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docs/car-porting/support-guidelines.md

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+# Merging a New Port
+
+The openpilot driving experience is designed to be:
+
+* safe (SAFETY.md)
+* cooperative
+* plug-and-play
+* high quality
+
+New brand or model ports are evaluated against these goals before they are merged into upstream
+openpilot. This guide discusses the review process necessary to merge a new port.
+
+In case of conflicts between this guide and comma safety standards, SAFETY.md always controls.
+
+# Merge Process
+
+New brand ports will initially be merged in dashcam mode. This allows for the comma.ai openpilot team
+to further validate safety and quality before enabling official support with plug-and-play operation.
+New model ports, which only add a new model to an already-supported ADAS platform, may be reviewable
+with driving logs only, and may be directly merged as fully supported.
+
+Cars that don't meet all guidelines aren't eligible for full support. However, on a case-by-case basis,
+they may still be merged behind the dashcam flag.
+
+## Unofficial Support (dashcam mode)
+
+These ports are maintained on a best-effort basis and must pass a subset of CI testing. They will not
+operate by default when plugged into a car. They can only be driven by advanced users who manually
+remove the dashcam flag, or by installing a custom fork.
+
+Some example reasons why a port might be in dashcam mode:
+
+* A work-in-progress port that has advanced enough to pass tests and provide some value
+* An otherwise finished port, pending comma safety and quality validation
+* The car's control API does not allow a cooperative driving experience (see Tesla)
+* Lateral/longitudinal control lockouts without a safe, effective mitigation
+* Unresolved issues with lateral/longitudinal control quality and reliability
+* No harness yet available for purchase, DIY harness fabrication required
+
+## Official Support
+
+Ports meeting these guidelines have been verified as safe and should deliver a high quality, plug and
+play experience. These ports are eligible to appear in CARS.md and will appear in the car selector
+at shop.comma.ai. They are all actively maintained, with full CI testing.
+
+# Support Requirements
+
+## Car Harness
+
+* Full pinout documented, including any required pass-through pins
+* The stock CAN termination resistances must be measured and documented
+* Harness design places actuator controls on bus 0/2, bus 1 is optional
+* Harness design allows stock ADAS operation with openpilot disconnected or disabled
+* Connector shells and terminals available COTS or 3D model available
+
+## Installation Experience
+
+* Harness should plug in at LKA camera, other locations must be strongly justified
+* Any special parts or tools needed for installation should be documented
+* Fingerprinting must be as fully automatic as possible (fuzzy FP)
+  * VIN fingerprinting acceptable with proper rigor/testing
+  * Full functionality, including fingerprinting, must be available without comma power
+
+## Integration Experience
+
+* Dashcam mode works, all operation returns to stock
+* No unpleasant/atypical car UI experiences for the driver, no warnings or beeps
+* Should handle late startup seamlessly (cold boot, no comma power, thermal delay)
+* Integration with the instrument cluster/HUD
+  * Displayed speed and cruise setpoint match between the cluster and openpilot, both miles and km
+    * Speed can be offset/adjusted in openpilot if necessary
+    * Continues to scale properly if the driver changes the car's display units
+  * Stock ADAS cluster display signals are replicated by openpilot
+    * Displayed state for LKA active, standby, off (LKA on/off buttons and settings may be ignored)
+    * Lane lines (if applicable)
+    * Lead car presence (if applicable, openpilot does not make lead distance available)
+    * Configured follow distance (if applicable, replicate using driving personality setting)
+
+## Lateral Control
+
+* Use only safe APIs designed for highway speed ADAS
+* Probe the car's lateral control API limits
+  * Identify speed envelope limits, any cutoff above zero handled correctly
+  * Identify actuation limits, document even if openpilot cannot use the maximum
+* Lateral API fault signals must be populated in CarState, must alert on loss of control
+* If the car's API is torque based, use the lat accel torque controller unless justified not to
+* Lateral control operates within safe limits
+  * 2.5 m/s/s lateral accel for torque control
+  * TODO: what are the steering angle control limits?
+  * TODO: what are the curvature control limits?
+  * Handles variability in actuator performance between cars (see HKG)
+* Driver override is handled correctly and safely
+  * openpilot should detect driver input and back off
+    * Try to identify and match the stock LKA override threshold
+    * Threshold will probably land in the 0.6-0.8 Nm range, if scaling is known
+    * Threshold must avoid false wheel touches during normal driving
+  * Must be a cooperative driving experience (see Tesla for a counterexample)
+
+### Testing
+
+* Maximum actuation limits don't exceed comma safety guidelines
+* Good driving plan conformance, check with PlotJuggler
+  * Test lane changes on both flat and road crown boundaries
+  * TODO: Can we test std dev between desired and actual?
+  * TODO: Can we test cost with the algorithm from the controls challenge?
+* Reasonable steerActuatorDelay, check with PlotJuggler
+* Reasonable wheel touch threshold (DM, lane change)
+* Sane learned value for tire stiffness, CarParams startup value is set similarly
+* Sane learned value for steer ratio, CarParams startup value is set similarly
+
+## Longitudinal Control
+
+### Control with Stock ACC
+
+* Adaptive cruise is required: identify and reject engagement on non-adaptive cruise
+* Speed envelope probed, engagement limits set if other than full Stop-and-Go
+* Cancel spam works to maintain engagement state sync, reject engagements if needed
+* (Optional) Resume spam works from a standstill
+* (Optional) Identify faults like sensor-obstructed, populate in CarState
+
+### Control with openpilot
+
+* Use only safe APIs designed for highway speed ADAS
+* Probe the car's longitudinal control API limits
+  * Identify speed envelope limits, any cutoff above zero handled correctly
+  * Identify actuation limits, document even if openpilot cannot use the maximum
+* Don't exceed actuation limits in SAFETY.md
+* Longitudinal API fault signals must be populated in CarState, must alert on loss of control
+* Main switch on/off states explicitly identified (may require special state tracking)
+* All CC button signals explicitly identified, driver control experience matches stock
+* Test for good conformance to the openpilot longitudinal plan
+
+### Longitudinal Testing
+
+Applies to both stock and openpilot longitudinal control.
+
+* Good quality operation when cruising at various speeds
+* Good quality operation when tracking a lead car, including ACC braking
+* Driver gas override (with and without disengage-on-gas)
+* Short standstill, with automatic resume in traffic
+* Long standstill (look for unintended roll-away)
+* Disengage at standstill (look for unintended roll-away)
+* Rejected engagements are handled properly, openpilot/car engagement state remain synced
+* Brake signal is 100% reliable and 100% free of faults on disengage
+  * Verify with very light braking (issues here with brake pressed switch vs pressure threshold)
+  * Verify with ACC braking (make sure you're not looking at a brake light signal)
+  * OR of multiple signals is acceptable
+
+## CarState and Miscellaneous
+
+* All CarState message frequencies match the car, or lowest freq if variable/triggered
+* Turn signals, note signal behavior (oscillating vs fixed, one-touch vs latched)
+* Doors, identify all
+* Seatbelt, identify driver
+* Parking brake (especially handbrake, EPB if it prevents ACC)
+* Gearshift position
+  * Detect all gears on automatic transmissions, including sport and manumatic variants
+  * Manual trans acceptable if Reverse is detected
+
+## Panda Safety
+
+* Lateral and longitudinal actuation limits are safe, and exactly match openpilot
+* Safety-relevant message sizes and frequencies checked, frequency checks match openpilot
+* Safety-relevant message checksums checked, if present
+* Safety-relevant message counters checked, if present
+* Verify source messages/signals actually (not functionally) identical to openpilot
+  * Driver input torque for steering override
+  * Brake (OR of multiple signals acceptable, still matching openpilot)
+  * ACC control state, as applicable to that car
+  * Gas
+  * Speed
+  * Cruise control buttons
+    * Cancel/Set logic for stock ACC cars
+    * Full cruise button logic for openpilot longitudinal cars
+* Match openpilot logic for detecting vehicle standstill
+* All CI tests passing, including MISRA
+* No instances of Controls Mismatch
+* No CAN messages dropped during normal driving (a few discards are expected at startup/shutdown)
+
+## Optional
+
+* openpilot longitudinal control
+* Radar points
+* BSM
+  * Verify both presence/not-blinking and warning/blinking states
+* FCW/AEB
+  * Detect activation of stock FCW/AEB (may be a good application for comma car dataset)
+  * Signals for FCW/AEB actuation (this is still in development, extreme care required)