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Docs: auto-generate supported cars documentation (#23762)

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* make CAR class enum, and values.py formatting

* Revert "make CAR class enum, and values.py formatting"

This reverts commit 04d9817e9d.

* stash

* add supported packages and model years

* don't change model years in fps

* move Lexus to info dict and make int enum

* remove sometimes wrong model years from name string

* use enum names

* convert Honda's values

* nice names

* use name

* GM

* Mazda, Ford

* Hyundai: WIP

* finish Hyundai

* fix

* Nissan

* Subaru

* Tesla

* formatting is for another PR

* Chrysler: todo: unify the Pacificas?

* do volkswagen

* this isn't a zoo

* skip enums for now

* Update selfdrive/car/volkswagen/values.py

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>

* set All

* temp cars

* auto-generate CARS.md

* update type hinting

* add generated file

* add longitudinal star to cars that support disabling radar

* add TODO

* add notes

* add min_steer_speed exception for hatchback

* add minimum steering speeds

* Add exceptions and run generator

* Missing Telluride

* fix Prius v

* missing Prius Prime

generate

* start to convert years to strings

* Fixup Hyundai

* convert year sets to strings

* handle this

* missing S3

* Fix and add all missing cars (verified with script

* Supported Package fixes

* add get_tiered_cars

* Check radarOffCan for removing most Honda from op long

* Update for Avalon stop and go update on master

* Fix missing car params

* add my temporary script i'm using to verify new generated DBC

add my temporary script i'm using to verify new generated DBC

* generate with jinja template

* add header and footer

* clean up

* rename

rename

* add exceptions. jinja is nice, but why are its loop indexes starting at 1?

* add list of known car videos

* See how these look

* Add nice table formatting for column description

Add nice table formatting for column description

* generate

* consisten br tag

* small clean up

* temp

* Move car videos into CarInfo

* add new copy and rename to footnotes

* Revert "temp"

This reverts commit 93c3fce1d3.

clean up

* generate

* replace with svg

* simplify a bit

* add footnotes to CarInfo

* move some variables to docs.py

* Add video link for Acadia

* Make Footnote an enum so we don't use random ints

* static analysis fixes

* move to CARS.md

* fix last missing footnote

* add to release files

* rm test file

* use svg

generate

* fix sorting

* not needed

* not sure how this got here

* remove Sedan/Couple and add Diesel footnote

* finish todos

* move make specific footnotes to selfdrive/car/*/values.py

rename

* change to zeros

* align bottom to center

* Apply some suggestions

* Update selfdrive/car/mock/values.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update copy

* Try headers + bullet points

* somehow better

somehow better

* finish updating copy

* move template and add links to sups

* stars shouldn't be clickable

that didn't work

try this

try this

this is better

* add type hints to CarInfo

add more type hinting

* optional needs a type and any covers all (?)

* move good steering torque to */values.py

* dataclasses are much nicer than attr

* use tuple

* Update docs/cars.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* suggestions

* suggestions

* suggestions

remove

* clean up a bit

* add more type hints

* center stars and remove hardcoding from template

* update copy

* Add test

* Fix types

Fix types

* add supported cars documentation test

* clean up

* replace with docs_definitions

* Add back Footnote enums

* Ah so these are like fstrings!

* Update selfdrive/car/CARS_template.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update selfdrive/car/docs.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update year from master merge

* Fix longitudinal star from merge

* sort properly stars by Column enum

* clean up

* HKG: Sorry guys

* Prius V gets FSR star, like others

* Update selfdrive/car/docs.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* update comment

* No Prius docs change for now

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
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  2. 3
      docs/assets/icon-star-empty.svg
  3. 3
      docs/assets/icon-star-full.svg
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  6. 53
      selfdrive/car/CARS_template.md
  7. 22
      selfdrive/car/car_helpers.py
  8. 13
      selfdrive/car/chrysler/values.py
  9. 66
      selfdrive/car/docs.py
  10. 101
      selfdrive/car/docs_definitions.py
  11. 11
      selfdrive/car/ford/values.py
  12. 27
      selfdrive/car/gm/values.py
  13. 46
      selfdrive/car/honda/values.py
  14. 60
      selfdrive/car/hyundai/values.py
  15. 15
      selfdrive/car/mazda/values.py
  16. 8
      selfdrive/car/mock/values.py
  17. 11
      selfdrive/car/nissan/values.py
  18. 19
      selfdrive/car/subaru/values.py
  19. 10
      selfdrive/car/tesla/values.py
  20. 18
      selfdrive/car/tests/test_docs.py
  21. 83
      selfdrive/car/toyota/values.py
  22. 75
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docs/CARS.md
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# Supported Cars # Supported Cars
## comma.ai supported cars A supported vehicle is one that just works when you install openpilot on a compatible device. Every car performs differently with openpilot, but we aim for all supported cars to provide a solid highway experience in the US market.
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | e 2020 | All | Stock | 0mph | 3mph |
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Freed 2020 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
| Honda | Passport 2019-21 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020-22 | All | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
| Lexus | NX 2018-2019 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RC 2020 | All | Stock | 22mph | 0mph |
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Alphard 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon 2019-21 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph |
| Toyota | C-HR 2017-21 | All | Stock | 0mph | 0mph |
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hatchback 2019-22 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph |
| Toyota | Prius v 2017 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
## Community Maintained Cars and Features
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| --------------------------------| ------------------| -----------------| -------------------| -------------|
| Audi | A3 2014-19 | ACC + Lane Assist | Stock | 0mph | 0mph |
| Audi | A3 Sportback e-tron 2017-18 | ACC + Lane Assist | Stock | 0mph | 0mph |
| Audi | Q2 2018 | ACC + Lane Assist | Stock | 0mph | 0mph |
| Audi | Q3 2020-21 | ACC + Lane Assist | Stock | 0mph | 0mph |
| Audi | S3 2015-17 | ACC + Lane Assist | Stock | 0mph | 0mph |
| Cadillac | Escalade ESV 2016<sup>1</sup> | ACC + LKAS | openpilot | 0mph | 7mph |
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
| Genesis | G70 2020 | All | Stock | 0mph | 0mph |
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
| Hyundai | Elantra 2021-22 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Ioniq Hybrid 2017-19 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Hybrid 2020-22 | SCC + LFA | Stock | 0mph | 0mph |
| Hyundai | Ioniq PHEV 2020-21 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe Plug-in Hybrid 2022 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph |
| Kia | Niro EV 2019-22 | All | Stock | 0mph | 0mph |
| Kia | Niro Hybrid 2021-22 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Mazda | CX-5 2022 | All | Stock | 0mph | 0mph |
| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph |
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Škoda | Kamiq 2021<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Karoq 2019 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Kodiaq 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Arteon 2018, 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Atlas 2018-19, 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Caravelle 2020<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
| Volkswagen| California 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf GTI 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf SportWagen 2015 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta 2018-21 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Passat 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Tiguan 2020-22<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
Cars are organized into three tiers:
- Gold - The best openpilot experience. Great highway driving with continual updates.
- Silver - A solid highway experience, but is limited by stock longitudinal.
- Bronze - A solid highway experience, but will have limited performance in stop-and-go. May have ACC and ALC speed limitations.
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.
### 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.
### 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.
### 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.
### 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.
**All supported cars can move between the tiers as support changes.**
## Gold Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|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 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>|
|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 2020-21|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|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|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|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>7</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|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>|
|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>6</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>6</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>6</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>6</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>6</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>6</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>|
|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>|
|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>6</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>6</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>7</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>7</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>6</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>6</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>6</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>6</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>5</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>5</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|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 2018-20|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 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 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|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|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>4</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>5</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>5</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>5</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>5</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>|
|Volkswagen|e-Golf 2014, 2019-20|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>|
|Škoda|Kamiq 2021[<sup>3</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>|
## 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>2</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>2</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>|
|GMC|Acadia 2018[<sup>2</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>|
|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>|
|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|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|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>1</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|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>|
|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>|
|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|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-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-empty.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-empty.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|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 2018-20|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|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-empty.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-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>6</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>6</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>6</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>8</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>6</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>8</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>6</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>8</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>6</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>5</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>5</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>|
<sup>1</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>2</sup>Requires an [OBD-II](https://comma.ai/shop/products/comma-car-harness) car harness and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB). <br />
<sup>3</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>4</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
<sup>5</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
<sup>6</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB). <br />
<sup>7</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>8</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
## Community Maintained Cars
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

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release/files_common
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@ -100,6 +100,7 @@ selfdrive/boardd/set_time.py
selfdrive/boardd/pandad.py selfdrive/boardd/pandad.py
selfdrive/car/__init__.py selfdrive/car/__init__.py
selfdrive/car/docs_definitions.py
selfdrive/car/car_helpers.py selfdrive/car/car_helpers.py
selfdrive/car/fingerprints.py selfdrive/car/fingerprints.py
selfdrive/car/interfaces.py selfdrive/car/interfaces.py

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selfdrive/car/CARS_template.md
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# Supported Cars
A supported vehicle is one that just works when you install openpilot on a compatible device. Every car performs differently with openpilot, but we aim for all supported cars to provide a solid highway experience in the US market.
Cars are organized into three tiers:
- Gold - The best openpilot experience. Great highway driving with continual updates.
- Silver - A solid highway experience, but is limited by stock longitudinal.
- Bronze - A solid highway experience, but will have limited performance in stop-and-go. May have ACC and ALC speed limitations.
How We Rate The Cars
---
### openpilot Adaptive Cruise Control (ACC)
- {{Star.FULL.icon}} - openpilot is able to control the gas and brakes.
- {{Star.HALF.icon}} - openpilot is able to control the gas and brakes with some restrictions.
- {{Star.EMPTY.icon}} - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
### Stop and Go
- {{Star.FULL.icon}} - Adaptive Cruise Control (ACC) operates down to 0 mph.
- {{Star.EMPTY.icon}} - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
### Steer to 0
- {{Star.FULL.icon}} - openpilot can control the steering wheel down to 0 mph.
- {{Star.EMPTY.icon}} - No steering control below certain speeds.
### Steering Torque
- {{Star.FULL.icon}} - Car has enough steering torque for comfortable highway driving.
- {{Star.EMPTY.icon}} - Limited ability to make turns.
### Actively Maintained
- {{Star.FULL.icon}} - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
- {{Star.EMPTY.icon}} - Low user count, community maintained, harness hardware not sold by comma.
**All supported cars can move between the tiers as support changes.**
{% for tier, car_rows in tiers %}
## {{tier}} Cars
|{{columns | join('|')}}|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
{% for row in car_rows %}
|{{row | join('|')}}|
{% endfor %}
{% endfor %}
{% for footnote in footnotes %}
<sup>{{loop.index}}</sup>{{footnote}} <br />
{% endfor %}
## Community Maintained Cars
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

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selfdrive/car/car_helpers.py
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@ -1,4 +1,6 @@
import os import os
from typing import Any, Dict, List
from common.params import Params from common.params import Params
from common.basedir import BASEDIR from common.basedir import BASEDIR
from selfdrive.version import is_comma_remote, is_tested_branch from selfdrive.version import is_comma_remote, is_tested_branch
@ -57,19 +59,25 @@ def load_interfaces(brand_names):
return ret return ret
def _get_interface_names(): def get_interface_attr(attr: str) -> Dict[str, Any]:
# read all the folders in selfdrive/car and return a dict where: # returns given attribute from each interface
# - keys are all the car names that which we have an interface for
# - values are lists of spefic car models for a given car
brand_names = {} brand_names = {}
for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]: for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
try: try:
brand_name = car_folder.split('/')[-1] brand_name = car_folder.split('/')[-1]
model_names = __import__(f'selfdrive.car.{brand_name}.values', fromlist=['CAR']).CAR attr_data = getattr(__import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]), attr, None)
model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")] brand_names[brand_name] = attr_data
brand_names[brand_name] = model_names
except (ImportError, OSError): except (ImportError, OSError):
pass pass
return brand_names
def _get_interface_names() -> Dict[str, List[str]]:
# returns a dict of brand name and its respective models
brand_names = {}
for brand_name, model_names in get_interface_attr("CAR").items():
model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
brand_names[brand_name] = model_names
return brand_names return brand_names

13
selfdrive/car/chrysler/values.py
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@ -1,4 +1,7 @@
from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from cereal import car from cereal import car
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -18,6 +21,16 @@ class CAR:
JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk 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"),
}
# Unique CAN messages: # Unique CAN messages:
# Only the hybrids have 270: 8 # Only the hybrids have 270: 8
# Only the gas have 55: 8, 416: 7 # Only the gas have 55: 8, 416: 7

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selfdrive/car/docs.py
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#!/usr/bin/env python3
import jinja2
import os
from enum import Enum
from typing import Dict, Iterator, List, Tuple
from common.basedir import BASEDIR
from selfdrive.car.docs_definitions import Column, Star, Tier
from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
from selfdrive.car.tests.routes import non_tested_cars
def get_all_footnotes():
all_footnotes = []
for _, footnotes in get_interface_attr("Footnote").items():
if footnotes is not None:
all_footnotes += footnotes
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
ALL_FOOTNOTES: Dict[Enum, int] = get_all_footnotes()
CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
def get_tier_car_rows() -> Iterator[Tuple[str, List[str]]]:
tier_car_rows: Dict[Tier, list] = {tier: [] for tier in Tier}
for models in get_interface_attr("CAR_INFO").values():
for model, car_info in models.items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
if CP.dashcamOnly:
continue
# A platform can include multiple car models
if not isinstance(car_info, list):
car_info = (car_info,)
for _car_info in car_info:
stars = _car_info.get_stars(CP, non_tested_cars)
tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(stars.count(Star.FULL), Tier.BRONZE)
tier_car_rows[tier].append(_car_info.get_row(ALL_FOOTNOTES, stars))
# Return tier title and car rows for each tier
for tier, car_rows in tier_car_rows.items():
yield tier.name.title(), sorted(car_rows)
def generate_cars_md(tier_car_rows: Iterator[Tuple[str, List[str]]], template_fn: str) -> str:
with open(template_fn, "r") as f:
template = jinja2.Template(f.read(), trim_blocks=True)
footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
return template.render(tiers=tier_car_rows, columns=[column.value for column in Column],
footnotes=footnotes, Star=Star)
if __name__ == "__main__":
# Auto generates supported cars documentation
with open(CARS_MD_OUT, 'w') as f:
f.write(generate_cars_md(get_tier_car_rows(), CARS_MD_TEMPLATE))
print(f"Generated and written to {CARS_MD_OUT}")

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selfdrive/car/docs_definitions.py
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@ -0,0 +1,101 @@
from collections import namedtuple
from dataclasses import dataclass
from enum import Enum
from typing import List, Optional
@dataclass
class CarInfo:
name: str
package: str
video_link: Optional[str] = None
footnotes: Optional[List[Enum]] = None
min_steer_speed: Optional[float] = None
min_enable_speed: Optional[float] = None
good_torque: bool = False
def get_stars(self, CP, non_tested_cars):
# TODO: set all the min steer speeds in carParams and remove this
min_steer_speed = CP.minSteerSpeed
if self.min_steer_speed is not None:
min_steer_speed = self.min_steer_speed
assert CP.minSteerSpeed == 0, f"Minimum steer speed set in both CarInfo and CarParams for {CP.carFingerprint}"
# TODO: set all the min enable speeds in carParams correctly and remove this
min_enable_speed = CP.minEnableSpeed
if self.min_enable_speed is not None:
min_enable_speed = self.min_enable_speed
stars = {
Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
Column.FSR_STEERING: min_steer_speed <= 0.,
Column.STEERING_TORQUE: self.good_torque,
Column.MAINTAINED: CP.carFingerprint not in non_tested_cars,
}
for column in StarColumns:
stars[column] = Star.FULL if stars[column] else Star.EMPTY
# Demote if footnote specifies a star
footnote = get_footnote(self.footnotes, column)
if footnote is not None and footnote.value.star is not None:
stars[column] = footnote.value.star
return [stars[column] for column in StarColumns]
def get_row(self, all_footnotes, stars):
# TODO: add YouTube vidos
make, model = self.name.split(' ', 1)
row = [make, model, self.package, *stars]
# Check for car footnotes and get star icons
for row_idx, column in enumerate(Column):
if column in StarColumns:
row[row_idx] = row[row_idx].icon
footnote = get_footnote(self.footnotes, column)
if footnote is not None:
row[row_idx] += f"[<sup>{all_footnotes[footnote]}</sup>](#Footnotes)"
return row
class Tier(Enum):
GOLD = "Gold"
SILVER = "Silver"
BRONZE = "Bronze"
class Column(Enum):
MAKE = "Make"
MODEL = "Model"
PACKAGE = "Supported Package"
LONGITUDINAL = "openpilot ACC"
FSR_LONGITUDINAL = "Stop and Go"
FSR_STEERING = "Steer to 0"
STEERING_TORQUE = "Steering Torque"
MAINTAINED = "Actively Maintained"
class Star(Enum):
FULL = "full"
HALF = "half"
EMPTY = "empty"
@property
def icon(self):
return f'<a href="#"><img valign="top" src="assets/icon-star-{self.value}.svg" width="22" /></a>'
StarColumns = list(Column)[3:]
CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[Enum]:
# Returns applicable footnote given current column
if footnotes is not None:
for fn in footnotes:
if fn.value.column == column:
return fn
return None

11
selfdrive/car/ford/values.py
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@ -1,12 +1,21 @@
from selfdrive.car import dbc_dict from typing import Dict, List, Union
from cereal import car from cereal import car
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
MAX_ANGLE = 87. # make sure we never command the extremes (0xfff) which cause latching fault MAX_ANGLE = 87. # make sure we never command the extremes (0xfff) which cause latching fault
class CAR: class CAR:
FUSION = "FORD FUSION 2018" FUSION = "FORD FUSION 2018"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.FUSION: CarInfo("Ford Fusion 2018", "All")
}
DBC = { DBC = {
CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'), CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
} }

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selfdrive/car/gm/values.py
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@ -1,8 +1,13 @@
from enum import Enum
from typing import Dict, List, Union
from cereal import car from cereal import car
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
class CarControllerParams():
class CarControllerParams:
STEER_MAX = 300 # Safety limit, not LKA max. Trucks use 600. STEER_MAX = 300 # Safety limit, not LKA max. Trucks use 600.
STEER_STEP = 2 # control frames per command STEER_STEP = 2 # control frames per command
STEER_DELTA_UP = 7 STEER_DELTA_UP = 7
@ -38,6 +43,7 @@ class CarControllerParams():
STEER_THRESHOLD = 1.0 STEER_THRESHOLD = 1.0
class CAR: class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017" HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017" VOLT = "CHEVROLET VOLT PREMIER 2017"
@ -47,6 +53,25 @@ class CAR:
BUICK_REGAL = "BUICK REGAL ESSENCE 2018" BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
class Footnote(Enum):
OBD_II = CarFootnote(
"Requires an [OBD-II](https://comma.ai/shop/products/comma-car-harness) car harness and [community built ASCM harness]" +
"(https://github.com/commaai/openpilot/wiki/GM#hardware). NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).",
Column.MODEL)
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.HOLDEN_ASTRA: CarInfo("Holden Astra 2017", "Adaptive Cruise"),
CAR.VOLT: CarInfo("Chevrolet Volt 2017-18", "Adaptive Cruise", footnotes=[Footnote.OBD_II], min_enable_speed=0),
CAR.CADILLAC_ATS: CarInfo("Cadillac ATS Premium Performance 2018", "Adaptive Cruise"),
CAR.MALIBU: CarInfo("Chevrolet Malibu Premier 2017", "Adaptive Cruise"),
CAR.ACADIA: CarInfo("GMC Acadia 2018", "Adaptive Cruise", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]),
CAR.BUICK_REGAL: CarInfo("Buick Regal Essence 2018", "Adaptive Cruise"),
CAR.ESCALADE_ESV: CarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]),
}
class CruiseButtons: class CruiseButtons:
INIT = 0 INIT = 0
UNPRESS = 1 UNPRESS = 1

46
selfdrive/car/honda/values.py
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@ -1,13 +1,15 @@
from enum import IntFlag from enum import Enum, IntFlag
from typing import Dict, List, Union
from cereal import car from cereal import car
from selfdrive.car import dbc_dict 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 Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams:
class CarControllerParams():
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some # perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope. # to apply some more braking if we're on a downhill slope.
@ -63,6 +65,7 @@ VISUAL_HUD = {
VisualAlert.speedTooHigh: 8 VisualAlert.speedTooHigh: 8
} }
class CAR: class CAR:
ACCORD = "HONDA ACCORD 2018" ACCORD = "HONDA ACCORD 2018"
ACCORDH = "HONDA ACCORD HYBRID 2018" ACCORDH = "HONDA ACCORD HYBRID 2018"
@ -87,6 +90,43 @@ class CAR:
INSIGHT = "HONDA INSIGHT 2019" INSIGHT = "HONDA INSIGHT 2019"
HONDA_E = "HONDA E 2020" HONDA_E = "HONDA E 2020"
class Footnote(Enum):
CIVIC_DIESEL = CarFootnote(
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
Column.FSR_STEERING)
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
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),
],
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.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),
],
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),
}
FW_VERSIONS = { FW_VERSIONS = {
CAR.ACCORD: { CAR.ACCORD: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [

60
selfdrive/car/hyundai/values.py
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@ -1,5 +1,10 @@
from dataclasses import dataclass
from typing import Dict, List, Union
from cereal import car from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
# Steer torque limits # Steer torque limits
@ -22,6 +27,7 @@ class CarControllerParams:
self.STEER_DRIVER_MULTIPLIER = 2 self.STEER_DRIVER_MULTIPLIER = 2
self.STEER_DRIVER_FACTOR = 1 self.STEER_DRIVER_FACTOR = 1
class CAR: class CAR:
# Hyundai # Hyundai
ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA = "HYUNDAI ELANTRA 2017"
@ -67,6 +73,60 @@ class CAR:
GENESIS_G90 = "GENESIS G90 2017" GENESIS_G90 = "GENESIS G90 2017"
@dataclass
class HyundaiCarInfo(CarInfo):
package: str = "SCC + LKAS"
good_torque: bool = True
CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS),
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c"),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021", video_link="https://youtu.be/_EdYQtV52-c"),
CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS),
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19"),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA"),
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019"),
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020"),
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.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"),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-In Hybrid 2022", "All"),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw"),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19"),
CAR.PALISADE: [
HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456"),
HyundaiCarInfo("Kia Telluride 2020"),
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2021-22", "All"),
# Kia
CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2018-21"),
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA"),
CAR.KIA_NIRO_EV: HyundaiCarInfo("Kia Niro Electric 2019-22", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo"),
CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-In Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS),
CAR.KIA_NIRO_HEV_2021: HyundaiCarInfo("Kia Niro Hybrid 2021-22"),
CAR.KIA_OPTIMA: [
HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS),
HyundaiCarInfo("Kia Optima 2019"),
],
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021"),
CAR.KIA_SORENTO: HyundaiCarInfo("Kia Sorento 2018-19", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8"),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0"),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019"),
# Genesis
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All"),
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All"),
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018", "All"),
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All"),
}
class Buttons: class Buttons:
NONE = 0 NONE = 0
RES_ACCEL = 1 RES_ACCEL = 1

15
selfdrive/car/mazda/values.py
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@ -1,4 +1,7 @@
from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from cereal import car from cereal import car
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -14,6 +17,7 @@ class CarControllerParams:
STEER_DRIVER_FACTOR = 1 # from dbc STEER_DRIVER_FACTOR = 1 # from dbc
STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
class CAR: class CAR:
CX5 = "MAZDA CX-5" CX5 = "MAZDA CX-5"
CX9 = "MAZDA CX-9" CX9 = "MAZDA CX-9"
@ -22,6 +26,17 @@ class CAR:
CX9_2021 = "MAZDA CX-9 2021" CX9_2021 = "MAZDA CX-9 2021"
CX5_2022 = "MAZDA CX-5 2022" 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 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"),
CAR.CX5_2022: CarInfo("Mazda CX-5 2022", "All"),
}
class LKAS_LIMITS: class LKAS_LIMITS:
STEER_THRESHOLD = 15 STEER_THRESHOLD = 15
DISABLE_SPEED = 45 # kph DISABLE_SPEED = 45 # kph

8
selfdrive/car/mock/values.py
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@ -1,2 +1,10 @@
from typing import Dict, List, Union
from selfdrive.car.docs_definitions import CarInfo
class CAR: class CAR:
MOCK = 'mock' MOCK = 'mock'
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {}

11
selfdrive/car/nissan/values.py
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@ -1,4 +1,7 @@
from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from cereal import car from cereal import car
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -10,6 +13,7 @@ class CarControllerParams:
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0 STEER_THRESHOLD = 1.0
class CAR: class CAR:
XTRAIL = "NISSAN X-TRAIL 2017" XTRAIL = "NISSAN X-TRAIL 2017"
LEAF = "NISSAN LEAF 2018" LEAF = "NISSAN LEAF 2018"
@ -20,6 +24,13 @@ class CAR:
ALTIMA = "NISSAN ALTIMA 2020" 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"),
}
FINGERPRINTS = { FINGERPRINTS = {
CAR.XTRAIL: [ CAR.XTRAIL: [
{ {

19
selfdrive/car/subaru/values.py
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@ -1,4 +1,7 @@
from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from cereal import car from cereal import car
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
@ -15,6 +18,7 @@ class CarControllerParams:
self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 1 # from dbc self.STEER_DRIVER_FACTOR = 1 # from dbc
class CAR: class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019" ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019" IMPREZA = "SUBARU IMPREZA LIMITED 2019"
@ -25,6 +29,21 @@ class CAR:
OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017" OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019" OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.ASCENT: CarInfo("Subaru Ascent 2019", "EyeSight"),
CAR.IMPREZA: [
CarInfo("Subaru Impreza 2017-19", "EyeSight"),
CarInfo("Subaru Crosstrek 2018-20", "EyeSight"),
],
CAR.FORESTER: CarInfo("Subaru Forester 2019-21", "EyeSight"),
CAR.FORESTER_PREGLOBAL: CarInfo("Subaru Forester 2017-18", "EyeSight"),
CAR.LEGACY_PREGLOBAL: CarInfo("Subaru Legacy 2015-18", "EyeSight"),
CAR.OUTBACK_PREGLOBAL: CarInfo("Subaru Outback 2015-17", "EyeSight"),
CAR.OUTBACK_PREGLOBAL_2018: CarInfo("Subaru Outback 2018-19", "EyeSight"),
}
FINGERPRINTS = { FINGERPRINTS = {
CAR.IMPREZA_2020: [{ CAR.IMPREZA_2020: [{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8

10
selfdrive/car/tesla/values.py
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@ -1,14 +1,24 @@
from collections import namedtuple from collections import namedtuple
from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from cereal import car from cereal import car
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
class CAR: class CAR:
AP1_MODELS = 'TESLA AP1 MODEL S' AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S' AP2_MODELS = 'TESLA AP2 MODEL S'
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
}
FINGERPRINTS = { FINGERPRINTS = {
CAR.AP2_MODELS: [ CAR.AP2_MODELS: [
{ {

18
selfdrive/car/tests/test_docs.py
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@ -0,0 +1,18 @@
#!/usr/bin/env python3
import unittest
from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_tier_car_rows
class TestCarDocs(unittest.TestCase):
def test_car_docs(self):
generated_cars_md = generate_cars_md(get_tier_car_rows(), CARS_MD_TEMPLATE)
with open(CARS_MD_OUT, "r") as f:
current_cars_md = f.read()
self.assertEqual(generated_cars_md, current_cars_md,
"Run selfdrive/car/docs.py to generate new supported cars documentation")
if __name__ == "__main__":
unittest.main()

83
selfdrive/car/toyota/values.py
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@ -1,9 +1,12 @@
from collections import defaultdict from collections import defaultdict
from enum import IntFlag from dataclasses import dataclass
from enum import Enum, IntFlag
from typing import Dict, List, Union
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Star
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
MIN_ACC_SPEED = 19. * CV.MPH_TO_MS MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@ -70,6 +73,84 @@ class CAR:
LEXUS_RX_TSS2 = "LEXUS RX 2020" LEXUS_RX_TSS2 = "LEXUS RX 2020"
LEXUS_RXH_TSS2 = "LEXUS RX HYBRID 2020" LEXUS_RXH_TSS2 = "LEXUS RX HYBRID 2020"
class Footnote(Enum):
DSU = CarFootnote(
"When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace " +
"stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).",
Column.LONGITUDINAL, star=Star.HALF)
CAMRY = CarFootnote(
"28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
Column.FSR_LONGITUDINAL)
ANGLE_SENSOR = CarFootnote(
"An inaccurate steering wheel angle sensor makes precise control difficult.",
Column.STEERING_TORQUE, star=Star.HALF)
@dataclass
class ToyotaCarInfo(CarInfo):
package: str = "All"
good_torque: bool = True
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
# Toyota
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.AVALON: ToyotaCarInfo("Toyota Avalon 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk", footnotes=[Footnote.CAMRY]),
CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
CAR.COROLLA_TSS2: [
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
],
CAR.COROLLAH_TSS2: [
ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
ToyotaCarInfo("Lexus UX Hybrid 2019-21"),
],
CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
CAR.PRIUS: [
ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
],
CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
CAR.PRIUS_TSS2: [
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
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.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
# Lexus
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_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]),
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-21"),
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
}
# (addr, cars, bus, 1/freq*100, vl) # (addr, cars, bus, 1/freq*100, vl)
STATIC_DSU_MSGS = [ STATIC_DSU_MSGS = [
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),

75
selfdrive/car/volkswagen/values.py
Unescape View File

@ -1,8 +1,11 @@
from collections import defaultdict from collections import defaultdict
from typing import Dict from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Union
from cereal import car from cereal import car
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
NetworkLocation = car.CarParams.NetworkLocation NetworkLocation = car.CarParams.NetworkLocation
@ -87,6 +90,76 @@ class CAR:
SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
class Footnote(Enum):
KAMIQ = CarFootnote(
"Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
Column.MODEL)
PASSAT = CarFootnote(
"Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.",
Column.MODEL)
VW_HARNESS = CarFootnote(
"Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
"store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " +
"(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
"from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
Column.MODEL)
@dataclass
class VWCarInfo(CarInfo):
package: str = "Driver Assistance"
good_torque: bool = True
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS]),
CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS]),
CAR.GOLF_MK7: [
VWCarInfo("Volkswagen e-Golf 2014, 2019-20"),
VWCarInfo("Volkswagen Golf 2015-20"),
VWCarInfo("Volkswagen Golf Alltrack 2017-18"),
VWCarInfo("Volkswagen Golf GTE 2016"),
VWCarInfo("Volkswagen Golf GTI 2018-20"),
VWCarInfo("Volkswagen Golf R 2016-19"),
VWCarInfo("Volkswagen Golf SportsVan 2016"),
VWCarInfo("Volkswagen Golf SportWagen 2015"),
],
CAR.JETTA_MK7: [
VWCarInfo("Volkswagen Jetta 2018-21"),
VWCarInfo("Volkswagen Jetta GLI 2021"),
],
CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2016-18", footnotes=[Footnote.PASSAT]),
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.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS]),
VWCarInfo("Volkswagen California 2021", footnotes=[Footnote.VW_HARNESS]),
],
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS]),
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 S3 2015-17", "ACC + Lane Assist"),
],
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"),
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21", "ACC + Lane Assist"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
CAR.SKODA_OCTAVIA_MK3: [
VWCarInfo("Škoda Octavia 2015, 2018-19"),
VWCarInfo("Škoda Octavia RS 2016"),
],
}
# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
# with a manual trans won't return transmission firmware, but all other cars will. # with a manual trans won't return transmission firmware, but all other cars will.
# #

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