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ZwX1616 3 years ago
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277 changed files with 5775 additions and 42822 deletions
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  1. 14
      .github/ISSUE_TEMPLATE/bug_report.yml
  2. 12
      .github/ISSUE_TEMPLATE/car_bug_report.yml
  3. 2
      .github/workflows/prebuilt.yaml
  4. 1
      .gitignore
  5. 6
      .pre-commit-config.yaml
  6. 5
      Jenkinsfile
  7. 2
      Pipfile
  8. 855
      Pipfile.lock
  9. 16
      RELEASES.md
  10. 2
      SConstruct
  11. 2
      cereal
  12. 4
      common/gpio.py
  13. 13
      common/realtime.py
  14. 3
      common/transformations/orientation.py
  15. 4
      common/window.py
  16. 350
      docs/CARS.md
  17. 2
      laika_repo
  18. 1
      launch_chffrplus.sh
  19. 2
      mypy.ini
  20. 2
      opendbc
  21. 2
      panda
  22. 11
      release/files_common
  23. 5
      scripts/cell.sh
  24. BIN
      scripts/clwaste
  25. 2
      scripts/restart_modem.sh
  26. 16
      scripts/throttling.sh
  27. BIN
      scripts/waste
  28. 41
      selfdrive/athena/athenad.py
  29. 3
      selfdrive/athena/tests/test_athenad.py
  30. 4
      selfdrive/boardd/boardd.cc
  31. 2
      selfdrive/boardd/panda.cc
  32. 2
      selfdrive/boardd/panda.h
  33. 10
      selfdrive/boardd/pandad.py
  34. 61
      selfdrive/camerad/cameras/camera_common.cc
  35. 12
      selfdrive/camerad/cameras/camera_common.h
  36. 318
      selfdrive/camerad/cameras/camera_qcom2.cc
  37. 26
      selfdrive/camerad/cameras/camera_qcom2.h
  38. 6
      selfdrive/camerad/cameras/camera_replay.cc
  39. 82
      selfdrive/camerad/cameras/real_debayer.cl
  40. 20
      selfdrive/camerad/cameras/sensor2_i2c.h
  41. 2
      selfdrive/car/CARS_template.md
  42. 3
      selfdrive/car/body/carstate.py
  43. 46
      selfdrive/car/chrysler/carcontroller.py
  44. 5
      selfdrive/car/chrysler/carstate.py
  45. 2
      selfdrive/car/chrysler/chryslercan.py
  46. 6
      selfdrive/car/chrysler/interface.py
  47. 20
      selfdrive/car/chrysler/values.py
  48. 6
      selfdrive/car/gm/carstate.py
  49. 5
      selfdrive/car/gm/interface.py
  50. 60
      selfdrive/car/honda/values.py
  51. 17
      selfdrive/car/hyundai/carstate.py
  52. 14
      selfdrive/car/hyundai/interface.py
  53. 4
      selfdrive/car/hyundai/values.py
  54. 8
      selfdrive/car/interfaces.py
  55. 20
      selfdrive/car/mazda/values.py
  56. 16
      selfdrive/car/nissan/values.py
  57. 37
      selfdrive/car/subaru/values.py
  58. 1
      selfdrive/car/tests/routes.py
  59. 3
      selfdrive/car/tests/test_car_interfaces.py
  60. 16
      selfdrive/car/tests/test_fw_fingerprint.py
  61. 5
      selfdrive/car/tests/test_models.py
  62. 3
      selfdrive/car/toyota/carcontroller.py
  63. 37
      selfdrive/car/toyota/carstate.py
  64. 26
      selfdrive/car/toyota/interface.py
  65. 5
      selfdrive/car/toyota/radar_interface.py
  66. 4
      selfdrive/car/toyota/tunes.py
  67. 45
      selfdrive/car/toyota/values.py
  68. 6
      selfdrive/car/volkswagen/carstate.py
  69. 4
      selfdrive/car/volkswagen/interface.py
  70. 10
      selfdrive/car/volkswagen/values.py
  71. 3
      selfdrive/common/params.cc
  72. 87
      selfdrive/controls/controlsd.py
  73. 2
      selfdrive/controls/lib/drive_helpers.py
  74. 40
      selfdrive/controls/lib/events.py
  75. 4
      selfdrive/controls/lib/latcontrol.py
  76. 2
      selfdrive/controls/lib/latcontrol_angle.py
  77. 2
      selfdrive/controls/lib/latcontrol_indi.py
  78. 13
      selfdrive/controls/lib/latcontrol_pid.py
  79. 34
      selfdrive/controls/lib/latcontrol_torque.py
  80. 27
      selfdrive/controls/lib/longcontrol.py
  81. 5
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
  82. 19
      selfdrive/debug/compare_fingerprints.py
  83. 49
      selfdrive/debug/cycle_alerts.py
  84. 2
      selfdrive/debug/dump.py
  85. 2
      selfdrive/debug/hyundai_enable_radar_points.py
  86. 23
      selfdrive/debug/internal/core_voltage_sweep.py
  87. 67
      selfdrive/debug/internal/sensor_test_bootloop.py
  88. 6
      selfdrive/hardware/base.py
  89. 2
      selfdrive/hardware/tici/agnos.py
  90. 37
      selfdrive/hardware/tici/hardware.py
  91. 3
      selfdrive/hardware/tici/pins.py
  92. 44
      selfdrive/hardware/tici/power_monitor.py
  93. 14
      selfdrive/hardware/tici/precise_power_measure.py
  94. 18
      selfdrive/hardware/tici/restart_modem.sh
  95. 70
      selfdrive/hardware/tici/test_power_draw.py
  96. 80
      selfdrive/locationd/laikad.py
  97. 23
      selfdrive/locationd/test/test_laikad.py
  98. 80
      selfdrive/locationd/test/test_ublox_processing.py
  99. 1
      selfdrive/loggerd/.gitignore
  100. 14
      selfdrive/loggerd/SConscript
  101. Some files were not shown because too many files have changed in this diff Show More

14
.github/ISSUE_TEMPLATE/bug_report.yml
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@ -22,23 +22,11 @@ body:
validations:
required: true
- type: dropdown
id: hw
attributes:
label: What hardware does this issue affect?
multiple: true
options:
- comma three
- comma two
- EON Gold
validations:
required: true
- type: input
id: route
attributes:
label: Provide a route where the issue occurs
description: Ensure the route is fully uploaded at https://useradmin.comma.ai
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
placeholder: 77611a1fac303767|2020-05-11--16-37-07
validations:
required: true

12
.github/ISSUE_TEMPLATE/car_bug_report.yml
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@ -21,18 +21,6 @@ body:
validations:
required: true
- type: dropdown
id: hw
attributes:
label: What hardware does this issue affect?
multiple: true
options:
- comma three
- comma two
- EON Gold
validations:
required: true
- type: input
id: car
attributes:

2
.github/workflows/prebuilt.yaml
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@ -3,6 +3,8 @@ on:
schedule:
- cron: '0 * * * *'
workflow_dispatch:
env:
BASE_IMAGE: openpilot-base
DOCKER_REGISTRY: ghcr.io/commaai

1
.gitignore vendored
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@ -56,6 +56,7 @@ selfdrive/modeld/_dmonitoringmodeld
/src/
one
body
openpilot
notebooks
xx

6
.pre-commit-config.yaml
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@ -20,10 +20,12 @@ repos:
hooks:
- id: mypy
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
'types-pycurl']
additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
args:
- --warn-redundant-casts
- --warn-unreachable
- --warn-unused-ignores
#- --html-report=/home/batman/openpilot
- repo: https://github.com/PyCQA/flake8
rev: 4.0.1
hooks:

5
Jenkinsfile vendored
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@ -30,7 +30,7 @@ END"""
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 60, unit: 'MINUTES') {
timeout(time: 20, unit: 'MINUTES') {
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
@ -46,7 +46,7 @@ pipeline {
SOURCE_DIR = "/data/openpilot_source/"
}
options {
timeout(time: 4, unit: 'HOURS')
timeout(time: 4, unit: 'HOURS')
}
stages {
@ -120,6 +120,7 @@ pipeline {
steps {
phone_steps("tici2", [
["build", "cd selfdrive/manager && ./build.py"],
["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],

2
Pipfile
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@ -4,6 +4,7 @@ url = "https://pypi.org/simple"
verify_ssl = true
[dev-packages]
azure-storage-blob = "~=2.1"
control = "*"
coverage = "*"
dictdiffer = "*"
@ -81,6 +82,7 @@ tqdm = "*"
urllib3 = "*"
utm = "*"
websocket_client = "*"
hatanaka = "*"
[requires]
python_version = "3.8"

855
Pipfile.lock generated
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File diff suppressed because it is too large Load Diff

16
RELEASES.md
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@ -1,11 +1,25 @@
Version 0.8.14 (2022-0X-XX)
========================
* bigmodel!
* 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
* New lateral controller based on physical wheel torque model
* Much smoother control, consistent across the speed range
* Effective feedforward that uses road roll
* Simplified tuning, all car-specific parameters can be derived from data
* Initially used on TSS2 Corolla and TSS-P RAV4
* 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 Hybrid 2022 support
Version 0.8.13 (2022-02-18)
========================

2
SConstruct
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@ -183,9 +183,7 @@ env = Environment(
"#third_party/acados/include/blasfeo/include",
"#third_party/acados/include/hpipm/include",
"#third_party/catch2/include",
"#third_party/bzip2",
"#third_party/libyuv/include",
"#third_party/openmax/include",
"#third_party/json11",
"#third_party/curl/include",
"#third_party/libgralloc/include",

2
cereal

@ -1 +1 @@
Subproject commit 29f4fe89ef710ff86a5aeb998a357187d0619fb8
Subproject commit c7d3a0acbae267ef93d30044e1941e060dac9e48

4
common/gpio.py
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@ -1,4 +1,4 @@
def gpio_init(pin, output):
def gpio_init(pin: int, output: bool) -> None:
try:
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
f.write(b"out" if output else b"in")
@ -6,7 +6,7 @@ def gpio_init(pin, output):
print(f"Failed to set gpio {pin} direction: {e}")
def gpio_set(pin, high):
def gpio_set(pin: int, high: bool) -> None:
try:
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
f.write(b"1" if high else b"0")

13
common/realtime.py
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@ -2,6 +2,7 @@
import gc
import os
import time
from collections import deque
from typing import Optional, List, Union
from setproctitle import getproctitle # pylint: disable=no-name-in-module
@ -59,6 +60,8 @@ class Ratekeeper:
self._frame = 0
self._remaining = 0.0
self._process_name = getproctitle()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = sec_since_boot()
@property
def frame(self) -> int:
@ -68,6 +71,12 @@ class Ratekeeper:
def remaining(self) -> float:
return self._remaining
@property
def lagging(self) -> bool:
avg_dt = sum(self._dts) / len(self._dts)
expected_dt = self._interval * (1 / 0.9)
return avg_dt > expected_dt
# Maintain loop rate by calling this at the end of each loop
def keep_time(self) -> bool:
lagged = self.monitor_time()
@ -77,6 +86,10 @@ class Ratekeeper:
# this only monitor the cumulative lag, but does not enforce a rate
def monitor_time(self) -> bool:
prev = self._last_monitor_time
self._last_monitor_time = sec_since_boot()
self._dts.append(self._last_monitor_time - prev)
lagged = False
remaining = self._next_frame_time - sec_since_boot()
self._next_frame_time += self._interval

3
common/transformations/orientation.py
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@ -1,5 +1,6 @@
# pylint: skip-file
import numpy as np
from typing import Callable
from common.transformations.transformations import (ecef_euler_from_ned_single,
euler2quat_single,
@ -11,7 +12,7 @@ from common.transformations.transformations import (ecef_euler_from_ned_single,
rot2quat_single)
def numpy_wrap(function, input_shape, output_shape):
def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]:
"""Wrap a function to take either an input or list of inputs and return the correct shape"""
def f(*inps):
*args, inp = inps

4
common/window.py
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@ -2,7 +2,7 @@ import sys
import pygame # pylint: disable=import-error
import cv2 # pylint: disable=import-error
class Window():
class Window:
def __init__(self, w, h, caption="window", double=False, halve=False):
self.w = w
self.h = h
@ -54,7 +54,7 @@ class Window():
if __name__ == "__main__":
import numpy as np
win = Window(200, 200, double=True)
img = np.zeros((200, 200, 3), np.uint8)
img: np.ndarray = np.zeros((200, 200, 3), np.uint8)
while 1:
print("draw")
img += 1

350
docs/CARS.md
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@ -12,25 +12,25 @@ How We Rate The Cars
---
### openpilot Adaptive Cruise Control (ACC)
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
- <a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
### Stop and Go
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
### Steer to 0
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
### Steering Torque
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
### Actively Maintained
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
**All supported cars can move between the tiers as support changes.**
@ -38,179 +38,181 @@ How We Rate The Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|comma|body|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Palisade 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Electric 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Telluride 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard Hybrid 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hatchback 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Mirai 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Electric 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
## Silver Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Audi|A3 2014-19|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q2 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|S3 2015-17|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G80 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Electric 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Ceed 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Forte 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|K5 2021-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Seltos 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Sorento 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Stinger 2018|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|CT Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX Hybrid 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2016-18|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2016-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-5 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Ateca 2018|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Leon 2014-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2018-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Forester 2019-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2017-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Karoq 2019|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Octavia RS 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Scala 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Superb 2015-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR 2017-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Sienna 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Polo 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Touran 2017|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Forte 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Sorento 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
## Bronze Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2016-18|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G90 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord Hybrid 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2016-18|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2015-16|Touring|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|e 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Fit 2018-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Freed 2020|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|HR-V 2019-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Insight 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Inspire 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Odyssey 2018-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Passport 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Pilot 2016-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Ridgeline 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2017|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|IS 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RC 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-9 2021|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Altima 2019-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Leaf 2018-22|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Rogue 2018-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|X-Trail 2017|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Ascent 2019-20|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2016-20|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2017-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius v 2017|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
<a id="footnotes"></a>

2
laika_repo

@ -1 +1 @@
Subproject commit e47ba47de2ad62f3c31cfdffa5aa381557a45d08
Subproject commit be1a213a5ffa3cafe2b4f2d53f6df5d2452ad910

1
launch_chffrplus.sh
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@ -62,7 +62,6 @@ function launch {
cd $BASEDIR
echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
unset AGNOS_VERSION
exec "${LAUNCHER_LOCATION}"
else

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mypy.ini
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@ -1,4 +1,4 @@
[mypy]
python_version = 3.8
ignore_missing_imports = True
plugins = numpy.typing.mypy_plugin

2
opendbc

@ -1 +1 @@
Subproject commit e19ba095c3ee288d629284e24ec7e0deaf645f3f
Subproject commit 919154efe2bd07c4dd124d7e6a11a4afc8685f9d

2
panda

@ -1 +1 @@
Subproject commit 7dd9493eb102ba8b96362c7265b06851ec1d4bac
Subproject commit eb662e4e5014a3fc3c04512d708f61080c7707c1

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release/files_common
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@ -299,19 +299,21 @@ selfdrive/proclogd/proclog.h
selfdrive/loggerd/SConscript
selfdrive/loggerd/encoder.h
selfdrive/loggerd/omx_encoder.cc
selfdrive/loggerd/omx_encoder.h
selfdrive/loggerd/v4l_encoder.cc
selfdrive/loggerd/v4l_encoder.h
selfdrive/loggerd/video_writer.cc
selfdrive/loggerd/video_writer.h
selfdrive/loggerd/remote_encoder.cc
selfdrive/loggerd/remote_encoder.h
selfdrive/loggerd/logger.cc
selfdrive/loggerd/logger.h
selfdrive/loggerd/loggerd.cc
selfdrive/loggerd/loggerd.h
selfdrive/loggerd/encoderd.cc
selfdrive/loggerd/main.cc
selfdrive/loggerd/bootlog.cc
selfdrive/loggerd/raw_logger.cc
selfdrive/loggerd/raw_logger.h
selfdrive/loggerd/include/msm_media_info.h
selfdrive/loggerd/__init__.py
selfdrive/loggerd/config.py
@ -444,9 +446,6 @@ third_party/SConscript
third_party/linux/**
third_party/opencl/**
third_party/zlib/*
third_party/bzip2/*
third_party/openmax/**
third_party/json11/json11.cpp
third_party/json11/json11.hpp

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scripts/cell.sh
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@ -0,0 +1,5 @@
#!/usr/bin/bash
nmcli connection modify --temporary lte ipv4.route-metric 1
nmcli connection modify --temporary lte ipv6.route-metric 1
nmcli con up lte

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scripts/clwaste
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scripts/restart_modem.sh
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@ -1,2 +0,0 @@
#!/usr/bin/bash
echo "restart" > /sys/kernel/debug/msm_subsys/modem

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scripts/throttling.sh
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@ -1,16 +0,0 @@
#!/data/data/com.termux/files/usr/bin/bash
watch -n1 '
cat /sys/kernel/debug/clk/pwrcl_clk/measure
cat /sys/kernel/debug/clk/perfcl_clk/measure
cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_cur_freq
cat /sys/class/kgsl/kgsl-3d0/gpuclk
echo
echo -n "CPU0 " ; cat /sys/devices/virtual/thermal/thermal_zone5/temp
echo -n "CPU1 " ; cat /sys/devices/virtual/thermal/thermal_zone7/temp
echo -n "CPU2 " ; cat /sys/devices/virtual/thermal/thermal_zone10/temp
echo -n "CPU3 " ; cat /sys/devices/virtual/thermal/thermal_zone12/temp
echo -n "MEM " ; cat /sys/devices/virtual/thermal/thermal_zone2/temp
echo -n "GPU " ; cat /sys/devices/virtual/thermal/thermal_zone16/temp
echo -n "BAT " ; cat /sys/devices/virtual/thermal/thermal_zone29/temp
'

BIN
scripts/waste
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Binary file not shown.

41
selfdrive/athena/athenad.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3
import base64
import bz2
import hashlib
import io
import json
@ -30,7 +31,7 @@ from common.api import Api
from common.basedir import PERSIST
from common.file_helpers import CallbackReader
from common.params import Params
from common.realtime import sec_since_boot
from common.realtime import sec_since_boot, set_core_affinity
from selfdrive.hardware import HARDWARE, PC, TICI
from selfdrive.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
@ -64,6 +65,13 @@ UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', '
cur_upload_items: Dict[int, Any] = {}
def strip_bz2_extension(fn):
if fn.endswith('.bz2'):
return fn[:-4]
return fn
class AbortTransferException(Exception):
pass
@ -227,14 +235,29 @@ def upload_handler(end_event: threading.Event) -> None:
def _do_upload(upload_item, callback=None):
with open(upload_item.path, "rb") as f:
size = os.fstat(f.fileno()).st_size
path = upload_item.path
compress = False
# If file does not exist, but does exist without the .bz2 extension we will compress on the fly
if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)):
path = strip_bz2_extension(path)
compress = True
with open(path, "rb") as f:
if compress:
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
data = bz2.compress(f.read())
size = len(data)
data = io.BytesIO(data)
else:
size = os.fstat(f.fileno()).st_size
data = f
if callback:
f = CallbackReader(f, callback, size)
data = CallbackReader(data, callback, size)
return requests.put(upload_item.url,
data=f,
data=data,
headers={**upload_item.headers, 'Content-Length': str(size)},
timeout=30)
@ -335,8 +358,9 @@ def uploadFilesToUrls(files_data):
if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
failed.append(fn)
continue
path = os.path.join(ROOT, fn)
if not os.path.exists(path):
if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
failed.append(fn)
continue
@ -680,6 +704,11 @@ def backoff(retries):
def main():
try:
set_core_affinity([0, 1, 2, 3])
except Exception:
cloudlog.exception("failed to set core affinity")
params = Params()
dongle_id = params.get("DongleId", encoding='utf-8')
UploadQueueCache.initialize(upload_queue)

3
selfdrive/athena/tests/test_athenad.py
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@ -81,7 +81,8 @@ class TestAthenadMethods(unittest.TestCase):
def test_listDataDirectory(self):
route = '2021-03-29--13-32-47'
segments = [0, 1, 2, 3, 11]
filenames = ['qlog.bz2', 'qcamera.ts', 'rlog.bz2', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
for file in files:
fn = os.path.join(athenad.ROOT, file)

4
selfdrive/boardd/boardd.cc
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@ -135,7 +135,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
util::sleep_for(20);
}
pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1);
pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
std::string params;
LOGW("waiting for params to set safety model");
@ -156,7 +156,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
cereal::CarParams::SafetyModel safety_model;
uint32_t safety_param;
uint16_t safety_param;
auto safety_configs = car_params.getSafetyConfigs();
uint16_t alternative_experience = car_params.getAlternativeExperience();

2
selfdrive/boardd/panda.cc
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@ -247,7 +247,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
return transferred;
}
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) {
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
usb_write(0xdc, (uint16_t)safety_model, safety_param);
}

2
selfdrive/boardd/panda.h
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@ -73,7 +73,7 @@ class Panda {
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U);
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time);
struct tm get_rtc();

10
selfdrive/boardd/pandad.py
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@ -10,6 +10,7 @@ from functools import cmp_to_key
from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
from common.basedir import BASEDIR
from common.params import Params
from selfdrive.hardware import HARDWARE
from selfdrive.swaglog import cloudlog
@ -27,6 +28,7 @@ def flash_panda(panda_serial: str) -> Panda:
panda = Panda(panda_serial)
fw_signature = get_expected_signature(panda)
internal_panda = panda.is_internal() and not panda.bootstub
panda_version = "bootstub" if panda.bootstub else panda.get_version()
panda_signature = b"" if panda.bootstub else panda.get_signature()
@ -40,7 +42,9 @@ def flash_panda(panda_serial: str) -> Panda:
if panda.bootstub:
bootstub_version = panda.get_version()
cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
panda.recover()
if internal_panda:
HARDWARE.recover_internal_panda()
panda.recover(reset=(not internal_panda))
cloudlog.info("Done flashing bootloader")
if panda.bootstub:
@ -89,6 +93,10 @@ def main() -> NoReturn:
panda_serials = Panda.list()
if len(panda_serials) == 0:
if first_run:
cloudlog.info("Resetting internal panda")
HARDWARE.reset_internal_panda()
time.sleep(2) # wait to come back up
continue
cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")

61
selfdrive/camerad/cameras/camera_common.cc
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@ -13,7 +13,6 @@
#include "selfdrive/camerad/imgproc/utils.h"
#include "selfdrive/common/clutil.h"
#include "selfdrive/common/modeldata.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
@ -37,10 +36,10 @@ public:
hdr_ = ci->hdr;
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
"-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d "
"-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d",
ci->frame_width, ci->frame_height, ci->frame_stride,
ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
b->rgb_width, b->rgb_height, b->rgb_stride,
ci->bayer_flip, ci->hdr, s->camera_num);
const char *cl_file = "cameras/real_debayer.cl";
@ -82,7 +81,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
frame_buf_count = frame_cnt;
// RAW frame
const int frame_size = ci->frame_height * ci->frame_stride;
const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
@ -147,6 +146,8 @@ bool CameraBuf::acquire() {
double start_time = millis_since_boot();
cur_camera_buf = &camera_bufs[cur_buf_idx];
if (debayer) {
float gain = 0.0;
float black_level = 42.0;
@ -237,6 +238,17 @@ kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
return kj::mv(frame_image);
}
kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(b->cur_camera_buf->len);
uint8_t *resized_dat = frame_image.begin();
memcpy(resized_dat, dat, b->cur_camera_buf->len);
return kj::mv(frame_image);
}
static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
// make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
@ -377,47 +389,6 @@ std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, pro
return std::thread(processing_thread, cameras, cs, callback);
}
static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
static const bool is_rhd = Params().getBool("IsRHD");
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
int x_offset = 0, y_offset = 0;
int frame_width = b->rgb_width, frame_height = b->rgb_height;
ExpRect def_rect;
if (Hardware::TICI()) {
x_offset = 630, y_offset = 156;
frame_width = 668, frame_height = frame_width / 1.33;
def_rect = {96, 1832, 2, 242, 1148, 4};
} else {
def_rect = {is_rhd ? 0 : b->rgb_width * 3 / 5, is_rhd ? b->rgb_width * 2 / 5 : b->rgb_width, 2,
b->rgb_height / 3, b->rgb_height, 1};
}
static ExpRect rect = def_rect;
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
}
void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
int j = Hardware::TICI() ? 1 : 3;
if (cnt % j == 0) {
s->sm->update(0);
driver_cam_auto_exposure(c, *(s->sm));
}
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
fill_frame_data(framed, c->buf.cur_frame_data);
if (env_send_driver) {
framed.setImage(get_frame_image(&c->buf));
}
s->pm->send("driverCameraState", msg);
}
void camerad_thread() {
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
#ifdef QCOM2

12
selfdrive/camerad/cameras/camera_common.h
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@ -47,15 +47,20 @@ const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
typedef void (*release_cb)(void *cookie, int buf_idx);
typedef struct CameraInfo {
int frame_width, frame_height;
int frame_stride;
uint32_t frame_width, frame_height;
uint32_t frame_stride;
bool bayer;
int bayer_flip;
bool hdr;
uint32_t frame_offset = 0;
uint32_t extra_height = 0;
int registers_offset = -1;
int stats_offset = -1;
} CameraInfo;
typedef struct FrameMetadata {
@ -111,6 +116,7 @@ public:
FrameMetadata cur_frame_data;
VisionBuf *cur_rgb_buf;
VisionBuf *cur_yuv_buf;
VisionBuf *cur_camera_buf;
std::unique_ptr<VisionBuf[]> camera_bufs;
std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
int rgb_width, rgb_height, rgb_stride;
@ -129,9 +135,9 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
void cameras_open(MultiCameraState *s);

318
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -31,6 +31,9 @@ const size_t FRAME_WIDTH = 1928;
const size_t FRAME_HEIGHT = 1208;
const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
const size_t AR0231_REGISTERS_HEIGHT = 2;
const size_t AR0231_STATS_HEIGHT = 2;
const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
@ -38,17 +41,24 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_STRIDE,
.extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT,
.registers_offset = 0,
.frame_offset = AR0231_REGISTERS_HEIGHT,
.stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
.bayer = true,
.bayer_flip = 1,
.hdr = false
.hdr = false,
},
[CAMERA_ID_IMX390] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_STRIDE,
.bayer = true,
.bayer_flip = 1,
.hdr = false
.hdr = false,
},
};
@ -87,11 +97,11 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
return ret;
}
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data) {
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1) {
struct cam_acquire_dev_cmd cmd = {
.session_handle = session_handle,
.handle_type = CAM_HANDLE_USER_POINTER,
.num_resources = (uint32_t)(data ? 1 : 0),
.num_resources = (uint32_t)(data ? num_resources : 0),
.resource_hdl = (uint64_t)data,
};
int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
@ -158,6 +168,42 @@ void release_fd(int video0_fd, uint32_t handle) {
release(video0_fd, handle);
}
void *MemoryManager::alloc(int size, uint32_t *handle) {
lock.lock();
void *ptr;
if (!cached_allocations[size].empty()) {
ptr = cached_allocations[size].front();
cached_allocations[size].pop();
*handle = handle_lookup[ptr];
} else {
ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
handle_lookup[ptr] = *handle;
size_lookup[ptr] = size;
}
lock.unlock();
return ptr;
}
void MemoryManager::free(void *ptr) {
lock.lock();
cached_allocations[size_lookup[ptr]].push(ptr);
lock.unlock();
}
MemoryManager::~MemoryManager() {
for (auto& x : cached_allocations) {
while (!x.second.empty()) {
void *ptr = x.second.front();
x.second.pop();
LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
munmap(ptr, size_lookup[ptr]);
release_fd(video0_fd, handle_lookup[ptr]);
handle_lookup.erase(ptr);
size_lookup.erase(ptr);
}
}
}
int CameraState::clear_req_queue() {
struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
req_mgr_flush_request.session_hdl = session_handle;
@ -186,7 +232,7 @@ void CameraState::sensors_start() {
void CameraState::sensors_poke(int request_id) {
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 0;
pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
@ -200,15 +246,14 @@ void CameraState::sensors_poke(int request_id) {
return;
}
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
mm.free(pkt);
}
void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
// LOGD("sensors_i2c: %d", len);
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
@ -218,7 +263,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
buf_desc[0].type = CAM_CMD_BUF_I2C;
struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
i2c_random_wr->header.count = len;
i2c_random_wr->header.op_code = 1;
i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@ -233,10 +278,8 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
return;
}
munmap(i2c_random_wr, buf_desc[0].size);
release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
mm.free(i2c_random_wr);
mm.free(pkt);
}
static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
@ -248,10 +291,9 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
};
int CameraState::sensors_init() {
int video0_fd = multi_cam_state->video0_fd;
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = -1;
pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
@ -260,7 +302,7 @@ int CameraState::sensors_init() {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
buf_desc[0].type = CAM_CMD_BUF_LEGACY;
struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)alloc_w_mmu_hdl(video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
probe->camera_id = camera_num;
@ -302,7 +344,7 @@ int CameraState::sensors_init() {
//buf_desc[1].size = buf_desc[1].length = 148;
buf_desc[1].size = buf_desc[1].length = 196;
buf_desc[1].type = CAM_CMD_BUF_I2C;
struct cam_cmd_power *power_settings = (struct cam_cmd_power *)alloc_w_mmu_hdl(video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
memset(power_settings, 0, buf_desc[1].size);
// power on
@ -363,12 +405,9 @@ int CameraState::sensors_init() {
LOGD("probing the sensor");
int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
munmap(i2c_info, buf_desc[0].size);
release_fd(video0_fd, buf_desc[0].mem_handle);
munmap(power_settings, buf_desc[1].size);
release_fd(video0_fd, buf_desc[1].mem_handle);
munmap(pkt, size);
release_fd(video0_fd, cam_packet_handle);
mm.free(i2c_info);
mm.free(power_settings);
mm.free(pkt);
return ret;
}
@ -379,7 +418,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
if (io_mem_handle != 0) {
size += sizeof(struct cam_buf_io_cfg);
}
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = 0;
// YUV has kmd_cmd_buf_offset = 1780
@ -387,7 +426,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
// YUV also has patch_offset = 0x1030 and num_patches = 10
if (io_mem_handle != 0) {
pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*2;
pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
pkt->num_io_configs = 1;
}
@ -474,16 +513,16 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
buf_desc[1].type = CAM_CMD_BUF_GENERIC;
buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20);
uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
memcpy(buf2, &tmp, sizeof(tmp));
if (io_mem_handle != 0) {
io_cfg[0].mem_handle[0] = io_mem_handle;
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = FRAME_WIDTH,
.height = FRAME_HEIGHT,
.plane_stride = FRAME_STRIDE,
.slice_height = FRAME_HEIGHT,
.width = ci.frame_width,
.height = ci.frame_height + ci.extra_height,
.plane_stride = ci.frame_stride,
.slice_height = ci.frame_height + ci.extra_height,
.meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000)
.meta_size = 0x0,
.meta_offset = 0x0,
@ -510,24 +549,20 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
printf("ISP CONFIG FAILED\n");
}
munmap(buf2, buf_desc[1].size);
release_fd(multi_cam_state->video0_fd, buf_desc[1].mem_handle);
// release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
mm.free(buf2);
mm.free(pkt);
}
void CameraState::enqueue_buffer(int i, bool dp) {
int ret;
int request_id = request_ids[i];
if (buf_handle[i]) {
release(multi_cam_state->video0_fd, buf_handle[i]);
if (buf_handle[i] && sync_objs[i]) {
// wait
struct cam_sync_wait sync_wait = {0};
sync_wait.sync_obj = sync_objs[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
// LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
@ -535,13 +570,19 @@ void CameraState::enqueue_buffer(int i, bool dp) {
// destroy old output fence
struct cam_sync_info sync_destroy = {0};
strcpy(sync_destroy.name, "NodeOutputPortFence");
sync_destroy.sync_obj = sync_objs[i];
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
// LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
}
// do stuff
// create output fence
struct cam_sync_info sync_create = {0};
strcpy(sync_create.name, "NodeOutputPortFence");
ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
// LOGD("fence req: %d %d", ret, sync_create.sync_obj);
sync_objs[i] = sync_create.sync_obj;
// schedule request with camera request manager
struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
req_mgr_sched_request.session_hdl = session_handle;
req_mgr_sched_request.link_hdl = link_handle;
@ -549,28 +590,11 @@ void CameraState::enqueue_buffer(int i, bool dp) {
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
// LOGD("sched req: %d %d", ret, request_id);
// create output fence
struct cam_sync_info sync_create = {0};
strcpy(sync_create.name, "NodeOutputPortFence");
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
// LOGD("fence req: %d %d", ret, sync_create.sync_obj);
sync_objs[i] = sync_create.sync_obj;
// configure ISP to put the image in place
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
mem_mgr_map_cmd.num_hdl = 1;
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
// LOGD("map buf req: (fd: %d) 0x%x %d", bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
// poke sensor
// poke sensor, must happen after schedule
sensors_poke(request_id);
// LOGD("Poked sensor");
// push the buffer
// submit request to the ife
config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
}
@ -616,6 +640,9 @@ void CameraState::camera_open() {
assert(sensor_fd >= 0);
LOGD("opened sensor for %d", camera_num);
// init memorymanager for this camera
mm.init(multi_cam_state->video0_fd);
// probe the sensor
LOGD("-- Probing sensor %d", camera_num);
ret = sensors_init();
@ -665,23 +692,23 @@ void CameraState::camera_open() {
.lane_cfg = 0x3210,
.vc = 0x0,
.dt = 0x2C, // CSI_RAW12
.dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
.format = CAM_FORMAT_MIPI_RAW_12,
.test_pattern = 0x2, // 0x3?
.usage_type = 0x0,
.left_start = 0,
.left_stop = FRAME_WIDTH - 1,
.left_width = FRAME_WIDTH,
.left_stop = ci.frame_width - 1,
.left_width = ci.frame_width,
.right_start = 0,
.right_stop = FRAME_WIDTH - 1,
.right_width = FRAME_WIDTH,
.right_stop = ci.frame_width - 1,
.right_width = ci.frame_width,
.line_start = 0,
.line_stop = FRAME_HEIGHT - 1,
.height = FRAME_HEIGHT,
.line_stop = ci.frame_height + ci.extra_height - 1,
.height = ci.frame_height + ci.extra_height,
.pixel_clk = 0x0,
.batch_size = 0x0,
@ -693,8 +720,8 @@ void CameraState::camera_open() {
.data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
.format = CAM_FORMAT_MIPI_RAW_12,
.width = FRAME_WIDTH,
.height = FRAME_HEIGHT,
.width = ci.frame_width,
.height = ci.frame_height + ci.extra_height,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
},
};
@ -729,7 +756,7 @@ void CameraState::camera_open() {
{
uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle);
struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size;
@ -738,7 +765,7 @@ void CameraState::camera_open() {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
buf_desc[0].type = CAM_CMD_BUF_GENERIC;
struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
csiphy_info->lane_mask = 0x1f;
csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@ -751,10 +778,8 @@ void CameraState::camera_open() {
int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
assert(ret_ == 0);
munmap(csiphy_info, buf_desc[0].size);
release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
mm.free(csiphy_info);
mm.free(pkt);
}
// link devices
@ -781,6 +806,18 @@ void CameraState::camera_open() {
ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
LOGD("start isp: %d", ret);
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
// configure ISP to put the image in place
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
mem_mgr_map_cmd.num_hdl = 1;
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
}
// TODO: this is unneeded, should we be doing the start i2c in a different way?
//ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
//LOGD("start sensor: %d", ret);
@ -807,9 +844,9 @@ void cameras_open(MultiCameraState *s) {
LOGD("opened video0");
// video1 is cam_sync, the target of some ioctls
s->video1_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
assert(s->video1_fd >= 0);
LOGD("opened video1");
s->cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
assert(s->cam_sync_fd >= 0);
LOGD("opened video1 (cam_sync)");
// looks like there's only one of these
s->isp_fd = open_v4l_by_name_and_index("cam-isp");
@ -834,7 +871,7 @@ void cameras_open(MultiCameraState *s) {
LOG("-- Subscribing");
static struct v4l2_event_subscription sub = {0};
sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
sub.id = 2; // should use boot time for sof
sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
printf("req mgr subscribe: %d\n", ret);
@ -883,6 +920,11 @@ void CameraState::camera_close() {
LOGD("release isp: %d", ret);
ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
LOGD("release csiphy: %d", ret);
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
release(multi_cam_state->video0_fd, buf_handle[i]);
}
LOGD("released buffers");
}
ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
@ -903,6 +945,70 @@ void cameras_close(MultiCameraState *s) {
delete s->pm;
}
std::map<uint16_t, std::pair<int, int>> CameraState::ar0231_build_register_lut(uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contigous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + ci.frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
std::map<uint16_t, uint16_t> CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs) {
if (ar0231_register_lut.empty()) {
ar0231_register_lut = ar0231_build_register_lut(data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : addrs) {
auto offset = ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
return registers;
}
void CameraState::handle_camera_event(void *evdat) {
if (!enabled) return;
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
@ -1082,7 +1188,49 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
s->set_camera_exposure(grey_frac);
}
// called by processing_thread
static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){
uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}
static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
}
static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
s->sm->update(0);
driver_cam_auto_exposure(c, *(s->sm));
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
fill_frame_data(framed, c->buf.cur_frame_data);
if (env_send_driver) {
framed.setImage(get_frame_image(&c->buf));
}
if (c->camera_id == CAMERA_ID_AR0231) {
ar0231_process_registers(s, c, framed);
}
s->pm->send("driverCameraState", msg);
}
void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf;
@ -1091,12 +1239,19 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
fill_frame_data(framed, b->cur_frame_data);
if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
framed.setImage(get_frame_image(b));
} else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation
framed.setImage(get_raw_frame_image(b));
}
LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
if (c == &s->road_cam) {
framed.setTransform(b->yuv_transform.v);
LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera");
}
if (c->camera_id == CAMERA_ID_AR0231) {
ar0231_process_registers(s, c, framed);
}
s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
@ -1107,7 +1262,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
void cameras_run(MultiCameraState *s) {
LOG("-- Starting threads");
std::vector<std::thread> threads;
if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera));
if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
@ -1166,3 +1321,4 @@ void cameras_run(MultiCameraState *s) {
cameras_close(s);
}

26
selfdrive/camerad/cameras/camera_qcom2.h
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@ -1,6 +1,8 @@
#pragma once
#include <cstdint>
#include <map>
#include <utility>
#include <media/cam_req_mgr.h>
@ -9,6 +11,20 @@
#define FRAME_BUF_COUNT 4
class MemoryManager {
public:
void init(int _video0_fd) { video0_fd = _video0_fd; }
void *alloc(int len, uint32_t *handle);
void free(void *ptr);
~MemoryManager();
private:
std::mutex lock;
std::map<void *, uint32_t> handle_lookup;
std::map<void *, int> size_lookup;
std::map<int, std::queue<void *> > cached_allocations;
int video0_fd;
};
class CameraState {
public:
MultiCameraState *multi_cam_state;
@ -42,6 +58,8 @@ public:
void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
void camera_close();
std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
int32_t session_handle;
int32_t sensor_dev_handle;
int32_t isp_dev_handle;
@ -60,6 +78,8 @@ public:
int camera_id;
CameraBuf buf;
MemoryManager mm;
private:
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
void enqueue_req_multi(int start, int n, bool dp);
@ -69,11 +89,15 @@ private:
int sensors_init();
void sensors_poke(int request_id);
void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
// Register parsing
std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
};
typedef struct MultiCameraState {
unique_fd video0_fd;
unique_fd video1_fd;
unique_fd cam_sync_fd;
unique_fd isp_fd;
int device_iommu;
int cdm_iommu;

6
selfdrive/camerad/cameras/camera_replay.cc
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@ -30,9 +30,9 @@ void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, unsigned int
}
CameraInfo ci = {
.frame_width = s->frame->width,
.frame_height = s->frame->height,
.frame_stride = s->frame->width * 3,
.frame_width = (uint32_t)s->frame->width,
.frame_height = (uint32_t)s->frame->height,
.frame_stride = (uint32_t)s->frame->width * 3,
};
s->ci = ci;
s->camera_num = camera_id;

82
selfdrive/camerad/cameras/real_debayer.cl
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@ -1,52 +1,54 @@
#ifdef HALF_AS_FLOAT
#define half float
#define half3 float3
#else
#pragma OPENCL EXTENSION cl_khr_fp16 : enable
#endif
const __constant half3 color_correction[3] = {
// post wb CCM
(half3)(1.82717181, -0.31231438, 0.07307673),
(half3)(-0.5743977, 1.36858544, -0.53183455),
(half3)(-0.25277411, -0.05627105, 1.45875782),
};
// post wb CCM
const __constant half3 color_correction_0 = (half3)(1.82717181, -0.31231438, 0.07307673);
const __constant half3 color_correction_1 = (half3)(-0.5743977, 1.36858544, -0.53183455);
const __constant half3 color_correction_2 = (half3)(-0.25277411, -0.05627105, 1.45875782);
// tone mapping params
const half cpk = 0.75;
const half cpb = 0.125;
const half cpxk = 0.0025;
const half cpxb = 0.01;
half mf(half x, half cp) {
half rk = 9 - 100*cp;
if (x > cp) {
return (rk * (x-cp) * (1-(cpk*cp+cpb)) * (1+1/(rk*(1-cp))) / (1+rk*(x-cp))) + cpk*cp + cpb;
} else if (x < cp) {
return (rk * (x-cp) * (cpk*cp+cpb) * (1+1/(rk*cp)) / (1-rk*(x-cp))) + cpk*cp + cpb;
const half gamma_k = 0.75;
const half gamma_b = 0.125;
const half mp_default = 0.01; // ideally midpoint should be adaptive
half gamma_apply(half x, half mp) {
// poly approximation for s curve
half rk = 9 - 100*mp;
if (x > mp) {
return (rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b;
} else if (x < mp) {
return (rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b;
} else {
return x;
}
}
half3 color_correct(half3 rgb) {
half3 ret = (0,0,0);
half cpx = 0.01;
ret += (half)rgb.x * color_correction[0];
ret += (half)rgb.y * color_correction[1];
ret += (half)rgb.z * color_correction[2];
ret.x = mf(ret.x, cpx);
ret.y = mf(ret.y, cpx);
ret.z = mf(ret.z, cpx);
ret = clamp(0.0h, 255.0h, ret*255.0h);
half3 ret = (half3)(0.0, 0.0, 0.0);
ret += (half)rgb.x * color_correction_0;
ret += (half)rgb.y * color_correction_1;
ret += (half)rgb.z * color_correction_2;
ret.x = gamma_apply(ret.x, mp_default);
ret.y = gamma_apply(ret.y, mp_default);
ret.z = gamma_apply(ret.z, mp_default);
ret = clamp(0.0, 255.0, ret*255.0);
return ret;
}
inline half val_from_10(const uchar * source, int gx, int gy, half black_level) {
// parse 12bit
int start = gy * FRAME_STRIDE + (3 * (gx / 2));
int start = gy * FRAME_STRIDE + (3 * (gx / 2)) + (FRAME_STRIDE * FRAME_OFFSET);
int offset = gx % 2;
uint major = (uint)source[start + offset] << 4;
uint minor = (source[start + 2] >> (4 * offset)) & 0xf;
half pv = (half)((major + minor)/4);
// normalize
pv = max(0.0h, pv - black_level);
pv = max((half)0.0, pv - black_level);
pv /= (1024.0f - black_level);
// correct vignetting
@ -67,7 +69,7 @@ inline half val_from_10(const uchar * source, int gx, int gy, half black_level)
pv = s * pv;
}
pv = clamp(0.0h, 1.0h, pv);
pv = clamp((half)0.0, (half)1.0, pv);
return pv;
}
@ -104,35 +106,33 @@ __kernel void debayer10(const __global uchar * in,
half pv = val_from_10(in, x_global, y_global, black_level);
cached[localOffset] = pv;
// don't care
if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
return;
}
// cache padding
int localColOffset = -1;
int globalColOffset = -1;
const int x_global_mod = (x_global == 0 || x_global == RGB_WIDTH - 1) ? -1: 1;
const int y_global_mod = (y_global == 0 || y_global == RGB_HEIGHT - 1) ? -1: 1;
// cache padding
if (x_local < 1) {
localColOffset = x_local;
globalColOffset = -1;
cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global, black_level);
cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-x_global_mod, y_global, black_level);
} else if (x_local >= get_local_size(0) - 1) {
localColOffset = x_local + 2;
globalColOffset = 1;
cached[localOffset + 1] = val_from_10(in, x_global+1, y_global, black_level);
cached[localOffset + 1] = val_from_10(in, x_global+x_global_mod, y_global, black_level);
}
if (y_local < 1) {
cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1, black_level);
cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-y_global_mod, black_level);
if (localColOffset != -1) {
cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1, black_level);
cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+(x_global_mod*globalColOffset), y_global-y_global_mod, black_level);
}
} else if (y_local >= get_local_size(1) - 1) {
cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1, black_level);
cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+y_global_mod, black_level);
if (localColOffset != -1) {
cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1, black_level);
cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+(x_global_mod*globalColOffset), y_global+y_global_mod, black_level);
}
}
@ -197,7 +197,7 @@ __kernel void debayer10(const __global uchar * in,
}
}
rgb = clamp(0.0h, 1.0h, rgb);
rgb = clamp(0.0, 1.0, rgb);
rgb = color_correct(rgb);
out[out_idx + 0] = (uchar)(rgb.z);

20
selfdrive/camerad/cameras/sensor2_i2c.h
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@ -7,7 +7,7 @@ struct i2c_random_wr_payload init_array_imx390[] = {
{0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames
{0x200C, 0xe4}, {0x200D, 0x0c}, // MODE_HMAX
// crop
// crop
{0x3410, 0x88}, {0x3411, 0x7}, // CROP_H_SIZE
{0x3418, 0xb8}, {0x3419, 0x4}, // CROP_V_SIZE
{0x0078, 1}, {0x03c0, 1},
@ -67,7 +67,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x30A6, 0x0001}, // Y_ODD_INC_
{0x3402, 0x0788}, // X_OUTPUT_CONTROL
{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
{0x3064, 0x1802}, // SMIA_TEST
{0x3064, 0x1982}, // SMIA_TEST
{0x30BA, 0x11F2}, // DIGITAL_CTRL
// Enable external trigger and disable GPIO outputs
@ -83,10 +83,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
// Readout Settings
{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
{0x3342, 0x122C}, // MIPI_F1_PDT_EDT
{0x3346, 0x122C}, // MIPI_F2_PDT_EDT
{0x334A, 0x122C}, // MIPI_F3_PDT_EDT
{0x334E, 0x122C}, // MIPI_F4_PDT_EDT
{0x3342, 0x1212}, // MIPI_F1_PDT_EDT
{0x3346, 0x1212}, // MIPI_F2_PDT_EDT
{0x334A, 0x1212}, // MIPI_F3_PDT_EDT
{0x334E, 0x1212}, // MIPI_F4_PDT_EDT
{0x3344, 0x0011}, // MIPI_F1_VDT_VC
{0x3348, 0x0111}, // MIPI_F2_VDT_VC
{0x334C, 0x0211}, // MIPI_F3_VDT_VC
@ -101,6 +101,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x3370, 0x03B1}, // DBLC
{0x3044, 0x0400}, // DARK_CONTROL
// Enable temperature sensor
{0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
{0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
// Enable dead pixel correction using
// the 1D line correction scheme
{0x31E0, 0x0003},
@ -114,9 +118,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
{0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
{0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
{0x321E, 0x08CB}, // FINE_INTEGRATION_TIME2
{0x321E, 0x08CB}, // FINE_INTEGRATION_TIME3
{0x321E, 0x0894}, // FINE_INTEGRATION_TIME4
{0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
{0x33DA, 0x0000}, // COMPANDING

2
selfdrive/car/CARS_template.md
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@ -1,5 +1,5 @@
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
{% set star_icon = '<a href="#"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
{% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
# Supported Cars

3
selfdrive/car/body/carstate.py
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@ -20,6 +20,9 @@ class CarState(CarStateBase):
ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
cp.vl['VAR_VALUES']['FAULT']])
ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
# irrelevant for non-car
ret.gearShifter = car.CarState.GearShifter.drive
ret.cruiseState.enabled = True

46
selfdrive/car/chrysler/carcontroller.py
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@ -1,16 +1,16 @@
from cereal import car
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
create_wheel_buttons
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
from selfdrive.car.chrysler.values import CAR, CarControllerParams
from opendbc.can.packer import CANPacker
class CarController():
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.ccframe = 0
self.prev_frame = -1
self.frame = 0
self.prev_lkas_frame = -1
self.hud_count = 0
self.car_fingerprint = CP.carFingerprint
self.gone_fast_yet = False
@ -18,12 +18,13 @@ class CarController():
self.packer = CANPacker(dbc_name)
def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
def update(self, CC, CS):
# this seems needed to avoid steering faults and to force the sync with the EPS counter
frame = CS.lkas_counter
if self.prev_frame == frame:
if self.prev_lkas_frame == CS.lkas_counter:
return car.CarControl.Actuators.new_message(), []
actuators = CC.actuators
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
@ -36,7 +37,7 @@ class CarController():
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
lkas_active = moving_fast and enabled
lkas_active = moving_fast and CC.enabled
if not lkas_active:
apply_steer = 0
@ -45,28 +46,23 @@ class CarController():
can_sends = []
#*** control msgs ***
# *** control msgs ***
if pcm_cancel_cmd:
# TODO: would be better to start from frame_2b3
new_msg = create_wheel_buttons(self.packer, self.ccframe, cancel=True)
can_sends.append(new_msg)
if CC.cruiseControl.cancel:
can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
# LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
# frame is 100Hz (0.01s period)
if (self.ccframe % 25 == 0): # 0.25s period
if (CS.lkas_car_model != -1):
new_msg = create_lkas_hud(
self.packer, CS.out.gearShifter, lkas_active, hud_alert,
self.hud_count, CS.lkas_car_model)
can_sends.append(new_msg)
if self.frame % 25 == 0: # 0.25s period
if CS.lkas_car_model != -1:
can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
self.hud_count += 1
new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
can_sends.append(new_msg)
can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
self.ccframe += 1
self.prev_frame = frame
self.frame += 1
self.prev_lkas_frame = CS.lkas_counter
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX

5
selfdrive/car/chrysler/carstate.py
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@ -53,6 +53,7 @@ class CarState(CarStateBase):
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@ -69,6 +70,7 @@ class CarState(CarStateBase):
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
return ret
@ -93,6 +95,7 @@ class CarState(CarStateBase):
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
("ACC_STATUS_2", "ACC_2"),
("ACC_FAULTED", "ACC_2"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
@ -102,6 +105,7 @@ class CarState(CarStateBase):
("COUNTER", "EPS_STATUS",),
("TRACTION_OFF", "TRACTION_BUTTON"),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
("COUNTER", "WHEEL_BUTTONS"),
]
checks = [
@ -114,6 +118,7 @@ class CarState(CarStateBase):
("ACC_2", 50),
("GEAR", 50),
("ACCEL_GAS_134", 50),
("WHEEL_BUTTONS", 50),
("DASHBOARD", 15),
("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2),

2
selfdrive/car/chrysler/chryslercan.py
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@ -52,6 +52,6 @@ def create_wheel_buttons(packer, frame, cancel=False):
# WHEEL_BUTTONS (571) Message sent to cancel ACC.
values = {
"ACC_CANCEL": cancel,
"COUNTER": frame % 10
"COUNTER": frame % 0x10
}
return packer.make_can_msg("WHEEL_BUTTONS", 0, values)

6
selfdrive/car/chrysler/interface.py
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@ -65,8 +65,4 @@ class CarInterface(CarInterfaceBase):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
if (self.CS.frame == -1):
return car.CarControl.Actuators.new_message(), [] # if we haven't seen a frame 220, then do not update.
return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
return self.CC.update(c, self.CS)

20
selfdrive/car/chrysler/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union
from selfdrive.car import dbc_dict
@ -22,13 +23,18 @@ class CAR:
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.PACIFICA_2017_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2019_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2019-21", "Adaptive Cruise"),
CAR.PACIFICA_2018: CarInfo("Chrysler Pacifica 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2020: CarInfo("Chrysler Pacifica 2020", "Adaptive Cruise"),
CAR.JEEP_CHEROKEE: CarInfo("Jeep Grand Cherokee 2016-18", "Adaptive Cruise", "https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: CarInfo("Jeep Grand Cherokee 2019-20", "Adaptive Cruise", "https://www.youtube.com/watch?v=jBe4lWnRSu4"),
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise"
CAR_INFO: Dict[str, Union[ChryslerCarInfo, List[ChryslerCarInfo]]] = {
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
}
# Unique CAN messages:

6
selfdrive/car/gm/carstate.py
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@ -62,14 +62,14 @@ class CarState(CarStateBase):
ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
return ret

5
selfdrive/car/gm/interface.py
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@ -4,8 +4,7 @@ from math import fabs
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, \
AccState, CarControllerParams
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@ -190,8 +189,6 @@ class CarInterface(CarInterfaceBase):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
if self.CS.pcm_acc_status == AccState.FAULTED:
events.add(EventName.accFaulted)
if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed)

60
selfdrive/car/honda/values.py
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@ -1,14 +1,16 @@
from dataclasses import dataclass
from enum import Enum, IntFlag
from typing import Dict, List, Union
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
from common.conversions import Conversions as CV
Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams:
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
@ -53,6 +55,7 @@ class CruiseButtons:
CANCEL = 2
MAIN = 1
# See dbc files for info on values
VISUAL_HUD = {
VisualAlert.none: 0,
@ -97,33 +100,39 @@ class Footnote(Enum):
Column.FSR_STEERING)
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
min_steer_speed: float = 12. * CV.MPH_TO_MS
CAR_INFO: Dict[str, Union[HondaCarInfo, List[HondaCarInfo]]] = {
CAR.ACCORD: [
CarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
CarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
CAR.ACCORDH: CarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CIVIC: CarInfo("Honda Civic 2016-18", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18"),
CAR.CIVIC_BOSCH: [
CarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
CarInfo("Honda Civic Hatchback 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarInfo("Honda Civic Hatchback 2017-21"),
],
CAR.ACURA_ILX: CarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: CarInfo("Honda CR-V 2015-16", "Touring", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.CRV_5G: CarInfo("Honda CR-V 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
# CAR.CRV_EU: CarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: CarInfo("Honda CR-V Hybrid 2017-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FIT: CarInfo("Honda Fit 2018-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: CarInfo("Honda Freed 2020", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: CarInfo("Honda HR-V 2019-20", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ODYSSEY: CarInfo("Honda Odyssey 2018-20", "Honda Sensing"),
CAR.ACURA_RDX: CarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.ACURA_RDX_3G: CarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: CarInfo("Honda Pilot 2016-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.PASSPORT: CarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.RIDGELINE: CarInfo("Honda Ridgeline 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.INSIGHT: CarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: CarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring"),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21"),
# CAR.CRV_EU: HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19"),
CAR.FIT: HondaCarInfo("Honda Fit 2018-19"),
CAR.FREED: HondaCarInfo("Honda Freed 2020"),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-20"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0.),
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus"),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21"),
CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All"),
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22"),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
}
@ -1118,12 +1127,14 @@ FW_VERSIONS = {
CAR.PASSPORT: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-RLV-B220\x00\x00',
b'37805-RLV-B210\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TGS-A230\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TGS-A030\x00\x00',
b'36161-TGS-A130\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A040\x00\x00',
@ -1139,6 +1150,7 @@ FW_VERSIONS = {
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TGS-AT20\x00\x00',
b'78109-TGS-AX20\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TGS-A530\x00\x00',

17
selfdrive/car/hyundai/carstate.py
Unescape View File

@ -1,17 +1,24 @@
from collections import deque
import copy
from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR, Buttons
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 4
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@ -19,7 +26,6 @@ class CarState(CarStateBase):
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
@ -107,9 +113,10 @@ class CarState(CarStateBase):
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"]
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
return ret

14
selfdrive/car/hyundai/interface.py
Unescape View File

@ -10,6 +10,8 @@ from selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
class CarInterface(CarInterfaceBase):
@staticmethod
@ -315,7 +317,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise)
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
@ -323,12 +329,12 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.openpilotLongitudinalControl:
buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
if self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.unknown
if self.CS.cruise_buttons != 0:
if self.CS.cruise_buttons[-1] != 0:
be.pressed = True
but = self.CS.cruise_buttons
but = self.CS.cruise_buttons[-1]
else:
be.pressed = False
but = self.CS.prev_cruise_buttons

4
selfdrive/car/hyundai/values.py
Unescape View File

@ -93,8 +93,8 @@ CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", "SCC + LKAS"),
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21"),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020"),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-19"),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/_EdYQtV52-c"),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21"),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020"),
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All"),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All"),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All"),

8
selfdrive/car/interfaces.py
Unescape View File

@ -131,7 +131,7 @@ class CarInterfaceBase(ABC):
def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
pass
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True):
events = Events()
if cs_out.doorOpen:
@ -159,6 +159,8 @@ class CarInterfaceBase(ABC):
events.add(EventName.brakeHold)
if cs_out.parkingBrake:
events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
@ -175,8 +177,9 @@ class CarInterfaceBase(ABC):
events.add(EventName.steerUnavailable)
# we engage when pcm is active (rising edge)
# enabling can optionally be blocked by the car interface
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
@ -186,6 +189,7 @@ class CarInterfaceBase(ABC):
class RadarInterfaceBase(ABC):
def __init__(self, CP):
self.rcp = None
self.pts = {}
self.delay = 0
self.radar_ts = CP.radarTimeStep

20
selfdrive/car/mazda/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union
from selfdrive.car import dbc_dict
@ -27,13 +28,18 @@ class CAR:
CX5_2022 = "MAZDA CX-5 2022"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.CX5: CarInfo("Mazda CX-5 2017, 2019", "All"), # TODO: verify years and torque for first 4
CAR.CX9: CarInfo("Mazda CX-9 2016-17", "All"),
CAR.MAZDA3: CarInfo("Mazda 3 2017", "All"),
CAR.MAZDA6: CarInfo("Mazda 6 2017", "All"),
CAR.CX9_2021: CarInfo("Mazda CX-9 2021", "All", good_torque=True),
CAR.CX5_2022: CarInfo("Mazda CX-5 2022", "All", good_torque=True),
@dataclass
class MazdaCarInfo(CarInfo):
package: str = "All"
CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"), # TODO: verify years and torque for first 4
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
}

16
selfdrive/car/nissan/values.py
Unescape View File

@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union
from selfdrive.car import dbc_dict
@ -24,11 +25,16 @@ class CAR:
ALTIMA = "NISSAN ALTIMA 2020"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.XTRAIL: CarInfo("Nissan X-Trail 2017", "ProPILOT"),
CAR.LEAF: CarInfo("Nissan Leaf 2018-22", "ProPILOT"),
CAR.ROGUE: CarInfo("Nissan Rogue 2018-20", "ProPILOT"),
CAR.ALTIMA: CarInfo("Nissan Altima 2019-20", "ProPILOT"),
@dataclass
class NissanCarInfo(CarInfo):
package: str = "ProPILOT"
CAR_INFO: Dict[str, Union[NissanCarInfo, List[NissanCarInfo]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20"),
}
FINGERPRINTS = {

37
selfdrive/car/subaru/values.py
Unescape View File

@ -121,9 +121,7 @@ FW_VERSIONS = {
b'\x00\x00d)\x00\x00\x00\x00',
b'\x00\x00c\xf4\x00\x00\x00\x00',
b'\x00\x00d\xdc\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00\xac\x02\x00',
b'\x00\x00dd\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xaa\x61\x66\x73\x07',
@ -167,14 +165,19 @@ FW_VERSIONS = {
b'\xa2 \0313\000',
b'\xa2 !i\000',
b'\xa2 !`\000',
b'\xf1\x00\xb2\x06\x04',
b'\xa2 `\x00',
],
(Ecu.eps, 0x746, None): [
b'\x9a\xc0\000\000',
b'\n\xc0\004\000',
b'\x9a\xc0\x04\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\000\000eb\037@ \"',
b'\000\000e\x8f\037@ )',
b'\x00\x00eq\x1f@ "',
b'\x00\x00eq\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xca!ap\a',
@ -182,43 +185,52 @@ FW_VERSIONS = {
b'\xca!`0\a',
b'\xcc\"f0\a',
b'\xcc!fp\a',
b'\xf1\x00\xa2\x10\t',
b'\xca!f@\x07',
b'\xca!fp\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xe6\xf5\004\000\000',
b'\xe6\xf5$\000\000',
b'\xe7\xf6B0\000',
b'\xe7\xf5D0\000',
b'\xf1\x00\xd7\x10@',
b'\xe6\xf5D0\x00',
],
},
CAR.FORESTER: {
(Ecu.esp, 0x7b0, None): [
b'\xa3 \030\024\000',
b'\xa3 \x18\x14\x00',
b'\xa3 \024\000',
b'\xa3 \031\024\000',
b'\xa3 \024\001',
b'\xa3 \x14\x01',
b'\xf1\x00\xbb\r\x05',
],
(Ecu.eps, 0x746, None): [
b'\x8d\xc0\004\000',
b'\x8d\xc0\x04\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\000\000e!\037@ \021',
b'\000\000e\x97\037@ 0',
b'\x00\x00e!\x1f@ \x11',
b'\x00\x00e\x97\x1f@ 0',
b'\000\000e`\037@ ',
b'\xf1\x00\xac\x02\x00',
b'\x00\x00e!\x00\x00\x00\x00',
b'\x00\x00e\x97\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xb6\"`A\a',
b'\xcf"`0\a',
b'\xb6"`A\x07',
b'\xcf"`0\x07',
b'\xcb\"`@\a',
b'\xcb\"`p\a',
b'\xf1\x00\xa2\x10\n',
],
(Ecu.transmission, 0x7e1, None): [
b'\032\xf6B0\000',
b'\032\xf6F`\000',
b'\x1a\xf6F`\x00',
b'\032\xf6b`\000',
b'\032\xf6B`\000',
b'\x1a\xf6B`\x00',
b'\xf1\x00\xa4\x10@',
b'\x1a\xf6b0\x00',
],
},
CAR.FORESTER_PREGLOBAL: {
@ -247,6 +259,7 @@ FW_VERSIONS = {
b'\xda\xfd\xe0\x80\x00',
b'\xdc\xf2`\x81\000',
b'\xdc\xf2`\x80\x00',
b'\x1a\xf6F`\x00',
],
},
CAR.LEGACY_PREGLOBAL: {

1
selfdrive/car/tests/routes.py
Unescape View File

@ -128,6 +128,7 @@ routes = [
TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),

3
selfdrive/car/tests/test_car_interfaces.py
Unescape View File

@ -64,7 +64,8 @@ class TestCarInterfaces(unittest.TestCase):
# Run radar interface once
radar_interface.update([])
if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
if not car_params.radarOffCan and radar_interface.rcp is not None and \
hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
if __name__ == "__main__":

16
selfdrive/car/tests/test_fw_fingerprint.py
Unescape View File

@ -4,6 +4,7 @@ import unittest
from parameterized import parameterized
from cereal import car
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import match_fw_to_car
@ -12,6 +13,7 @@ Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
class TestFwFingerprint(unittest.TestCase):
def assertFingerprints(self, candidates, expected):
candidates = list(candidates)
@ -42,5 +44,19 @@ class TestFwFingerprint(unittest.TestCase):
self.assertTrue(passed, "Duplicate FW versions found")
def test_blacklisted_ecus(self):
passed = True
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
for car_model, ecus in FW_VERSIONS.items():
CP = interfaces[car_model][0].get_params(car_model)
if CP.carName == 'subaru':
for ecu in ecus.keys():
if ecu[1] in blacklisted_addrs:
print(f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
passed = False
self.assertTrue(passed, "Blacklisted FW versions found")
if __name__ == "__main__":
unittest.main()

5
selfdrive/car/tests/test_models.py
Unescape View File

@ -15,7 +15,6 @@ from selfdrive.car.car_helpers import interfaces
from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
@ -244,10 +243,6 @@ class TestCarModel(unittest.TestCase):
CS_prev = CS
# TODO: add flag to toyota safety
if self.CP.carFingerprint == TOYOTA.SIENNA and checks['brakePressed'] < 25:
checks['brakePressed'] = 0
failed_checks = {k: v for k, v in checks.items() if v > 0}
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")

3
selfdrive/car/toyota/carcontroller.py
Unescape View File

@ -54,8 +54,7 @@ class CarController:
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s)
if not CC.latActive or CS.steer_state in (9, 25):
if not CC.latActive:
apply_steer = 0
apply_steer_req = 0
else:

37
selfdrive/car/toyota/carstate.py
Unescape View File

@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, EPS_SCALE
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
class CarState(CarStateBase):
@ -82,7 +82,10 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
# steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
# 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@ -91,8 +94,12 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
if self.CP.carFingerprint in TSS2_CAR:
if self.CP.carFingerprint in RADAR_ACC_CAR:
self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"])
elif self.CP.carFingerprint in TSS2_CAR:
self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"])
# some TSS2 cars have low speed lockout permanently set, so ignore on those cars
# these cars are identified by an ACC_TYPE value of 2.
@ -116,8 +123,6 @@ class CarState(CarStateBase):
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
@ -204,6 +209,16 @@ class CarState(CarStateBase):
]
checks.append(("BSM", 1))
if CP.carFingerprint in RADAR_ACC_CAR:
signals += [
("ACC_TYPE", "ACC_CONTROL"),
("FCW", "ACC_HUD"),
]
checks += [
("ACC_CONTROL", 33),
("ACC_HUD", 1),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
@ -219,8 +234,14 @@ class CarState(CarStateBase):
("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
]
if CP.carFingerprint in TSS2_CAR:
signals.append(("ACC_TYPE", "ACC_CONTROL"))
checks.append(("ACC_CONTROL", 33))
if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
signals += [
("ACC_TYPE", "ACC_CONTROL"),
("FCW", "ACC_HUD"),
]
checks += [
("ACC_CONTROL", 33),
("ACC_HUD", 1),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

26
selfdrive/car/toyota/interface.py
Unescape View File

@ -1,8 +1,9 @@
#!/usr/bin/env python3
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@ -22,6 +23,9 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
@ -43,7 +47,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
@ -51,7 +55,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
@ -83,7 +87,10 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
else:
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
@ -111,7 +118,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2):
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
@ -119,7 +126,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
@ -132,7 +139,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.0, FRICTION=0.08)
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True
@ -217,7 +224,10 @@ class CarInterface(CarInterfaceBase):
ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
if not ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since
# the EV gas pedal signal can take a couple seconds to appear

5
selfdrive/car/toyota/radar_interface.py
Unescape View File

@ -6,6 +6,9 @@ from selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint):
if DBC[car_fingerprint]['radar'] is None:
return None
if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = list(range(0x180, 0x190))
RADAR_B_MSGS = list(range(0x190, 0x1a0))
@ -48,7 +51,7 @@ class RadarInterface(RadarInterfaceBase):
self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
def update(self, can_strings):
if self.no_radar:
if self.no_radar or self.rcp is None:
return super().update(None)
vls = self.rcp.update_strings(can_strings)

4
selfdrive/car/toyota/tunes.py
Unescape View File

@ -54,9 +54,9 @@ def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
if name == LatTunes.TORQUE:
tune.init('torque')
tune.torque.useSteeringAngle = True
tune.torque.kp = 2.0 / MAX_LAT_ACCEL
tune.torque.kp = 1.0 / MAX_LAT_ACCEL
tune.torque.kf = 1.0 / MAX_LAT_ACCEL
tune.torque.ki = 0.5 / MAX_LAT_ACCEL
tune.torque.ki = 0.1 / MAX_LAT_ACCEL
tune.torque.friction = FRICTION
elif name == LatTunes.INDI_PRIUS:
tune.init('indi')

45
selfdrive/car/toyota/values.py
Unescape View File

@ -63,6 +63,7 @@ class CAR:
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"
@ -142,6 +143,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
@ -149,7 +151,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-21"),
CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"),
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
@ -1330,6 +1332,31 @@ FW_VERSIONS = {
b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2_2022: {
(Ecu.esp, 0x7b0, None): [
b'\x01F15264283100\x00\x00\x00\x00',
b'\x01F15264286200\x00\x00\x00\x00',
b'\x01F15264286100\x00\x00\x00\x00',
b'\x01F15264283200\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
b'8965B42182\x00\x00\x00\x00\x00\x00',
b'8965B42172\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634A62000\x00\x00\x00\x00',
b'\x01896634A08000\x00\x00\x00\x00',
b'\x01896634A61000\x00\x00\x00\x00',
b'\x01896634A02001\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R01100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.SIENNA: {
(Ecu.engine, 0x700, None): [
b'\x01896630832100\x00\x00\x00\x00',
@ -1423,22 +1450,26 @@ FW_VERSIONS = {
b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
b'\x01896633T38000\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [
b'F152633423\x00\x00\x00\x00\x00\x00',
b'F152633680\x00\x00\x00\x00\x00\x00',
b'F152633681\x00\x00\x00\x00\x00\x00',
b'F152633F50\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B33252\x00\x00\x00\x00\x00\x00',
b'8965B33590\x00\x00\x00\x00\x00\x00',
b'8965B33690\x00\x00\x00\x00\x00\x00',
b'8965B33721\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301100\x00\x00\x00\x00',
b'\x018821F3301200\x00\x00\x00\x00',
b'\x018821F3301300\x00\x00\x00\x00',
b'\x018821F3301400\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@ -1447,6 +1478,7 @@ FW_VERSIONS = {
b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.LEXUS_ESH: {
@ -1684,6 +1716,7 @@ FW_VERSIONS = {
b'\x018966348W9000\x00\x00\x00\x00',
b'\x01896634D12000\x00\x00\x00\x00',
b'\x01896634D12100\x00\x00\x00\x00',
b'\x01896634D43000\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [
b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
@ -1704,6 +1737,7 @@ FW_VERSIONS = {
b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
],
},
CAR.LEXUS_RXH_TSS2: {
@ -1731,6 +1765,7 @@ FW_VERSIONS = {
CAR.PRIUS_TSS2: {
(Ecu.engine, 0x700, None): [
b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
@ -1838,6 +1873,7 @@ DBC = {
CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -1851,14 +1887,17 @@ DBC = {
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
# no resume button press required

6
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -93,12 +93,11 @@ class CarState(CarStateBase):
ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
# Update ACC radar status.
self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
if self.tsk_status == 2:
if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
# ACC okay and enabled, but not currently engaged
ret.cruiseState.available = True
ret.cruiseState.enabled = False
elif self.tsk_status in (3, 4, 5):
elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
# ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
ret.cruiseState.available = True
ret.cruiseState.enabled = True
@ -106,6 +105,7 @@ class CarState(CarStateBase):
# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
ret.cruiseState.available = False
ret.cruiseState.enabled = False
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
# Update ACC setpoint. When the setpoint is zero or there's an error, the
# radar sends a set-speed of ~90.69 m/s / 203mph.

4
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -177,10 +177,6 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
# Vehicle health and operation safety checks
if self.CS.tsk_status in (6, 7):
events.add(EventName.accFaulted)
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True

10
selfdrive/car/volkswagen/values.py
Unescape View File

@ -133,7 +133,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS]),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS]),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2020-22", footnotes=[Footnote.VW_HARNESS]),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS]),
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS]),
@ -143,6 +143,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.AUDI_A3_MK3: [
VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"),
VWCarInfo("Audi RS3 2018", "ACC + Lane Assist"),
VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"),
],
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"),
@ -516,6 +517,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906026EJ\xf1\x893661',
b'\xf1\x8704L906027G \xf1\x899893',
b'\xf1\x875N0906259 \xf1\x890002',
b'\xf1\x875NA907115E \xf1\x890005',
b'\xf1\x8783A907115B \xf1\x890005',
b'\xf1\x8783A907115G \xf1\x890001',
],
@ -526,6 +528,7 @@ FW_VERSIONS = {
b'\xf1\x870DL300011N \xf1\x892001',
b'\xf1\x870DL300011N \xf1\x892012',
b'\xf1\x870DL300013A \xf1\x893005',
b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870DL300013G \xf1\x892120',
],
(Ecu.srs, 0x715, None): [
@ -533,6 +536,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
],
(Ecu.eps, 0x712, None): [
@ -617,6 +621,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906259K \xf1\x890001',
b'\xf1\x878V0906264B \xf1\x890003',
b'\xf1\x878V0907115B \xf1\x890007',
b'\xf1\x878V0907404A \xf1\x890005',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300044T \xf1\x895245',
@ -628,12 +633,14 @@ FW_VERSIONS = {
b'\xf1\x870DD300046A \xf1\x891602',
b'\xf1\x870DD300046F \xf1\x891602',
b'\xf1\x870DD300046G \xf1\x891601',
b'\xf1\x870DL300012E \xf1\x892012',
b'\xf1\x870GC300013M \xf1\x892402',
b'\xf1\x870GC300042J \xf1\x891402',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
@ -643,6 +650,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',

3
selfdrive/common/params.cc
Unescape View File

@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT},
{"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
@ -134,7 +135,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LastPeripheralPandaType", PERSISTENT},
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastSystemShutdown", CLEAR_ON_MANAGER_START},
{"LastUpdateException", PERSISTENT},
{"LastUpdateException", CLEAR_ON_MANAGER_START},
{"LastUpdateTime", PERSISTENT},
{"LiveParameters", PERSISTENT},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},

87
selfdrive/controls/controlsd.py
Unescape View File

@ -59,7 +59,7 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
class Controls:
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
config_realtime_process(4, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
@ -73,7 +73,7 @@ class Controls:
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
if TICI:
@ -98,8 +98,7 @@ class Controls:
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
# set alternative experiences from parameters
self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
@ -163,7 +162,7 @@ class Controls:
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = False
self.logged_comm_issue = None
self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
self.last_actuators = car.CarControl.Actuators.new_message()
@ -214,11 +213,17 @@ class Controls:
self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else
EventName.gasPressedOverride)
self.events.add_from_msg(CS.events)
if not self.CP.notCar:
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle car events. Ignore when CAN is invalid
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
else:
self.events.add_from_msg(CS.events)
# Create events for temperature, disk space, and memory
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
@ -226,7 +231,7 @@ class Controls:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
# TODO: make tici threshold the same
if self.sm['deviceState'].memoryUsagePercent > (90 if TICI else 65) and not SIMULATION:
if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
self.events.add(EventName.lowMemory)
# TODO: enable this once loggerd CPU usage is more reasonable
@ -235,7 +240,7 @@ class Controls:
# self.events.add(EventName.highCpuUsage)
# Alert if fan isn't spinning for 5 seconds
if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos):
if self.sm['peripheralState'].pandaType == PandaType.dos:
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
@ -265,11 +270,6 @@ class Controls:
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
for i, pandaState in enumerate(self.sm['pandaStates']):
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
if i < len(self.CP.safetyConfigs):
@ -285,13 +285,29 @@ class Controls:
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction)
# Check for HW or system issues
# Handle HW and system malfunctions
# Order is very intentional here. Be careful when modifying this.
num_events = len(self.events)
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if self.rk.lagging:
self.events.add(EventName.controlsdLagging)
if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault)
elif not self.sm.valid["pandaStates"]:
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
elif not self.sm.all_checks() or self.can_rcv_error:
# generic catch-all. ideally, a more specific event should be added above instead
no_system_errors = len(self.events) != num_events
if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
@ -299,14 +315,17 @@ class Controls:
else: # invalid or can_rcv_error.
self.events.add(EventName.commIssue)
if not self.logged_comm_issue:
invalid = [s for s, valid in self.sm.valid.items() if not valid]
not_alive = [s for s, alive in self.sm.alive.items() if not alive]
not_freq_ok = [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok]
cloudlog.event("commIssue", invalid=invalid, not_alive=not_alive, not_freq_ok=not_freq_ok, can_error=self.can_rcv_error, error=True)
self.logged_comm_issue = True
logs = {
'invalid': [s for s, valid in self.sm.valid.items() if not valid],
'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
'can_error': self.can_rcv_error,
}
if logs != self.logged_comm_issue:
cloudlog.event("commIssue", error=True, **logs)
self.logged_comm_issue = logs
else:
self.logged_comm_issue = False
self.logged_comm_issue = None
if not self.sm['liveParameters'].valid:
self.events.add(EventName.vehicleModelInvalid)
@ -324,7 +343,7 @@ class Controls:
# Check for mismatch between openpilot and car's PCM
cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
if self.cruise_mismatch_counter > int(3. / DT_CTRL):
if self.cruise_mismatch_counter > int(6. / DT_CTRL):
self.events.add(EventName.cruiseMismatch)
# Check for FCW
@ -353,21 +372,11 @@ class Controls:
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps)
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
if self.sm['liveLocationKalman'].excessiveResets:
self.events.add(EventName.localizerMalfunction)
# Check if all manager processes are running
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car
speeds = self.sm['longitudinalPlan'].speeds
if len(speeds) > 1:
@ -538,7 +547,7 @@ class Controls:
# Check which actuators can be enabled
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
CC.longActive = self.active and not self.events.any(ET.OVERRIDE)
CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state
@ -557,15 +566,15 @@ class Controls:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
actuators.accel = self.LoC.update(CC.longActive, CS, self.CP, long_plan, pid_accel_limits, t_since_plan)
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
# Steering PID loop and lateral MPC
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.CP, self.VM,
params, self.last_actuators, desired_curvature,
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
self.last_actuators, desired_curvature,
desired_curvature_rate, self.sm['liveLocationKalman'])
else:
lac_log = log.ControlsState.LateralDebugState.new_message()

2
selfdrive/controls/lib/drive_helpers.py
Unescape View File

@ -79,7 +79,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
for b in buttonEvents:
# 250kph or above probably means we never had a set speed
if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
if b.type in (car.CarState.ButtonEvent.Type.accelCruise, car.CarState.ButtonEvent.Type.resumeCruise) and v_cruise_last < 250:
return v_cruise_last
return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))

40
selfdrive/controls/lib/events.py
Unescape View File

@ -251,6 +251,32 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_
AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
# *** debug alerts ***
def out_of_space_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
def overheat_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
cpu = max(sm['deviceState'].cpuTempC, default=0.)
gpu = max(sm['deviceState'].gpuTempC, default=0.)
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
return NormalPermanentAlert("System Overheated", f"{temp} °C")
def low_memory_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
def high_cpu_usage_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
return NormalPermanentAlert("High CPU Usage", f"{x}% used")
def modeld_lagging_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Driving model lagging", f"{sm['modelV2'].frameDropPerc}% frames dropped")
def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
text = "Cruise Mode Disabled"
@ -578,7 +604,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.outOfSpace: {
ET.PERMANENT: NormalPermanentAlert("Out of Storage"),
ET.PERMANENT: out_of_space_alert,
ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
},
@ -609,7 +635,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.overheat: {
ET.PERMANENT: NormalPermanentAlert("System Overheated"),
ET.PERMANENT: overheat_alert,
ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"),
},
@ -669,6 +695,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"),
},
EventName.controlsdLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"),
ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"),
},
# Thrown when manager detects a service exited unexpectedly while driving
EventName.processNotRunning: {
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
@ -685,6 +716,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.modeldLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
ET.PERMANENT: modeld_lagging_alert,
},
# Besides predicting the path, lane lines and lead car data the model also
@ -706,14 +738,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.lowMemory: {
ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"),
ET.PERMANENT: low_memory_alert,
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
},
EventName.highCpuUsage: {
#ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
ET.NO_ENTRY: high_cpu_usage_alert,
},
EventName.accFaulted: {

4
selfdrive/controls/lib/latcontrol.py
Unescape View File

@ -1,7 +1,7 @@
from abc import abstractmethod, ABC
from common.realtime import DT_CTRL
from common.numpy_fast import clip
from common.realtime import DT_CTRL
MIN_STEER_SPEED = 0.3
@ -16,7 +16,7 @@ class LatControl(ABC):
self.steer_max = 1.0
@abstractmethod
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
pass
def reset(self):

2
selfdrive/controls/lib/latcontrol_angle.py
Unescape View File

@ -7,7 +7,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
class LatControlAngle(LatControl):
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
angle_log = log.ControlsState.LateralAngleState.new_message()
if CS.vEgo < MIN_STEER_SPEED or not active:

2
selfdrive/controls/lib/latcontrol_indi.py
Unescape View File

@ -63,7 +63,7 @@ class LatControlINDI(LatControl):
self.steer_filter.x = 0.
self.speed = 0.
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
self.speed = CS.vEgo
# Update Kalman filter
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])

13
selfdrive/controls/lib/latcontrol_pid.py
Unescape View File

@ -1,23 +1,23 @@
import math
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from cereal import log
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from selfdrive.controls.lib.pid import PIDController
class LatControlPID(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0)
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.get_steer_feedforward = CI.get_steer_feedforward_function()
def reset(self):
super().reset()
self.pid.reset()
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@ -33,9 +33,6 @@ class LatControlPID(LatControl):
pid_log.active = False
self.pid.reset()
else:
self.pid.pos_limit = self.steer_max
self.pid.neg_limit = -self.steer_max
# offset does not contribute to resistive torque
steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)

34
selfdrive/controls/lib/latcontrol_torque.py
Unescape View File

@ -1,9 +1,10 @@
import math
from selfdrive.controls.lib.pid import PIDController
from cereal import log
from common.numpy_fast import interp
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from cereal import log
# At higher speeds (25+mph) we can assume:
# Lateral acceleration achieved by a specific car correlates to
@ -12,7 +13,7 @@ from cereal import log
# This controller applies torque to achieve desired lateral
# accelerations. To compensate for the low speed effects we
# use a LOW_SPEED_FACTOR in the error. Additionally there is
# use a LOW_SPEED_FACTOR in the error. Additionally, there is
# friction in the steering wheel that needs to be overcome to
# move it at all, this is compensated for too.
@ -24,12 +25,10 @@ JERK_THRESHOLD = 0.2
class LatControlTorque(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.CP = CP
self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki,
k_f=CP.lateralTuning.torque.kf, pos_limit=1.0, neg_limit=-1.0)
k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.get_steer_feedforward = CI.get_steer_feedforward_function()
self.steer_max = 1.0
self.pid.pos_limit = self.steer_max
self.pid.neg_limit = -self.steer_max
self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
self.friction = CP.lateralTuning.torque.friction
@ -37,21 +36,22 @@ class LatControlTorque(LatControl):
super().reset()
self.pid.reset()
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralTorqueState.new_message()
if CS.vEgo < MIN_STEER_SPEED or not active:
output_torque = 0.0
pid_log.active = False
self.pid.reset()
if not active:
self.pid.reset()
else:
if self.use_steering_angle:
actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
else:
actual_curvature = llk.angularVelocityCalibrated.value[2] / CS.vEgo
desired_lateral_accel = desired_curvature * CS.vEgo**2
desired_lateral_jerk = desired_curvature_rate * CS.vEgo**2
actual_lateral_accel = actual_curvature * CS.vEgo**2
desired_lateral_accel = desired_curvature * CS.vEgo ** 2
desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
actual_lateral_accel = actual_curvature * CS.vEgo ** 2
setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature
@ -59,14 +59,14 @@ class LatControlTorque(LatControl):
pid_log.error = error
ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
# convert friction into lateral accel units for feedforward
friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
ff += friction_compensation / self.CP.lateralTuning.torque.kf
output_torque = self.pid.update(error,
override=CS.steeringPressed, feedforward=ff,
speed=CS.vEgo,
freeze_integrator=CS.steeringRateLimited)
friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
output_torque += friction_compensation
pid_log.active = True
pid_log.p = self.pid.p
pid_log.i = self.pid.i
@ -74,6 +74,8 @@ class LatControlTorque(LatControl):
pid_log.f = self.pid.f
pid_log.output = -output_torque
pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
pid_log.actualLateralAccel = actual_lateral_accel
pid_log.desiredLateralAccel = desired_lateral_accel
#TODO left is positive in this convention
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log

27
selfdrive/controls/lib/longcontrol.py
Unescape View File

@ -1,8 +1,8 @@
from cereal import car
from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.drive_helpers import CONTROL_N
from selfdrive.controls.lib.pid import PIDController
from selfdrive.modeld.constants import T_IDXS
LongCtrlState = car.CarControl.Actuators.LongControlState
@ -50,12 +50,13 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
return long_control_state
class LongControl():
class LongControl:
def __init__(self, CP):
self.CP = CP
self.long_control_state = LongCtrlState.off # initialized to off
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
k_f = CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
self.v_pid = 0.0
self.last_output_accel = 0.0
@ -64,7 +65,7 @@ class LongControl():
self.pid.reset()
self.v_pid = v_pid
def update(self, active, CS, CP, long_plan, accel_limits, t_since_plan):
def update(self, active, CS, long_plan, accel_limits, t_since_plan):
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
# Interp control trajectory
speeds = long_plan.speeds
@ -72,11 +73,11 @@ class LongControl():
v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
v_target_lower = interp(CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_lower = 2 * (v_target_lower - v_target) / CP.longitudinalActuatorDelayLowerBound - a_target
v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target
v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_upper = 2 * (v_target_upper - v_target) / CP.longitudinalActuatorDelayUpperBound - a_target
v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target
a_target = min(a_target_lower, a_target_upper)
v_target_future = speeds[-1]
@ -93,7 +94,7 @@ class LongControl():
# Update state machine
output_accel = self.last_output_accel
self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
v_target, v_target_future, CS.brakePressed,
CS.cruiseState.standstill)
@ -107,8 +108,8 @@ class LongControl():
# Toyota starts braking more when it thinks you want to stop
# Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
deadzone = interp(CS.vEgo, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
freeze_integrator = prevent_overshoot
error = self.v_pid - CS.vEgo
@ -121,8 +122,8 @@ class LongControl():
# Intention is to stop, switch to a different brake control until we stop
elif self.long_control_state == LongCtrlState.stopping:
# Keep applying brakes until the car is stopped
if not CS.standstill or output_accel > CP.stopAccel:
output_accel -= CP.stoppingDecelRate * DT_CTRL
if not CS.standstill or output_accel > self.CP.stopAccel:
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
self.reset(CS.vEgo)

5
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Unescape View File

@ -345,6 +345,11 @@ class LongitudinalMpc:
self.crash_cnt = 0
def update_with_xva(self, x, v, a):
# v, and a are in local frame, but x is wrt the x[0] position
# In >90degree turns, x goes to 0 (and may even be -ve)
# So, we use integral(v) + x[0] to obtain the forward-distance
xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
x = np.cumsum(np.insert(xforward, 0, x[0]))
self.yref[:,1] = x
self.yref[:,2] = v
self.yref[:,3] = a

19
selfdrive/debug/compare_fingerprints.py
Unescape View File

@ -1,19 +0,0 @@
#!/usr/bin/env python3
# flake8: noqa
# put 2 fingeprints and print the diffs
f1 = {
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
}
f2 = {
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
}
for k in f1:
if k not in f2 or f1[k] != f2[k]:
print(k, "not in f2")
for k in f2:
if k not in f1 or f2[k] != f1[k]:
print(k, "not in f1")

49
selfdrive/debug/cycle_alerts.py
Unescape View File

@ -1,15 +1,11 @@
#!/usr/bin/env python3
# flake8: noqa
# pylint: skip-file
# type: ignore
import time
from cereal import car, log
import cereal.messaging as messaging
from common.realtime import DT_CTRL
from selfdrive.car.honda.interface import CarInterface
from selfdrive.controls.lib.events import ET, EVENTS, Events
from selfdrive.controls.lib.events import ET, Events
from selfdrive.controls.lib.alertmanager import AlertManager
EventName = car.CarEvent.EventName
@ -33,10 +29,26 @@ def cycle_alerts(duration=200, is_metric=False):
(EventName.driverDistracted, ET.WARNING),
]
# debug alerts
alerts = [
(EventName.highCpuUsage, ET.NO_ENTRY),
(EventName.lowMemory, ET.PERMANENT),
(EventName.overheat, ET.PERMANENT),
(EventName.outOfSpace, ET.PERMANENT),
(EventName.modeldLagging, ET.PERMANENT),
]
CP = CarInterface.get_params("HONDA CIVIC 2016")
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
sm['deviceState'].freeSpacePercent = 55
sm['deviceState'].memoryUsagePercent = 55
sm['deviceState'].cpuTempC = [1, 2, 100]
sm['deviceState'].gpuTempC = [211, 2, 100]
sm['deviceState'].cpuUsagePercent = [23, 54]
sm['modelV2'].frameDropPerc = 20
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
events = Events()
@ -44,30 +56,27 @@ def cycle_alerts(duration=200, is_metric=False):
frame = 0
while True:
current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
ET.ENABLE, ET.WARNING]
for alert, et in alerts:
events.clear()
events.add(alert)
a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
AM.add_many(frame, a)
AM.process_alerts(frame)
print(AM.alert)
alert = AM.process_alerts(frame, [])
print(alert)
for _ in range(duration):
dat = messaging.new_message()
dat.init('controlsState')
dat.controlsState.enabled = True
dat.controlsState.alertText1 = AM.alert_text_1
dat.controlsState.alertText2 = AM.alert_text_2
dat.controlsState.alertSize = AM.alert_size
dat.controlsState.alertStatus = AM.alert_status
dat.controlsState.alertBlinkingRate = AM.alert_rate
dat.controlsState.alertType = AM.alert_type
dat.controlsState.alertSound = AM.audible_alert
dat.controlsState.enabled = False
if alert:
dat.controlsState.alertText1 = alert.alert_text_1
dat.controlsState.alertText2 = alert.alert_text_2
dat.controlsState.alertSize = alert.alert_size
dat.controlsState.alertStatus = alert.alert_status
dat.controlsState.alertBlinkingRate = alert.alert_rate
dat.controlsState.alertType = alert.alert_type
dat.controlsState.alertSound = alert.audible_alert
pm.send('controlsState', dat)
dat = messaging.new_message()

2
selfdrive/debug/dump.py
Unescape View File

@ -13,7 +13,7 @@ from cereal.services import service_list
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Dump communcation sockets. See cereal/services.py for a complete list of available sockets.')
parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
parser.add_argument('--pipe', action='store_true')
parser.add_argument('--raw', action='store_true')
parser.add_argument('--json', action='store_true')

2
selfdrive/debug/hyundai_enable_radar_points.py
Unescape View File

@ -74,7 +74,7 @@ if __name__ == "__main__":
print("\nyou didn't type 'OK! (aborted)")
sys.exit(0)
panda = Panda() # type: ignore
panda = Panda()
panda.set_safety_mode(Panda.SAFETY_ELM327)
uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)

23
selfdrive/debug/internal/core_voltage_sweep.py
Unescape View File

@ -1,23 +0,0 @@
#!/usr/bin/env python3
import os
import sys
import time
print("starting at")
os.system("cat /sys/kernel/debug/regulator/pm8994_s11/voltage")
print("volts")
os.system("echo 99e8000.cpr3-ctrl > /sys/devices/soc/spm-regulator-10/regulator/regulator.56/99e8000.cpr3-ctrl-vdd/driver/unbind")
os.system("echo 1 > /sys/kernel/debug/regulator/pm8994_s11/enable")
if len(sys.argv) > 1:
i = int(sys.argv[1])
os.system("echo %d %d > /sys/kernel/debug/regulator/pm8994_s11/voltage" % (i,i))
os.system("cat /sys/kernel/debug/regulator/pm8994_s11/voltage")
else:
for i in range(900000, 465000, -10000):
print("setting voltage to",i)
os.system("echo %d %d > /sys/kernel/debug/regulator/pm8994_s11/voltage" % (i,i))
os.system("cat /sys/kernel/debug/regulator/pm8994_s11/voltage")
time.sleep(1)

67
selfdrive/debug/internal/sensor_test_bootloop.py
Unescape View File

@ -1,67 +0,0 @@
#!/usr/bin/python3
import sys
import os
import stat
import subprocess
import json
from common.text_window import TextWindow
import time
# Required for sensord not to bus-error on startup
# commaai/cereal#22
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
try:
with open('/tmp/sensor-test-results.json') as infile:
data = json.load(infile)
except Exception:
data = {'sensor-pass': 0, 'sensor-fail': 0}
STARTUP_SCRIPT = "/data/data/com.termux/files/continue.sh"
try:
with open(STARTUP_SCRIPT, 'w') as startup_script:
startup_script.write("#!/usr/bin/bash\n\n/data/openpilot/selfdrive/debug/internal/sensor_test_bootloop.py\n")
os.chmod(STARTUP_SCRIPT, stat.S_IRWXU)
except Exception:
print("Failed to install new startup script -- aborting")
sys.exit(-1)
sensord_env = {**os.environ, 'SENSOR_TEST': '1'}
process = subprocess.run("./sensord", cwd="/data/openpilot/selfdrive/sensord", env=sensord_env) # pylint: disable=subprocess-run-check
if process.returncode == 40:
text = "Current run: SUCCESS\n"
data['sensor-pass'] += 1
else:
text = "Current run: FAIL\n"
data['sensor-fail'] += 1
timestr = str(int(time.time()))
with open('/tmp/dmesg-' + timestr + '.log', 'w') as dmesg_out:
subprocess.call('dmesg', stdout=dmesg_out, shell=False)
with open("/tmp/logcat-" + timestr + '.log', 'w') as logcat_out:
subprocess.call(['logcat', '-d'], stdout=logcat_out, shell=False)
text += "Sensor pass history: " + str(data['sensor-pass']) + "\n"
text += "Sensor fail history: " + str(data['sensor-fail']) + "\n"
print(text)
with open('/tmp/sensor-test-results.json', 'w') as outfile:
json.dump(data, outfile, indent=4)
with TextWindow(text) as status:
for _ in range(100):
if status.get_status() == 1:
with open(STARTUP_SCRIPT, 'w') as startup_script:
startup_script.write("#!/usr/bin/bash\n\ncd /data/openpilot\nexec ./launch_openpilot.sh\n")
os.chmod(STARTUP_SCRIPT, stat.S_IRWXU)
break
time.sleep(0.1)
subprocess.Popen("reboot")

6
selfdrive/hardware/base.py
Unescape View File

@ -158,3 +158,9 @@ class HardwareBase(ABC):
@abstractmethod
def get_networks(self):
pass
def reset_internal_panda(self):
pass
def recover_internal_panda(self):
pass

2
selfdrive/hardware/tici/agnos.py
Unescape View File

@ -16,7 +16,7 @@ class StreamingDecompressor:
def __init__(self, url: str) -> None:
self.buf = b""
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None})
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}) # type: ignore
self.it = self.req.iter_content(chunk_size=1024 * 1024)
self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
self.eof = False

37
selfdrive/hardware/tici/hardware.py
Unescape View File

@ -2,13 +2,16 @@ import json
import math
import os
import subprocess
import time
from enum import IntEnum
from functools import cached_property
from pathlib import Path
from cereal import log
from common.gpio import gpio_set, gpio_init
from selfdrive.hardware.base import HardwareBase, ThermalConfig
from selfdrive.hardware.tici import iwlist
from selfdrive.hardware.tici.pins import GPIO
from selfdrive.hardware.tici.amplifier import Amplifier
NM = 'org.freedesktop.NetworkManager'
@ -415,12 +418,12 @@ class Tici(HardwareBase):
# offline big cluster, leave core 4 online for boardd
for i in range(5, 8):
val = "0" if powersave_enabled else "1"
sudo_write(val, f"/sys/devices/system/cpu/cpu{i}/online")
val = '0' if powersave_enabled else '1'
sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
for n in ('0', '4'):
gov = 'ondemand' if powersave_enabled else 'performance'
sudo_write(gov, f"/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor")
sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
# *** IRQ config ***
affine_irq(5, 565) # kgsl-3d0
@ -450,19 +453,25 @@ class Tici(HardwareBase):
sudo_write("f", "/proc/irq/default_smp_affinity")
# *** GPU config ***
sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
# https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
# setup governors
sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
# *** VIDC (encoder) config ***
sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
def configure_modem(self):
sim_id = self.get_sim_info().get('sim_id', '')
@ -509,6 +518,24 @@ class Tici(HardwareBase):
return r
def reset_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_set(GPIO.STM_RST_N, 1)
time.sleep(2)
gpio_set(GPIO.STM_RST_N, 0)
def recover_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_init(GPIO.STM_BOOT0, True)
gpio_set(GPIO.STM_RST_N, 1)
gpio_set(GPIO.STM_BOOT0, 1)
time.sleep(2)
gpio_set(GPIO.STM_RST_N, 0)
gpio_set(GPIO.STM_BOOT0, 0)
if __name__ == "__main__":
t = Tici()

3
selfdrive/hardware/tici/pins.py
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@ -1,4 +1,5 @@
# TODO: these are also defined in a header
# GPIO pin definitions
class GPIO:
# both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@ -18,5 +19,3 @@ class GPIO:
CAM0_RSTN = 9
CAM1_RSTN = 7
CAM2_RSTN = 12

44
selfdrive/hardware/tici/power_monitor.py
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@ -1,11 +1,32 @@
#!/usr/bin/env python3
import sys
import time
import numpy as np
from typing import List
from common.realtime import Ratekeeper
def average(avg, sample):
# Weighted avg between existing value and new sample
return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
def sample_power(seconds=5) -> List[float]:
rate = 123
rk = Ratekeeper(rate, print_delay_threshold=None)
pwrs = []
for _ in range(rate*seconds):
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
pwrs.append(int(f.read()) / 1e6)
rk.keep_time()
return pwrs
def get_power(seconds=5):
pwrs = sample_power(seconds)
return np.mean(pwrs)
if __name__ == '__main__':
sample_time = None
@ -17,7 +38,6 @@ if __name__ == '__main__':
voltage_average = (0, 0) # average, count
current_average = (0, 0)
power_average = (0, 0)
power_total_average = (0, 0)
while sample_time is None or time.monotonic() - start_time < sample_time:
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
voltage_total = int(f.read()) / 1000.
@ -25,23 +45,23 @@ if __name__ == '__main__':
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
current_total = int(f.read())
with open("/sys/class/power_supply/bms/voltage_now") as f:
voltage = int(f.read()) / 1e6 # volts
with open("/sys/class/power_supply/bms/current_now") as f:
current = int(f.read()) / 1e3 # ma
# SOM measurements are questionable
#with open("/sys/class/power_supply/bms/voltage_now") as f:
# voltage = int(f.read()) / 1e6 # volts
#with open("/sys/class/power_supply/bms/current_now") as f:
# current = int(f.read()) / 1e3 # ma
power = voltage*current
power_total = voltage_total*current_total
# compute averages
voltage_average = average(voltage_average, voltage)
current_average = average(current_average, current)
power_average = average(power_average, power)
power_total_average = average(power_total_average, power_total)
voltage_average = average(voltage_average, voltage_total)
current_average = average(current_average, current_total)
power_average = average(power_average, power_total)
print(f"{power:12.2f} mW {power_total:12.2f} mW {power_total - power:12.2f} mW")
print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW")
time.sleep(0.25)
except KeyboardInterrupt:
pass
finally:
stop_time = time.monotonic()
print("\n----------------------Average-----------------------------------")

14
selfdrive/hardware/tici/precise_power_measure.py
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@ -1,17 +1,9 @@
#!/usr/bin/env python3
import numpy as np
from common.realtime import Ratekeeper
from selfdrive.hardware.tici.power_monitor import sample_power
if __name__ == '__main__':
RATE = 123
print("measuring for 5 seconds at %dhz 3 times" % RATE)
rk = Ratekeeper(RATE, print_delay_threshold=None)
print("measuring for 5 seconds")
for _ in range(3):
pwrs = []
for _ in range(RATE*5):
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
pwrs.append(int(f.read()) / 1000.)
rk.keep_time()
pwrs = sample_power()
print("mean %.2f std %.2f" % (np.mean(pwrs), np.std(pwrs)))

18
selfdrive/hardware/tici/restart_modem.sh
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@ -0,0 +1,18 @@
#!/usr/bin/bash
nmcli connection modify --temporary lte gsm.home-only yes
nmcli connection modify --temporary lte gsm.auto-config yes
nmcli connection modify --temporary lte connection.autoconnect-retries 20
sudo systemctl stop ModemManager
# full restart
#/usr/comma/lte/lte.sh stop_blocking
#sudo systemctl restart lte
# quick shutdown
/usr/comma/lte/lte.sh stop
nmcli con down lte
#sudo systemctl restart ModemManager
sudo ModemManager --debug

70
selfdrive/hardware/tici/test_power_draw.py
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@ -0,0 +1,70 @@
#!/usr/bin/env python3
import unittest
import time
import math
from dataclasses import dataclass
from selfdrive.hardware import HARDWARE, TICI
from selfdrive.hardware.tici.power_monitor import get_power
from selfdrive.manager.process_config import managed_processes
from selfdrive.manager.manager import manager_cleanup
@dataclass
class Proc:
name: str
power: float
rtol: float = 0.05
atol: float = 0.1
warmup: float = 3.
PROCS = [
Proc('camerad', 2.5),
Proc('modeld', 0.95),
Proc('dmonitoringmodeld', 0.25),
Proc('loggerd', 0.45, warmup=10.),
]
class TestPowerDraw(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def setUp(self):
HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False)
def tearDown(self):
manager_cleanup()
def test_camera_procs(self):
baseline = get_power()
prev = baseline
used = {}
for proc in PROCS:
managed_processes[proc.name].start()
time.sleep(proc.warmup)
now = get_power(8)
used[proc.name] = now - prev
prev = now
manager_cleanup()
print("-"*35)
print(f"Baseline {baseline:.2f}W\n")
for proc in PROCS:
cur = used[proc.name]
expected = proc.power
print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W")
with self.subTest(proc=proc.name):
self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
print("-"*35)
if __name__ == "__main__":
unittest.main()

80
selfdrive/locationd/laikad.py
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@ -0,0 +1,80 @@
#!/usr/bin/env python3
from typing import List
from cereal import log, messaging
from laika import AstroDog
from laika.helpers import ConstellationId
from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
def correct_and_pos_fix(processed_measurements: List[GNSSMeasurement], dog: AstroDog):
# pos fix needs more than 5 processed_measurements
pos_fix = calc_pos_fix(processed_measurements)
if len(pos_fix) == 0:
return [], []
est_pos = pos_fix[0][:3]
corrected = correct_measurements(processed_measurements, est_pos, dog)
return calc_pos_fix(corrected), corrected
def process_ublox_msg(ublox_msg, dog, ublox_mono_time: int):
if ublox_msg.which == 'measurementReport':
report = ublox_msg.measurementReport
if len(report.measurements) == 0:
return None
new_meas = read_raw_ublox(report)
processed_measurements = process_measurements(new_meas, dog)
corrected = correct_and_pos_fix(processed_measurements, dog)
pos_fix, _ = corrected
# todo send corrected messages instead of processed_measurements. Need fix for when having less than 6 measurements
correct_meas_msgs = [create_measurement_msg(m) for m in processed_measurements]
# pos fix can be an empty list if not enough correct measurements are available
if len(pos_fix) > 0:
corrected_pos = pos_fix[0][:3].tolist()
else:
corrected_pos = [0., 0., 0.]
dat = messaging.new_message('gnssMeasurements')
dat.gnssMeasurements = {
"position": corrected_pos,
"ubloxMonoTime": ublox_mono_time,
"correctedMeasurements": correct_meas_msgs
}
return dat
def create_measurement_msg(meas: GNSSMeasurement):
c = log.GnssMeasurements.CorrectedMeasurement.new_message()
c.constellationId = meas.constellation_id.value
c.svId = int(meas.prn[1:])
c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0
c.pseudorange = float(meas.observables['C1C']) # todo should be observables_final when using corrected measurements
c.pseudorangeStd = float(meas.observables_std['C1C'])
c.pseudorangeRate = float(meas.observables['D1C']) # todo should be observables_final when using corrected measurements
c.pseudorangeRateStd = float(meas.observables_std['D1C'])
c.satPos = meas.sat_pos_final.tolist()
c.satVel = meas.sat_vel.tolist()
return c
def main():
dog = AstroDog()
sm = messaging.SubMaster(['ubloxGnss'])
pm = messaging.PubMaster(['gnssMeasurements'])
while True:
sm.update()
# Todo if no internet available use latest ephemeris
if sm.updated['ubloxGnss']:
ublox_msg = sm['ubloxGnss']
msg = process_ublox_msg(ublox_msg, dog, sm.logMonoTime['ubloxGnss'])
if msg is None:
msg = messaging.new_message('gnssMeasurements')
pm.send('gnssMeasurements', msg)
if __name__ == "__main__":
main()

23
selfdrive/locationd/test/test_laikad.py
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@ -0,0 +1,23 @@
#!/usr/bin/env python3
import unittest
from datetime import datetime
from laika.helpers import ConstellationId
from laika.gps_time import GPSTime
from laika.raw_gnss import GNSSMeasurement
from selfdrive.locationd.laikad import create_measurement_msg
class TestLaikad(unittest.TestCase):
def test_create_msg_without_errors(self):
gpstime = GPSTime.from_datetime(datetime.now())
meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
msg = create_measurement_msg(meas)
self.assertEqual(msg.constellationId, 'gps')
if __name__ == "__main__":
unittest.main()

80
selfdrive/locationd/test/test_ublox_processing.py
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@ -0,0 +1,80 @@
import unittest
import numpy as np
from laika import AstroDog
from laika.helpers import ConstellationId
from laika.raw_gnss import calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
def get_gnss_measurements(log_reader):
gnss_measurements = []
for msg in log_reader:
if msg.which() == "ubloxGnss":
ublox_msg = msg.ubloxGnss
if ublox_msg.which == 'measurementReport':
report = ublox_msg.measurementReport
if len(report.measurements) > 0:
gnss_measurements.append(read_raw_ublox(report))
return gnss_measurements
class TestUbloxProcessing(unittest.TestCase):
NUM_TEST_PROCESS_MEAS = 10
@classmethod
def setUpClass(cls):
lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0))
cls.gnss_measurements = get_gnss_measurements(lr)
def test_read_ublox_raw(self):
count_gps = 0
count_glonass = 0
for measurements in self.gnss_measurements:
for m in measurements:
if m.constellation_id == ConstellationId.GPS:
count_gps += 1
elif m.constellation_id == ConstellationId.GLONASS:
count_glonass += 1
self.assertEqual(count_gps, 5036)
self.assertEqual(count_glonass, 3651)
def test_get_fix(self):
dog = AstroDog()
position_fix_found = 0
count_processed_measurements = 0
count_corrected_measurements = 0
position_fix_found_after_correcting = 0
pos_ests = []
for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]:
processed_meas = process_measurements(measurements, dog)
count_processed_measurements += len(processed_meas)
pos_fix = calc_pos_fix(processed_meas)
if len(pos_fix) > 0 and all(pos_fix[0] != 0):
position_fix_found += 1
corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog)
count_corrected_measurements += len(corrected_meas)
pos_fix = calc_pos_fix(corrected_meas)
if len(pos_fix) > 0 and all(pos_fix[0] != 0):
pos_ests.append(pos_fix[0])
position_fix_found_after_correcting += 1
mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0)
np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1)
# Note that can happen that there are less corrected measurements compared to processed when they are invalid.
# However, not for the current segment
self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS)
self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS)
self.assertEqual(count_processed_measurements, 69)
self.assertEqual(count_corrected_measurements, 69)
if __name__ == "__main__":
unittest.main()

1
selfdrive/loggerd/.gitignore vendored
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@ -1,2 +1,3 @@
loggerd
encoderd
tests/test_logger

14
selfdrive/loggerd/SConscript
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@ -1,15 +1,13 @@
Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'gpucommon')
Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
libs = [common, cereal, messaging, visionipc,
'zmq', 'capnp', 'kj', 'z',
'avformat', 'avcodec', 'swscale', 'avutil',
'yuv', 'bz2', 'OpenCL', 'pthread']
'yuv', 'OpenCL', 'pthread']
src = ['logger.cc', 'loggerd.cc', 'video_writer.cc']
src = ['logger.cc', 'loggerd.cc', 'video_writer.cc', 'remote_encoder.cc']
if arch == "larch64":
src += ['omx_encoder.cc']
libs += ['OmxCore', 'gsl', 'CB'] + gpucommon
src += ['v4l_encoder.cc']
else:
src += ['raw_logger.cc']
@ -22,7 +20,9 @@ logger_lib = env.Library('logger', src)
libs.insert(0, logger_lib)
env.Program('loggerd', ['main.cc'], LIBS=libs)
if arch == "larch64":
env.Program('encoderd', ['encoderd.cc'], LIBS=libs)
env.Program('bootlog.cc', LIBS=libs)
if GetOption('test'):
env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_loggerd.cc', 'tests/test_logger.cc', env.Object('logger_util', '#/selfdrive/ui/replay/util.cc')], LIBS=libs + ['curl', 'crypto'])
env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_loggerd.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto'])

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