* Better longitudinal policy, especially in low speed traffic
* New alert sounds
* AGNOS 3
* Display burn in mitigation
* Improved audio amplifier configuration
* System reliability improvements
* Update Python to 3.8.10
* Raw logs upload moved to connect.comma.ai
* Fixed HUD alerts on newer Honda Bosch thanks to csouers!
* Audi Q3 2020-21 support thanks to jyoung8607!
* Lexus RC 2020 support thanks to ErichMoraga!
Version 0.8.11 (2021-11-29)
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* Support for CAN FD on the red panda
* Support for an external panda on the comma three
* Navigation: Show more detailed instructions when approaching maneuver
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
* Cadillac Escalade ESV 2016 support thanks to Gibby!
* Genesis G70 2020 support thanks to tecandrew!
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
* Mazda CX-9 2021 support thanks to Jacar!
* Volkswagen Polo 2020 support thanks to jyoung8607!
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
Version 0.8.10 (2021-11-01)
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* New driving model
* Trained on one million minutes!!!
* Fixed lead training making lead predictions significantly more accurate
* Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
* New driver monitoring model
* Trained on latest data from both comma two and comma three
* Increased model field of view by 40% on comma three
* Improved model stability on masked users
* Improved pose prediction with reworked ground-truth stack
* Lateral and longitudinal planning MPCs now in ACADOS
* Combined longitudinal MPCs
* All longitudinal planning now happens in a single MPC system
* Fixed instability in MPC problem to prevent sporadic CPU usage
* AGNOS 2: minor stability improvements and builder repo open sourced
* tools: new and improved replay thanks to deanlee!
* Moved community-supported cars outside of the Community Features toggle
* Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
* Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
* Audi S3 2015 support thanks to jyoung8607!
* Honda Freed 2020 support thanks to belm0!
* Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
* Kia K5 2021 support thanks to sunnyhaibin!
* Škoda Kamiq 2021 support thanks to jyoung8607!
* Škoda Karoq 2019 support thanks to jyoung8607!
* Volkswagen Arteon 2021 support thanks to jyoung8607!
* Volkswagen California 2021 support thanks to jyoung8607!
* Volkswagen Taos 2022 support thanks to jyoung8607!
Version 0.8.9 (2021-09-14)
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* Improved fan control on comma three
* AGNOS 1.5: improved stability
* Honda e 2020 support
Version 0.8.8 (2021-08-27)
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* New driving model with improved laneless performance
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
* All new desire ground-truthing stack makes the model better at lane changes
* New driver monitoring model: improved performance on comma three
* NEOS 18 for comma two: update packages
* AGNOS 1.3 for comma three: fix display init at high temperatures
* Improved auto-exposure on comma three
* Improved longitudinal control on Honda Nidec cars
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
* Kia Niro Hybrid 2021 support thanks to tetious!
Version 0.8.7 (2021-07-31)
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* comma three support!
* Navigation alpha for the comma three!
* Volkswagen T-Cross 2021 support thanks to jyoung8607!
Version 0.8.6 (2021-07-21)
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* Revamp lateral and longitudinal planners
* Refactor planner output API to be more readable and verbose
* Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
* Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
* Remove "CHECK DRIVER FACE VISIBILITY" warning
* Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
* Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
* Kia Niro Hybrid 2019 support thanks to jyoung8607!
* Škoda Octavia RS 2016 support thanks to jyoung8607!
* Toyota Alphard 2020 support thanks to belm0!
* Volkswagen Golf SportWagen 2015 support thanks to jona96!
* Volkswagen Touran 2017 support thanks to jyoung8607!
Version 0.8.5 (2021-06-11)
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* NEOS update: improved reliability and stability with better voltage regulator configuration
* Smart model-based Forward Collision Warning
* CAN-based fingerprinting moved behind community features toggle
* Improved longitudinal control on Toyotas with a comma pedal
* Improved auto-brightness using road-facing camera
* Added "Software" settings page with updater controls
* Audi Q2 2018 support thanks to jyoung8607!
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
Version 0.8.4 (2021-05-17)
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* Delay controls start until system is ready
* Fuzzy car identification, enabled with Community Features toggle
* Localizer optimized for increased precision and less CPU usage
* Re-tuned lateral control to be more aggressive when model is confident
* Toyota Mirai 2021 support
* Lexus NX 300 2020 support thanks to goesreallyfast!
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
Version 0.8.3 (2021-04-01)
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* New model
* Trained on new diverse dataset from 2000+ users from 30+ countries
* Trained with improved segnet from the comma-pencil community project
