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Merge branch 'master' into mqb-button-refactor

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Jason Young 3 years ago
parent 945e34b73a 86c1e8164a
commit 93f868ee23
49 changed files with 1253 additions and 637 deletions
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  1. 2
      .github/workflows/selfdrive_tests.yaml
  2. 1
      SConstruct
  3. 2
      cereal
  4. 3
      common/params.cc
  5. 411
      docs/CARS.md
  6. 4
      release/files_common
  7. 16
      selfdrive/car/CARS_template.md
  8. 7
      selfdrive/car/chrysler/values.py
  9. 36
      selfdrive/car/docs.py
  10. 69
      selfdrive/car/docs_definitions.py
  11. 71
      selfdrive/car/fw_versions.py
  12. 4
      selfdrive/car/honda/values.py
  13. 2
      selfdrive/car/hyundai/values.py
  14. 14
      selfdrive/car/tests/test_docs.py
  15. 14
      selfdrive/car/toyota/interface.py
  16. 14
      selfdrive/car/toyota/values.py
  17. 49
      selfdrive/car/volkswagen/values.py
  18. 25
      selfdrive/controls/controlsd.py
  19. 21
      selfdrive/debug/test_fw_query_on_routes.py
  20. 20
      selfdrive/locationd/laikad.py
  21. 3
      selfdrive/manager/manager.py
  22. 5
      selfdrive/navd/.gitignore
  23. 20
      selfdrive/navd/SConscript
  24. 31
      selfdrive/navd/main.cc
  25. 236
      selfdrive/navd/map_renderer.cc
  26. 53
      selfdrive/navd/map_renderer.h
  27. 78
      selfdrive/navd/map_renderer.py
  28. 2
      selfdrive/test/process_replay/ref_commit
  29. 2
      selfdrive/test/process_replay/regen.py
  30. 12
      selfdrive/test/process_replay/test_processes.py
  31. 42
      selfdrive/ui/qt/maps/map_helpers.cc
  32. 1
      selfdrive/ui/qt/maps/map_helpers.h
  33. 26
      selfdrive/ui/qt/offroad/settings.cc
  34. 1
      selfdrive/ui/qt/offroad/settings.h
  35. 8
      selfdrive/ui/qt/onroad.cc
  36. 4
      selfdrive/ui/qt/widgets/controls.h
  37. 1
      selfdrive/ui/tests/test_translations.py
  38. 175
      selfdrive/ui/translations/main_ko.ts
  39. 175
      selfdrive/ui/translations/main_zh-CHS.ts
  40. 175
      selfdrive/ui/translations/main_zh-CHT.ts
  41. 4
      selfdrive/ui/ui.cc
  42. 2
      selfdrive/ui/ui.h
  43. 1
      selfdrive/ui/watch3.cc
  44. 18
      selfdrive/updated.py
  45. 22
      tools/replay/logreader.cc
  46. 2
      tools/replay/logreader.h
  47. 4
      tools/replay/route.cc
  48. 1
      tools/replay/tests/test_replay.cc
  49. 1
      tools/sim/start_carla.sh

2
.github/workflows/selfdrive_tests.yaml
Unescape View File

@ -553,7 +553,7 @@ jobs:
id: save_diff
run: |
${{ env.RUN }} "scons -j$(nproc)"
output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
output="${output//$'\n'/'%0A'}"
echo "::set-output name=diff::$output"
- name: Find comment

1
SConstruct
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@ -415,6 +415,7 @@ SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/navd/SConscript'])
SConscript(['tools/replay/SConscript'])

2
cereal

@ -1 +1 @@
Subproject commit a4c1afa3bfcbba989c128ec9b5092f6c91f4da22
Subproject commit 1c2cba75d66383fb0d0957f9cb2f6ffebb4f8915

3
common/params.cc
Unescape View File

@ -126,6 +126,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IsOnroad", PERSISTENT},
{"IsRHD", PERSISTENT},
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"IsTestedBranch", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"LaikadEphemeris", PERSISTENT | DONT_LOG},
@ -140,6 +141,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LiveParameters", PERSISTENT},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"NavSettingTime24h", PERSISTENT},
{"NavSettingLeftSide", PERSISTENT},
{"NavdRender", PERSISTENT},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
@ -153,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"SshEnabled", PERSISTENT},
{"SubscriberInfo", PERSISTENT},
{"SwitchToBranch", CLEAR_ON_MANAGER_START},
{"TermsVersion", PERSISTENT},
{"Timezone", PERSISTENT},
{"TrainingVersion", PERSISTENT},

411
docs/CARS.md
Unescape View File

@ -2,20 +2,9 @@
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
Cars are organized into three tiers:
- Gold - The best openpilot experience. Great highway driving and beyond.
- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
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.
@ -25,211 +14,206 @@ How We Rate The Cars
- <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 to take tighter turns.
- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tight turns.
- <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 - 30 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Electric 2019-20|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>|
|Kia|Niro Electric 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>|
|Kia|Niro Electric 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>|
|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 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2020-21|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 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|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
# Silver - 70 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|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2018-19|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>|
|Genesis|G80 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>|
|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|EV6 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>|
|Kia|Forte 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>|
|Kia|Forte 2019-21|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|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="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|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|Niro Hybrid 2022|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|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 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|Stinger 2018-20|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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 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-half.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-full.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-full.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-full.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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Ascent 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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Forester 2019-22|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>|
|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Cross 2020-21 (Non-US only)|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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
# Bronze - 80 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 2019-22|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-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>|
|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-half.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 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-full.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2019-22|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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Honda|Accord 2018-22|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-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 2018-22|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-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 2019-21|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>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 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-half.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|Civic Hatchback 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-half.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 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Fit 2018-20|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|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 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Insight 2019-22|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-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 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-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 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson 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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="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-half.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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 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-half.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 2017-2020|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>|
|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-9 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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Ram|1500 2019-22|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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-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>|
|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kamiq 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-half.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-half.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-half.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-half.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-half.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-half.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.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-half.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.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-half.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.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-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
# 192 Supported Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|---|---|---|:---:|:---:|:---:|:---:|
|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>|
|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>|
|Acura|RDX 2019-22|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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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>|
|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>|
|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-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-full.svg" width="22" /></a>|
|Chrysler|Pacifica 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-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2019-22|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-full.svg" width="22" /></a>|
|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2018-19|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>|
|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>|
|Genesis|G80 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>|
|Genesis|G90 2017-18|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>|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord 2018-22|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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Honda|Accord Hybrid 2018-22|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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.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>|
|Honda|Civic 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>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Honda|Civic 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>|
|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>|
|Honda|Civic Hatchback 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>|
|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>|
|Honda|CR-V 2017-22|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>|
|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>|
|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>|
|Honda|Fit 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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.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>|
|Honda|HR-V 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Honda|Insight 2019-22|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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.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>|
|Honda|Odyssey 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.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>|
|Honda|Pilot 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|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>|
|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>|
|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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>|
|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>|
|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>|
|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>|
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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>|
|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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>|
|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>|
|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>|
|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>|
|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>|
|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>|
|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>|
|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson 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-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 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-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>|
|Kia|EV6 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>|
|Kia|Forte 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>|
|Kia|Forte 2019-21|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>|
|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="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 2019-20|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>|
|Kia|Niro Electric 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>|
|Kia|Niro Electric 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>|
|Kia|Niro 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>|
|Kia|Niro Hybrid 2022|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>|
|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>|
|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>|
|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>|
|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>|
|Kia|Sorento 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>|
|Kia|Sorento 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>|
|Kia|Stinger 2018-20|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-full.svg" width="22" /></a>|<a href="##"><img valign="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>|
|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES 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>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 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>|
|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 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>|
|Lexus|RC 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-9 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-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-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-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-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-full.svg" width="22" /></a>|
|Ram|1500 2019-22|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-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>|
|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>|
|Subaru|Ascent 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-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Forester 2019-22|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>|
|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>|
|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kamiq 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>|
|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>|
|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>|
|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>|
|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>|
|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>|
|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>|
|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>|
|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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>|
|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Toyota|Corolla Cross (Non-US only) 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-empty.svg" width="22" /></a>|<a href="##"><img valign="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 Cross Hybrid (Non-US only) 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-empty.svg" width="22" /></a>|<a href="##"><img valign="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>|
|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>|
|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|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>|
|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-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>|
|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-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>|
|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Toyota|RAV4 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>|
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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>|
|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon eHybrid 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon R 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|CC 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|e-Golf 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>|
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf Alltrack 2015-19|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>|
|Volkswagen|Golf GTD 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>|
|Volkswagen|Golf GTE 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>|
|Volkswagen|Golf GTI 2015-21|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>|
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportsVan 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>|
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat GTE 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|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 id="footnotes"></a>
<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
@ -239,6 +223,7 @@ How We Rate The Cars
<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
<sup>7</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>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <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/).

4
release/files_common
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@ -380,7 +380,9 @@ selfdrive/modeld/runners/run.h
selfdrive/monitoring/dmonitoringd.py
selfdrive/monitoring/driver_monitor.py
selfdrive/navd/*.py
selfdrive/navd/__init__.py
selfdrive/navd/navd.py
selfdrive/navd/helpers.py
selfdrive/assets/.gitignore
selfdrive/assets/assets.qrc

16
selfdrive/car/CARS_template.md
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@ -5,12 +5,6 @@
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
Cars are organized into three tiers:
{% for tier in tiers %}
- {{tier.name.title()}} - {{tier.value}}
{% endfor %}
How We Rate The Cars
---
@ -23,20 +17,16 @@ How We Rate The Cars
{% endfor %}
{% endfor %}
**All supported cars can move between the tiers as support changes.**
{% for tier, cars in tiers.items() %}
# {{tier.name.title()}} - {{cars | length}} cars
# {{all_car_info | length}} Supported Cars
|{{Column | map(attribute='value') | join('|')}}|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
{% for car_info in cars %}
|---|---|---|:---:|:---:|:---:|:---:|
{% for car_info in all_car_info %}
|{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
{% endfor %}
{% endfor %}
<a id="footnotes"></a>
{% for footnote in footnotes %}
<sup>{{loop.index}}</sup>{{footnote}} <br />

7
selfdrive/car/chrysler/values.py
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@ -14,7 +14,7 @@ class CAR:
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
PACIFICA_2018 = "CHRYSLER PACIFICA 2018" # includes 2017 Pacifica
PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
# Jeep
@ -51,7 +51,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
CAR.PACIFICA_2018_HYBRID: None, # same platforms
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
CAR.PACIFICA_2020: [
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
],
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"),

36
selfdrive/car/docs.py
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@ -7,10 +7,9 @@ from natsort import natsorted
from typing import Dict, List
from common.basedir import BASEDIR
from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
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() -> Dict[Enum, int]:
@ -40,32 +39,28 @@ def get_all_car_info() -> List[CarInfo]:
car_info = (car_info,)
for _car_info in car_info:
all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
all_car_info.append(_car_info.init(CP, ALL_FOOTNOTES))
# Sort cars by make and model + year
sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
return sorted_cars
def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]:
tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
for car_info in all_car_info:
tier_car_info[car_info.tier].append(car_info)
# Sort cars by make and model + year
for tier, cars in tier_car_info.items():
tier_car_info[tier] = natsorted(cars, key=lambda car: (car.make + car.model).lower())
return tier_car_info
def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
with open(template_fn, "r") as f:
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
cols = list(Column)
if only_tier_cols:
hide_cols = set(StarColumns) - set(TierColumns)
cols = [c for c in cols if c not in hide_cols]
for car in all_car_info:
for c in hide_cols:
del car.row[c]
footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
cars_md: str = template.render(all_car_info=all_car_info,
footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS)
return cars_md
@ -73,10 +68,11 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier")
parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
args = parser.parse_args()
with open(args.out, 'w') as f:
f.write(generate_cars_md(get_all_car_info(), args.template))
f.write(generate_cars_md(get_all_car_info(), args.template, args.tier_columns))
print(f"Generated and written to {args.out}")

69
selfdrive/car/docs_definitions.py
Unescape View File

@ -1,20 +1,19 @@
import math
import re
from cereal import car
from collections import namedtuple
from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Optional, Union, no_type_check
from typing import Dict, List, Optional, Tuple, Union, no_type_check
TACO_TORQUE_THRESHOLD = 2.5 # m/s^2
GREAT_TORQUE_THRESHOLD = 1.4 # m/s^2
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
class Tier(Enum):
GOLD = "The best openpilot experience. Great highway driving and beyond."
SILVER = "A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future."
BRONZE = "A good highway experience, but may have limited performance in traffic and on sharp turns."
GOLD = 0
SILVER = 1
BRONZE = 2
class Column(Enum):
@ -25,7 +24,6 @@ class Column(Enum):
FSR_LONGITUDINAL = "Stop and Go"
FSR_STEERING = "Steer to 0"
STEERING_TORQUE = "Steering Torque"
MAINTAINED = "Actively Maintained"
class Star(Enum):
@ -35,6 +33,7 @@ class Star(Enum):
StarColumns = list(Column)[3:]
TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
@ -47,6 +46,16 @@ def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[En
return None
def split_name(name: str) -> Tuple[str, str, str]:
make, model = name.split(" ", 1)
years = ""
match = re.search(MODEL_YEARS_RE, model)
if match is not None:
years = model[match.start():]
model = model[:match.start() - 1]
return make, model, years
@dataclass
class CarInfo:
name: str
@ -57,7 +66,7 @@ class CarInfo:
min_enable_speed: Optional[float] = None
harness: Optional[Enum] = None
def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
# 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:
@ -72,7 +81,8 @@ class CarInfo:
min_enable_speed = self.min_enable_speed
self.car_name = CP.carName
self.make, self.model = self.name.split(' ', 1)
self.car_fingerprint = CP.carFingerprint
self.make, self.model, self.years = split_name(self.name)
self.row = {
Column.MAKE: self.make,
Column.MODEL: self.model,
@ -81,18 +91,13 @@ class CarInfo:
Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
# Column.STEERING_TORQUE set below
Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
Column.STEERING_TORQUE: Star.EMPTY,
}
# Set steering torque star from max lateral acceleration
if not math.isnan(CP.maxLateralAccel):
if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
self.row[Column.STEERING_TORQUE] = Star.FULL
elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
self.row[Column.STEERING_TORQUE] = Star.HALF
else:
self.row[Column.STEERING_TORQUE] = Star.EMPTY
assert CP.maxLateralAccel > 0.1
if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
self.row[Column.STEERING_TORQUE] = Star.FULL
if CP.notCar:
for col in StarColumns:
@ -105,7 +110,15 @@ class CarInfo:
if footnote is not None and footnote.value.star is not None:
self.row[column] = footnote.value.star
self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE)
# openpilot ACC star doesn't count for tiers
full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
if full_stars == len(TierColumns):
self.tier = Tier.GOLD
elif full_stars == len(TierColumns) - 1:
self.tier = Tier.SILVER
else:
self.tier = Tier.BRONZE
return self
@no_type_check
@ -113,6 +126,8 @@ class CarInfo:
item: Union[str, Star] = self.row[column]
if column in StarColumns:
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
item += f" {self.years}"
footnote = get_footnote(self.footnotes, column)
if footnote is not None:
@ -156,11 +171,6 @@ class Harness(Enum):
STAR_DESCRIPTIONS = {
"Gas & Brakes": { # icon and row name
"openpilot Adaptive Cruise Control (ACC)": [ # star column
[Star.FULL.value, "openpilot is able to control the gas and brakes."],
[Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
[Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
],
Column.FSR_LONGITUDINAL.value: [
[Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
[Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
@ -172,15 +182,8 @@ STAR_DESCRIPTIONS = {
[Star.EMPTY.value, "No steering control below certain speeds."],
],
Column.STEERING_TORQUE.value: [
[Star.FULL.value, "Car has enough steering torque to take tighter turns."],
[Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
[Star.FULL.value, "Car has enough steering torque to take tight turns."],
[Star.EMPTY.value, "Limited ability to make turns."],
],
},
"Support": {
Column.MAINTAINED.value: [
[Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
[Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
],
},
}

71
selfdrive/car/fw_versions.py
Unescape View File

@ -99,6 +99,11 @@ CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x
CHRYSLER_RX_OFFSET = -0x280
FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
@dataclass
class Request:
@ -207,6 +212,20 @@ REQUESTS: List[Request] = [
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
),
# Ford
Request(
"ford",
[TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine],
),
Request(
"ford",
[TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
[TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
bus=0,
whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera],
),
]
@ -216,13 +235,13 @@ def chunks(l, n=128):
def build_fw_dict(fw_versions, filter_brand=None):
fw_versions_dict = {}
fw_versions_dict = defaultdict(set)
for fw in fw_versions:
if filter_brand is None or fw.brand == filter_brand:
addr = fw.address
sub_addr = fw.subAddress if fw.subAddress != 0 else None
fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
return fw_versions_dict
fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
return dict(fw_versions_dict)
def get_brand_addrs():
@ -259,17 +278,18 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
match_count = 0
candidate = None
for addr, version in fw_versions_dict.items():
# All cars that have this FW response on the specified address
candidates = all_fw_versions[(addr[0], addr[1], version)]
if len(candidates) == 1:
match_count += 1
if candidate is None:
candidate = candidates[0]
# We uniquely matched two different cars. No fuzzy match possible
elif candidate != candidates[0]:
return set()
for addr, versions in fw_versions_dict.items():
for version in versions:
# All cars that have this FW response on the specified address
candidates = all_fw_versions[(addr[0], addr[1], version)]
if len(candidates) == 1:
match_count += 1
if candidate is None:
candidate = candidates[0]
# We uniquely matched two different cars. No fuzzy match possible
elif candidate != candidates[0]:
return set()
if match_count >= 2:
if log:
@ -291,23 +311,23 @@ def match_fw_to_car_exact(fw_versions_dict):
for ecu, expected_versions in fws.items():
ecu_type = ecu[0]
addr = ecu[1:]
found_version = fw_versions_dict.get(addr, None)
if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
found_versions = fw_versions_dict.get(addr, set())
if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
continue
# On some Toyota models, the engine can show on two different addresses
if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
continue
# Ignore non essential ecus
if ecu_type not in ESSENTIAL_ECUS and found_version is None:
if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
continue
# Virtual debug ecu doesn't need to match the database
if ecu_type == Ecu.debug:
continue
if found_version not in expected_versions:
if not any([found_version in expected_versions for found_version in found_versions]):
invalid.append(candidate)
break
@ -315,19 +335,16 @@ def match_fw_to_car_exact(fw_versions_dict):
def match_fw_to_car(fw_versions, allow_fuzzy=True):
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
# Try exact matching first
exact_matches = [(True, match_fw_to_car_exact)]
if allow_fuzzy:
exact_matches.append((False, match_fw_to_car_fuzzy))
for exact_match, match_func in exact_matches:
# For each brand, attempt to fingerprint using FW returned from its queries
# TODO: For each brand, attempt to fingerprint using only FW returned from its queries
matches = set()
for brand in versions.keys():
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
matches |= match_func(fw_versions_dict)
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
matches |= match_func(fw_versions_dict)
if len(matches):
return exact_match, matches
@ -396,7 +413,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
all_car_fw.extend(car_fw)
matches = match_fw_to_car_exact(build_fw_dict(car_fw))
# TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
_, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
if len(matches) == 1:
break

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

@ -1407,6 +1407,7 @@ FW_VERSIONS = {
b'38897-T20-A510\x00\x00',
b'38897-T21-A010\x00\x00',
b'38897-T20-A210\x00\x00',
b'38897-T20-A310\x00\x00',
],
(Ecu.srs, 0x18DA53F1, None): [
b'77959-T20-A970\x00\x00',
@ -1417,6 +1418,7 @@ FW_VERSIONS = {
b'78108-T21-A620\x00\x00',
b'78108-T23-A110\x00\x00',
b'78108-T21-A230\x00\x00',
b'78108-T22-A020\x00\x00',
],
(Ecu.vsa, 0x18DA28F1, None): [
b'57114-T20-AB40\x00\x00',
@ -1426,12 +1428,14 @@ FW_VERSIONS = {
b'28101-65D-A020\x00\x00',
b'28101-65D-A120\x00\x00',
b'28101-65H-A020\x00\x00',
b'28101-65H-A120\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-64L-A540\x00\x00',
b'37805-64S-A540\x00\x00',
b'37805-64S-A720\x00\x00',
b'37805-64A-A540\x00\x00',
b'37805-64A-A620\x00\x00',
],
},
}

2
selfdrive/car/hyundai/values.py
Unescape View File

@ -617,6 +617,7 @@ FW_VERSIONS = {
b'\xf1\x82TACVN5GSI3XXXH0A',
b'\xf1\x82TMCFD5MMCXXXXG0A',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
b'\xf1\x81HM6M2_0a0_G00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19',
@ -635,6 +636,7 @@ FW_VERSIONS = {
b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7',
b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6',
b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
],
},
CAR.SANTA_FE_HEV_2022: {

14
selfdrive/car/tests/test_docs.py
Unescape View File

@ -1,9 +1,11 @@
#!/usr/bin/env python3
import re
import unittest
from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
from selfdrive.car.docs_definitions import Column, Star
from selfdrive.car.honda.values import CAR as HONDA
class TestCarDocs(unittest.TestCase):
@ -11,7 +13,7 @@ class TestCarDocs(unittest.TestCase):
self.all_cars = get_all_car_info()
def test_generator(self):
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False)
with open(CARS_MD_OUT, "r") as f:
current_cars_md = f.read()
@ -43,11 +45,17 @@ class TestCarDocs(unittest.TestCase):
# Asserts brand-specific assumptions around steering torque star
for car in self.all_cars:
with self.subTest(car=car):
if car.car_name == "honda":
self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
# honda sanity check, it's the definition of a no torque star
if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT):
self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
elif car.car_name in ("toyota", "hyundai"):
self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
def test_year_format(self):
for car in self.all_cars:
with self.subTest(car=car):
self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}")
if __name__ == "__main__":
unittest.main()

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

@ -93,20 +93,12 @@ class CarInterface(CarInterfaceBase):
if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):

14
selfdrive/car/toyota/values.py
Unescape View File

@ -119,11 +119,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
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 Cross 2020-21 (Non-US only)", min_enable_speed=7.5),
ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5),
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("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
],
CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
@ -140,7 +141,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
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.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
@ -158,7 +159,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-2020"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
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 2020-22"),
@ -788,6 +789,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x7a1, None): [
b'8965B12361\x00\x00\x00\x00\x00\x00',
b'8965B12451\x00\x00\x00\x00\x00\x00',
b'8965B16011\x00\x00\x00\x00\x00\x00',
b'8965B76012\x00\x00\x00\x00\x00\x00',
b'8965B76050\x00\x00\x00\x00\x00\x00',
b'\x018965B12350\x00\x00\x00\x00\x00\x00',
@ -808,15 +810,16 @@ FW_VERSIONS = {
b'F152612800\x00\x00\x00\x00\x00\x00',
b'F152612820\x00\x00\x00\x00\x00\x00',
b'F152612840\x00\x00\x00\x00\x00\x00',
b'F152612842\x00\x00\x00\x00\x00\x00',
b'F152612890\x00\x00\x00\x00\x00\x00',
b'F152612A00\x00\x00\x00\x00\x00\x00',
b'F152612A10\x00\x00\x00\x00\x00\x00',
b'F152612D00\x00\x00\x00\x00\x00\x00',
b'F152616011\x00\x00\x00\x00\x00\x00',
b'F152642540\x00\x00\x00\x00\x00\x00',
b'F152676293\x00\x00\x00\x00\x00\x00',
b'F152676303\x00\x00\x00\x00\x00\x00',
b'F152676304\x00\x00\x00\x00\x00\x00',
b'F152612D00\x00\x00\x00\x00\x00\x00',
b'F152612842\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301100\x00\x00\x00\x00',
@ -832,6 +835,7 @@ FW_VERSIONS = {
b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00",
b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',

49
selfdrive/car/volkswagen/values.py
Unescape View File

@ -109,6 +109,9 @@ class Footnote(Enum):
"(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)
VW_VARIANT = CarFootnote(
"Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
Column.MODEL)
@dataclass
@ -118,24 +121,42 @@ class VWCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.ARTEON_MK1: [
VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
],
CAR.ATLAS_MK1: [
VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
],
CAR.GOLF_MK7: [
VWCarInfo("Volkswagen e-Golf 2014, 2018-20"),
VWCarInfo("Volkswagen Golf 2015-20"),
VWCarInfo("Volkswagen Golf Alltrack 2017-18"),
VWCarInfo("Volkswagen Golf GTE 2016"),
VWCarInfo("Volkswagen Golf GTI 2018-21"),
VWCarInfo("Volkswagen Golf R 2016-19"),
VWCarInfo("Volkswagen Golf SportsVan 2016"),
VWCarInfo("Volkswagen Golf SportWagen 2015"),
VWCarInfo("Volkswagen e-Golf 2014-20"),
VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]),
VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
VWCarInfo("Volkswagen Golf GTD 2015-20"),
VWCarInfo("Volkswagen Golf GTE 2015-20"),
VWCarInfo("Volkswagen Golf GTI 2015-21"),
VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]),
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
],
CAR.JETTA_MK7: [
VWCarInfo("Volkswagen Jetta 2018-21"),
VWCarInfo("Volkswagen Jetta GLI 2021"),
VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
],
CAR.PASSAT_MK8: [
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533),
VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
],
CAR.POLO_MK6: [
VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
],
CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]),
CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),

25
selfdrive/controls/controlsd.py
Unescape View File

@ -96,7 +96,11 @@ class Controls:
self.sm = sm
if self.sm is None:
ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
ignore = []
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
if params.get_bool('WideCameraOnly'):
ignore += ['roadCameraState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
@ -224,12 +228,8 @@ class Controls:
if not self.CP.notCar:
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle car events. Ignore when CAN is invalid
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
else:
# Add car events, ignore if CAN isn't valid
if CS.canValid:
self.events.add_from_msg(CS.events)
# Create events for temperature, disk space, and memory
@ -309,14 +309,19 @@ class Controls:
self.events.add(EventName.cameraFrameRate)
if self.rk.lagging:
self.events.add(EventName.controlsdLagging)
if len(self.sm['radarState'].radarErrors):
if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
# generic catch-all. ideally, a more specific event should be added above instead
no_system_errors = len(self.events) != num_events
if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():

21
selfdrive/debug/test_fw_query_on_routes.py
Unescape View File

@ -89,24 +89,9 @@ if __name__ == "__main__":
print("not in supported cars")
break
# Older routes only have carFw from their brand
old_route = not any([len(fw.brand) for fw in car_fw])
brands = SUPPORTED_BRANDS if not old_route else [None]
# Exact match
exact_matches, fuzzy_matches = [], []
for brand in brands:
fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
exact_matches = match_fw_to_car_exact(fw_versions_dict)
if len(exact_matches) == 1:
break
# Fuzzy match
for brand in brands:
fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
if len(fuzzy_matches) == 1:
break
fw_versions_dict = build_fw_dict(car_fw)
exact_matches = match_fw_to_car_exact(fw_versions_dict)
fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
good_exact += 1

20
selfdrive/locationd/laikad.py
Unescape View File

@ -79,8 +79,8 @@ class Laikad:
cloudlog.exception("Error parsing cache")
timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
cloudlog.debug(
f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
f"Loaded nav ({sum([len(v) for v in cache['nav']])}) and orbits ({sum([len(v) for v in cache['orbits']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.orbit_fetched_times._ranges]}")
def cache_ephemeris(self, t: GPSTime):
if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
@ -94,10 +94,15 @@ class Laikad:
if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5
pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
if len(pos_fix) > 0 and np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
self.last_pos_fix = pos_fix[:3]
self.last_pos_residual = pos_fix_residual
if len(pos_fix) > 0:
self.last_pos_fix_t = t
residual_median = np.median(np.abs(pos_fix_residual))
if np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
cloudlog.debug(f"Pos fix is within threshold with median: {residual_median.round()}")
self.last_pos_fix = pos_fix[:3]
self.last_pos_residual = pos_fix_residual
else:
cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}")
return self.last_pos_fix
def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
@ -115,10 +120,11 @@ class Laikad:
new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
processed_measurements = process_measurements(new_meas, self.astro_dog)
est_pos = self.get_est_pos(t, processed_measurements)
corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
if ublox_mono_time % 10 == 0:
cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
self.update_localizer(est_pos, t, corrected_measurements)
kf_valid = all(self.kf_valid(t))
@ -212,6 +218,8 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cach
try:
astro_dog.get_orbit_data(t, only_predictions=True)
cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
cloudlog.debug(f"Downloaded orbits ({sum([len(v) for v in astro_dog.orbits])}): {list(astro_dog.orbits.keys())}" +
f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
return astro_dog.orbits, astro_dog.orbit_fetched_times, t
except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
cloudlog.warning(f"No orbit data found or parsing failure: {e}")

3
selfdrive/manager/manager.py
Unescape View File

@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes
from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
from system.swaglog import cloudlog, add_file_handler
from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
terms_version, training_version
terms_version, training_version, is_tested_branch
sys.path.append(os.path.join(BASEDIR, "pyextra"))
@ -78,6 +78,7 @@ def manager_init() -> None:
params.put("GitCommit", get_commit(default=""))
params.put("GitBranch", get_short_branch(default=""))
params.put("GitRemote", get_origin(default=""))
params.put_bool("IsTestedBranch", is_tested_branch())
# set dongle id
reg_res = register(show_spinner=True)

5
selfdrive/navd/.gitignore vendored
Unescape View File

@ -0,0 +1,5 @@
moc_*
*.moc
map_renderer
libmap_renderer.so

20
selfdrive/navd/SConscript
Unescape View File

@ -0,0 +1,20 @@
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations')
base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
if arch == 'larch64':
base_libs.append('EGL')
if arch in ['larch64', 'x86_64']:
if arch == 'x86_64':
rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
qt_env["RPATH"] += rpath
qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs
nav_src = ["main.cc", "map_renderer.cc"]
qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11'])
if GetOption('extras'):
qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging'])

31
selfdrive/navd/main.cc
Unescape View File

@ -0,0 +1,31 @@
#include <QApplication>
#include <QDebug>
#include <csignal>
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/maps/map_helpers.h"
#include "selfdrive/navd/map_renderer.h"
#include "selfdrive/hardware/hw.h"
void sigHandler(int s) {
qInfo() << "Shutting down";
std::signal(s, SIG_DFL);
qApp->quit();
}
int main(int argc, char *argv[]) {
qInstallMessageHandler(swagLogMessageHandler);
QApplication app(argc, argv);
std::signal(SIGINT, sigHandler);
std::signal(SIGTERM, sigHandler);
MapRenderer * m = new MapRenderer(get_mapbox_settings());
assert(m);
return app.exec();
}

236
selfdrive/navd/map_renderer.cc
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@ -0,0 +1,236 @@
#include "selfdrive/navd/map_renderer.h"
#include <QApplication>
#include <QBuffer>
#include <QDebug>
#include "common/timing.h"
#include "selfdrive/ui/qt/maps/map_helpers.h"
const float ZOOM = 13.5; // Don't go below 13 or features will start to disappear
const int WIDTH = 256;
const int HEIGHT = WIDTH;
const int NUM_VIPC_BUFFERS = 4;
MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
QSurfaceFormat fmt;
fmt.setRenderableType(QSurfaceFormat::OpenGLES);
ctx = std::make_unique<QOpenGLContext>();
ctx->setFormat(fmt);
ctx->create();
assert(ctx->isValid());
surface = std::make_unique<QOffscreenSurface>();
surface->setFormat(ctx->format());
surface->create();
ctx->makeCurrent(surface.get());
assert(QOpenGLContext::currentContext() == ctx.get());
gl_functions.reset(ctx->functions());
gl_functions->initializeOpenGLFunctions();
QOpenGLFramebufferObjectFormat fbo_format;
fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1));
m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), ZOOM);
m_map->setStyleUrl("mapbox://styles/commaai/ckvmksrpd4n0a14pfdo5heqzr");
m_map->createRenderer();
m_map->resize(fbo->size());
m_map->setFramebufferObject(fbo->handle(), fbo->size());
gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
if (online) {
vipc_server.reset(new VisionIpcServer("navd"));
vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
vipc_server->start_listener();
pm.reset(new PubMaster({"navThumbnail"}));
sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}));
timer = new QTimer(this);
QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
timer->start(50);
}
}
void MapRenderer::msgUpdate() {
sm->update(0);
if (sm->updated("liveLocationKalman")) {
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
auto pos = location.getPositionGeodetic();
auto orientation = location.getCalibratedOrientationNED();
bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
if (localizer_valid) {
updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
}
}
if (sm->updated("navRoute")) {
QList<QGeoCoordinate> route;
auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates();
for (auto const &c : coords) {
route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude()));
}
updateRoute(route);
}
}
void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
if (m_map.isNull()) {
return;
}
m_map->setCoordinate(position);
m_map->setBearing(bearing);
update();
}
bool MapRenderer::loaded() {
return m_map->isFullyLoaded();
}
void MapRenderer::update() {
gl_functions->glClear(GL_COLOR_BUFFER_BIT);
m_map->render();
gl_functions->glFlush();
sendVipc();
}
void MapRenderer::sendVipc() {
if (!vipc_server || !loaded()) {
return;
}
QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
uint64_t ts = nanos_since_boot();
VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
VisionIpcBufExtra extra = {
.frame_id = frame_id,
.timestamp_sof = ts,
.timestamp_eof = ts,
};
assert(cap.sizeInBytes() >= buf->len);
uint8_t* dst = (uint8_t*)buf->addr;
uint8_t* src = cap.bits();
// RGB to greyscale
memset(dst, 128, buf->len);
for (int i = 0; i < WIDTH * HEIGHT; i++) {
dst[i] = src[i * 3];
}
vipc_server->send(buf, &extra);
if (frame_id % 100 == 0) {
// Write jpeg into buffer
QByteArray buffer_bytes;
QBuffer buffer(&buffer_bytes);
buffer.open(QIODevice::WriteOnly);
cap.save(&buffer, "JPG", 50);
kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
// Send thumbnail
MessageBuilder msg;
auto thumbnaild = msg.initEvent().initNavThumbnail();
thumbnaild.setFrameId(frame_id);
thumbnaild.setTimestampEof(ts);
thumbnaild.setThumbnail(buffer_kj);
pm->send("navThumbnail", msg);
}
frame_id++;
}
uint8_t* MapRenderer::getImage() {
QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
uint8_t* buf = new uint8_t[cap.sizeInBytes()];
memcpy(buf, cap.bits(), cap.sizeInBytes());
return buf;
}
void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
if (m_map.isNull()) return;
initLayers();
auto route_points = coordinate_list_to_collection(coordinates);
QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
QVariantMap navSource;
navSource["type"] = "geojson";
navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
m_map->updateSource("navSource", navSource);
m_map->setLayoutProperty("navLayer", "visibility", "visible");
}
void MapRenderer::initLayers() {
if (!m_map->layerExists("navLayer")) {
QVariantMap nav;
nav["id"] = "navLayer";
nav["type"] = "line";
nav["source"] = "navSource";
m_map->addLayer(nav, "road-intersection");
m_map->setPaintProperty("navLayer", "line-color", QColor("grey"));
m_map->setPaintProperty("navLayer", "line-width", 3);
m_map->setLayoutProperty("navLayer", "line-cap", "round");
}
}
MapRenderer::~MapRenderer() {
}
extern "C" {
MapRenderer* map_renderer_init() {
char *argv[] = {
(char*)"navd",
nullptr
};
int argc = 0;
QApplication *app = new QApplication(argc, argv);
assert(app);
QMapboxGLSettings settings;
settings.setApiBaseUrl(MAPS_HOST);
settings.setAccessToken(get_mapbox_token());
return new MapRenderer(settings, false);
}
void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
inst->updatePosition({lat, lon}, bearing);
QApplication::processEvents();
}
void map_renderer_update_route(MapRenderer *inst, char* polyline) {
inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline)));
}
void map_renderer_update(MapRenderer *inst) {
inst->update();
}
void map_renderer_process(MapRenderer *inst) {
QApplication::processEvents();
}
bool map_renderer_loaded(MapRenderer *inst) {
return inst->loaded();
}
uint8_t * map_renderer_get_image(MapRenderer *inst) {
return inst->getImage();
}
void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) {
delete[] buf;
}
}

53
selfdrive/navd/map_renderer.h
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@ -0,0 +1,53 @@
#pragma once
#include <memory>
#include <QOpenGLContext>
#include <QMapboxGL>
#include <QTimer>
#include <QGeoCoordinate>
#include <QOpenGLBuffer>
#include <QOffscreenSurface>
#include <QOpenGLFunctions>
#include <QOpenGLFramebufferObject>
#include "cereal/visionipc/visionipc_server.h"
#include "cereal/messaging/messaging.h"
class MapRenderer : public QObject {
Q_OBJECT
public:
MapRenderer(const QMapboxGLSettings &, bool online=true);
uint8_t* getImage();
void update();
bool loaded();
~MapRenderer();
private:
std::unique_ptr<QOpenGLContext> ctx;
std::unique_ptr<QOffscreenSurface> surface;
std::unique_ptr<QOpenGLFunctions> gl_functions;
std::unique_ptr<QOpenGLFramebufferObject> fbo;
std::unique_ptr<VisionIpcServer> vipc_server;
std::unique_ptr<PubMaster> pm;
std::unique_ptr<SubMaster> sm;
void sendVipc();
QMapboxGLSettings m_settings;
QScopedPointer<QMapboxGL> m_map;
void initLayers();
uint32_t frame_id = 0;
QTimer* timer;
public slots:
void updatePosition(QMapbox::Coordinate position, float bearing);
void updateRoute(QList<QGeoCoordinate> coordinates);
void msgUpdate();
};

78
selfdrive/navd/map_renderer.py
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@ -0,0 +1,78 @@
#!/usr/bin/env python3
# You might need to uninstall the PyQt5 pip package to avoid conflicts
import os
import time
from cffi import FFI
from common.ffi_wrapper import suffix
from common.basedir import BASEDIR
HEIGHT = WIDTH = 256
def get_ffi():
lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
ffi = FFI()
ffi.cdef("""
void* map_renderer_init();
void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
void map_renderer_update_route(void *inst, char *polyline);
void map_renderer_update(void *inst);
void map_renderer_process(void *inst);
bool map_renderer_loaded(void *inst);
uint8_t* map_renderer_get_image(void *inst);
void map_renderer_free_image(void *inst, uint8_t *buf);
""")
return ffi, ffi.dlopen(lib)
def wait_ready(lib, renderer):
while not lib.map_renderer_loaded(renderer):
lib.map_renderer_update(renderer)
# The main qt app is not execed, so we need to periodically process events for e.g. network requests
lib.map_renderer_process(renderer)
time.sleep(0.01)
def get_image(lib, renderer):
buf = lib.map_renderer_get_image(renderer)
r = list(buf[0:3 * WIDTH * HEIGHT])
lib.map_renderer_free_image(renderer, buf)
# Convert to numpy
r = np.asarray(r)
return r.reshape((WIDTH, HEIGHT, 3))
if __name__ == "__main__":
import matplotlib.pyplot as plt
import numpy as np
ffi, lib = get_ffi()
renderer = lib.map_renderer_init()
wait_ready(lib, renderer)
geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
lib.map_renderer_update_route(renderer, geometry.encode())
POSITIONS = [
(32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45), # San Diego
(52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45), # Amsterdam
]
plt.figure()
for i, pos in enumerate(POSITIONS):
t = time.time()
lib.map_renderer_update_position(renderer, *pos)
wait_ready(lib, renderer)
print(f"{pos} took {time.time() - t:.2f} s")
plt.subplot(2, 2, i + 1)
plt.imshow(get_image(lib, renderer))
plt.show()

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
fa52fa6c6703269e23610b1c6aba8a56b911fbbb
7c1168af0311d2fef67b82812cd863a0e97c030e

2
selfdrive/test/process_replay/regen.py
Unescape View File

@ -263,7 +263,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
seg_path = os.path.join(outdir, segment)
# check to make sure openpilot is engaged in the route
if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
raise Exception(f"Route never enabled: {segment}")
raise Exception(f"Route did not engage for long enough: {segment}")
return seg_path

12
selfdrive/test/process_replay/test_processes.py
Unescape View File

@ -38,18 +38,18 @@ original_segments = [
segments = [
("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"),
("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"),
("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
]

42
selfdrive/ui/qt/maps/map_helpers.cc
Unescape View File

@ -101,6 +101,48 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordina
return collections;
}
QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
QList<QGeoCoordinate> path;
if (polylineString.isEmpty())
return path;
QByteArray data = polylineString.toLatin1();
bool parsingLatitude = true;
int shift = 0;
int value = 0;
QGeoCoordinate coord(0, 0);
for (int i = 0; i < data.length(); ++i) {
unsigned char c = data.at(i) - 63;
value |= (c & 0x1f) << shift;
shift += 5;
// another chunk
if (c & 0x20)
continue;
int diff = (value & 1) ? ~(value >> 1) : (value >> 1);
if (parsingLatitude) {
coord.setLatitude(coord.latitude() + (double)diff/1e6);
} else {
coord.setLongitude(coord.longitude() + (double)diff/1e6);
path.append(coord);
}
parsingLatitude = !parsingLatitude;
value = 0;
shift = 0;
}
return path;
}
std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
QString json_str = QString::fromStdString(Params().get(param));
if (json_str.isEmpty()) return {};

1
selfdrive/ui/qt/maps/map_helpers.h
Unescape View File

@ -24,6 +24,7 @@ QMapbox::CoordinatesCollections model_to_collection(
QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
double angle_difference(double angle1, double angle2);

26
selfdrive/ui/qt/offroad/settings.cc
Unescape View File

@ -24,6 +24,7 @@
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/widgets/input.h"
TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
// param, title, desc, icon
@ -71,6 +72,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
tr("Use 24h format instead of am/pm"),
"../assets/offroad/icon_metric.png",
},
{
"NavSettingLeftSide",
tr("Show Map on Left Side of UI"),
tr("Show map on left side when in split screen view."),
"../assets/offroad/icon_road.png",
},
#endif
};
@ -247,7 +254,19 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
}
std::system("pkill -1 -f selfdrive.updated");
});
connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled);
branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"));
connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() {
QString branch = InputDialog::getText(tr("Enter name of new branch"), this);
if (branch.isEmpty()) {
params.remove("SwitchToBranch");
} else {
params.put("SwitchToBranch", branch.toStdString());
}
std::system("pkill -1 -f selfdrive.updated");
});
connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled);
auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
connect(uninstallBtn, &ButtonControl::clicked, [&]() {
@ -257,8 +276,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
});
connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled);
QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
for (QWidget* w : widgets) {
if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) {
continue;
}
addItem(w);
}

1
selfdrive/ui/qt/offroad/settings.h
Unescape View File

@ -71,6 +71,7 @@ private:
LabelControl *versionLbl;
LabelControl *lastUpdateLbl;
ButtonControl *updateBtn;
ButtonControl *branchSwitcherBtn;
Params params;
QFileSystemWatcher *fs_watch;

8
selfdrive/ui/qt/onroad.cc
Unescape View File

@ -52,6 +52,12 @@ void OnroadWindow::updateState(const UIState &s) {
alerts->updateAlert(alert, bgColor);
}
if (s.scene.map_on_left) {
split->setDirection(QBoxLayout::LeftToRight);
} else {
split->setDirection(QBoxLayout::RightToLeft);
}
nvg->updateState(s);
if (bg != bgColor) {
@ -80,7 +86,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
m->setFixedWidth(topWidget(this)->width() / 2);
split->addWidget(m, 0, Qt::AlignRight);
split->insertWidget(0, m);
// Make map visible after adding to split
m->offroadTransition(offroad);

4
selfdrive/ui/qt/widgets/controls.h
Unescape View File

@ -24,9 +24,9 @@ signals:
protected:
void paintEvent(QPaintEvent *event) override;
void resizeEvent(QResizeEvent* event) override;
void mouseReleaseEvent(QMouseEvent *event) override {
void mouseReleaseEvent(QMouseEvent *event) override {
if (rect().contains(event->pos())) {
emit clicked();
emit clicked();
}
}
QString lastText_, elidedText_;

1
selfdrive/ui/tests/test_translations.py
Unescape View File

@ -61,6 +61,7 @@ class TestTranslations(unittest.TestCase):
self.assertEqual(cur_translations, new_translations,
f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files")
@unittest.skip("Only test unfinished translations before going to release")
def test_unfinished_translations(self):
for name, file in self.translation_files.items():
with self.subTest(name=name, file=file):

175
selfdrive/ui/translations/main_ko.ts
Unescape View File

@ -108,152 +108,152 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="99"/>
<location filename="../qt/offroad/settings.cc" line="106"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="99"/>
<location filename="../qt/offroad/settings.cc" line="106"/>
<source>N/A</source>
<translation>N/A</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="100"/>
<location filename="../qt/offroad/settings.cc" line="107"/>
<source>Serial</source>
<translation>Serial</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="104"/>
<location filename="../qt/offroad/settings.cc" line="111"/>
<source>Driver Camera</source>
<translation>운전자 카메라</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="104"/>
<location filename="../qt/offroad/settings.cc" line="111"/>
<source>PREVIEW</source>
<translation>미리보기</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="105"/>
<location filename="../qt/offroad/settings.cc" line="112"/>
<source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
<translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="109"/>
<location filename="../qt/offroad/settings.cc" line="116"/>
<source>Reset Calibration</source>
<translation>캘리브레이션 재설정</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="109"/>
<location filename="../qt/offroad/settings.cc" line="116"/>
<source>RESET</source>
<translation>재설정</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="112"/>
<location filename="../qt/offroad/settings.cc" line="119"/>
<source>Are you sure you want to reset calibration?</source>
<translation>캘리브레이션을 재설정하시겠습니까?</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>Review Training Guide</source>
<translation>트레이닝 가이드 다시보기</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>REVIEW</source>
<translation>다시보기</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>Review the rules, features, and limitations of openpilot</source>
<translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="121"/>
<location filename="../qt/offroad/settings.cc" line="128"/>
<source>Are you sure you want to review the training guide?</source>
<translation>트레이닝 가이드를 다시보시겠습니까?</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="129"/>
<location filename="../qt/offroad/settings.cc" line="136"/>
<source>Regulatory</source>
<translation>규제</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="129"/>
<location filename="../qt/offroad/settings.cc" line="136"/>
<source>VIEW</source>
<translation>보기</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="137"/>
<location filename="../qt/offroad/settings.cc" line="144"/>
<source>Change Language</source>
<translation>언어 변경</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="137"/>
<location filename="../qt/offroad/settings.cc" line="144"/>
<source>CHANGE</source>
<translation>변경</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="141"/>
<location filename="../qt/offroad/settings.cc" line="148"/>
<source>Select a language</source>
<translation>언어를 선택하세요</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="161"/>
<location filename="../qt/offroad/settings.cc" line="168"/>
<source>Reboot</source>
<translation>재부팅</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="166"/>
<location filename="../qt/offroad/settings.cc" line="173"/>
<source>Power Off</source>
<translation>전원 종료</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="186"/>
<location filename="../qt/offroad/settings.cc" line="193"/>
<source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
<translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="197"/>
<location filename="../qt/offroad/settings.cc" line="204"/>
<source> Your device is pointed %1° %2 and %3° %4.</source>
<translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="198"/>
<location filename="../qt/offroad/settings.cc" line="205"/>
<source>down</source>
<translation>아래로</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="198"/>
<location filename="../qt/offroad/settings.cc" line="205"/>
<source>up</source>
<translation>위로</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="199"/>
<location filename="../qt/offroad/settings.cc" line="206"/>
<source>left</source>
<translation>좌측으로</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="199"/>
<location filename="../qt/offroad/settings.cc" line="206"/>
<source>right</source>
<translation>우측으로</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="210"/>
<location filename="../qt/offroad/settings.cc" line="217"/>
<source>Are you sure you want to reboot?</source>
<translation>재부팅 하시겠습니까?</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="217"/>
<location filename="../qt/offroad/settings.cc" line="224"/>
<source>Disengage to Reboot</source>
<translation>재부팅 하려면 해제하세요</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="223"/>
<location filename="../qt/offroad/settings.cc" line="230"/>
<source>Are you sure you want to power off?</source>
<translation>전원을 종료하시겠습니까?</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="230"/>
<location filename="../qt/offroad/settings.cc" line="237"/>
<source>Disengage to Power Off</source>
<translation>전원을 종료하려면 해제하세요</translation>
</message>
@ -488,30 +488,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="202"/>
<location filename="../qt/onroad.cc" line="208"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="202"/>
<location filename="../qt/onroad.cc" line="208"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="269"/>
<location filename="../qt/onroad.cc" line="272"/>
<location filename="../qt/onroad.cc" line="275"/>
<location filename="../qt/onroad.cc" line="278"/>
<source>MAX</source>
<translation>MAX</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="316"/>
<location filename="../qt/onroad.cc" line="319"/>
<location filename="../qt/onroad.cc" line="322"/>
<location filename="../qt/onroad.cc" line="325"/>
<source>SPEED</source>
<translation>SPEED</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="322"/>
<location filename="../qt/onroad.cc" line="325"/>
<location filename="../qt/onroad.cc" line="328"/>
<location filename="../qt/onroad.cc" line="331"/>
<source>LIMIT</source>
<translation>LIMIT</translation>
</message>
@ -710,33 +710,33 @@ location set</source>
<context>
<name>SettingsWindow</name>
<message>
<location filename="../qt/offroad/settings.cc" line="315"/>
<location filename="../qt/offroad/settings.cc" line="337"/>
<source>×</source>
<translation>×</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="341"/>
<location filename="../qt/offroad/settings.cc" line="363"/>
<source>Device</source>
<translation>장치</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="342"/>
<location filename="../qt/offroad/settings.cc" line="381"/>
<location filename="../qt/offroad/settings.cc" line="364"/>
<location filename="../qt/offroad/settings.cc" line="403"/>
<source>Network</source>
<translation>네트워크</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="343"/>
<location filename="../qt/offroad/settings.cc" line="365"/>
<source>Toggles</source>
<translation>토글</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="344"/>
<location filename="../qt/offroad/settings.cc" line="366"/>
<source>Software</source>
<translation>소프트웨어</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="349"/>
<location filename="../qt/offroad/settings.cc" line="371"/>
<source>Navigation</source>
<translation>네비게이션</translation>
</message>
@ -975,68 +975,83 @@ location set</source>
<context>
<name>SoftwarePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="235"/>
<location filename="../qt/offroad/settings.cc" line="242"/>
<source>Git Branch</source>
<translation>Git 브렌치</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="236"/>
<location filename="../qt/offroad/settings.cc" line="243"/>
<source>Git Commit</source>
<translation>Git 커밋</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="237"/>
<location filename="../qt/offroad/settings.cc" line="244"/>
<source>OS Version</source>
<translation>OS 버전</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="238"/>
<location filename="../qt/offroad/settings.cc" line="245"/>
<source>Version</source>
<translation>버전</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="239"/>
<location filename="../qt/offroad/settings.cc" line="246"/>
<source>Last Update Check</source>
<translation>최신 업데이트 검사</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="239"/>
<location filename="../qt/offroad/settings.cc" line="246"/>
<source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
<translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="240"/>
<location filename="../qt/offroad/settings.cc" line="247"/>
<source>Check for Update</source>
<translation>업데이트 확인</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="245"/>
<location filename="../qt/offroad/settings.cc" line="252"/>
<source>CHECKING</source>
<translation>확인중</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="252"/>
<location filename="../qt/offroad/settings.cc" line="259"/>
<source>Switch Branch</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="259"/>
<source>ENTER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="261"/>
<source>Enter name of new branch</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="271"/>
<source>UNINSTALL</source>
<translation>제거</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="252"/>
<location filename="../qt/offroad/settings.cc" line="271"/>
<source>Uninstall %1</source>
<translation>제거 %1</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="254"/>
<location filename="../qt/offroad/settings.cc" line="273"/>
<source>Are you sure you want to uninstall?</source>
<translation>제거하시겠습니까?</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="268"/>
<location filename="../qt/offroad/settings.cc" line="290"/>
<source>failed to fetch update</source>
<translation>업데이트를 가져올수없습니다</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="269"/>
<location filename="../qt/offroad/settings.cc" line="290"/>
<location filename="../qt/offroad/settings.cc" line="291"/>
<location filename="../qt/offroad/settings.cc" line="312"/>
<source>CHECK</source>
<translation>확인</translation>
</message>
@ -1124,82 +1139,92 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="33"/>
<location filename="../qt/offroad/settings.cc" line="34"/>
<source>Enable openpilot</source>
<translation>openpilot 사용</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="34"/>
<location filename="../qt/offroad/settings.cc" line="35"/>
<source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
<translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="39"/>
<location filename="../qt/offroad/settings.cc" line="40"/>
<source>Enable Lane Departure Warnings</source>
<translation>차선 이탈 경고 사용</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="40"/>
<location filename="../qt/offroad/settings.cc" line="41"/>
<source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
<translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="45"/>
<location filename="../qt/offroad/settings.cc" line="46"/>
<source>Enable Right-Hand Drive</source>
<translation>우측핸들 사용</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="46"/>
<location filename="../qt/offroad/settings.cc" line="47"/>
<source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
<translation>openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="51"/>
<location filename="../qt/offroad/settings.cc" line="52"/>
<source>Use Metric System</source>
<translation>미터법 사용</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="52"/>
<location filename="../qt/offroad/settings.cc" line="53"/>
<source>Display speed in km/h instead of mph.</source>
<translation>mph 대신 km/h로 속도를 표시합니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="57"/>
<location filename="../qt/offroad/settings.cc" line="58"/>
<source>Record and Upload Driver Camera</source>
<translation>운전자 카메라 녹화 및 업로드</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="58"/>
<location filename="../qt/offroad/settings.cc" line="59"/>
<source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
<translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="63"/>
<location filename="../qt/offroad/settings.cc" line="64"/>
<source>Disengage On Accelerator Pedal</source>
<translation>가속페달 조작시 해제</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="64"/>
<location filename="../qt/offroad/settings.cc" line="65"/>
<source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
<translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="70"/>
<location filename="../qt/offroad/settings.cc" line="71"/>
<source>Show ETA in 24h format</source>
<translation>24시간 형식으로 도착예정시간 표시</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="71"/>
<location filename="../qt/offroad/settings.cc" line="72"/>
<source>Use 24h format instead of am/pm</source>
<translation>오전/오후 대신 24시간 형식 사용</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="83"/>
<location filename="../qt/offroad/settings.cc" line="77"/>
<source>Show Map on Left Side of UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="78"/>
<source>Show map on left side when in split screen view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="90"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot Longitudinal Control</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="84"/>
<location filename="../qt/offroad/settings.cc" line="91"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
</message>

175
selfdrive/ui/translations/main_zh-CHS.ts
Unescape View File

@ -108,152 +108,152 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="99"/>
<location filename="../qt/offroad/settings.cc" line="106"/>
<source>Dongle ID</source>
<translation>设备ID（Dongle ID）</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="99"/>
<location filename="../qt/offroad/settings.cc" line="106"/>
<source>N/A</source>
<translation>N/A</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="100"/>
<location filename="../qt/offroad/settings.cc" line="107"/>
<source>Serial</source>
<translation>序列号</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="104"/>
<location filename="../qt/offroad/settings.cc" line="111"/>
<source>Driver Camera</source>
<translation>驾驶员摄像头</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="104"/>
<location filename="../qt/offroad/settings.cc" line="111"/>
<source>PREVIEW</source>
<translation>预览</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="105"/>
<location filename="../qt/offroad/settings.cc" line="112"/>
<source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
<translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="109"/>
<location filename="../qt/offroad/settings.cc" line="116"/>
<source>Reset Calibration</source>
<translation>重置设备校准</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="109"/>
<location filename="../qt/offroad/settings.cc" line="116"/>
<source>RESET</source>
<translation>重置</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="112"/>
<location filename="../qt/offroad/settings.cc" line="119"/>
<source>Are you sure you want to reset calibration?</source>
<translation>您确定要重置设备校准吗？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>Review Training Guide</source>
<translation>新手指南</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>REVIEW</source>
<translation>查看</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>Review the rules, features, and limitations of openpilot</source>
<translation>查看openpilot的使用规则，以及其功能和限制。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="121"/>
<location filename="../qt/offroad/settings.cc" line="128"/>
<source>Are you sure you want to review the training guide?</source>
<translation>您确定要查看新手指南吗？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="129"/>
<location filename="../qt/offroad/settings.cc" line="136"/>
<source>Regulatory</source>
<translation>监管信息</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="129"/>
<location filename="../qt/offroad/settings.cc" line="136"/>
<source>VIEW</source>
<translation>查看</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="137"/>
<location filename="../qt/offroad/settings.cc" line="144"/>
<source>Change Language</source>
<translation>切换语言</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="137"/>
<location filename="../qt/offroad/settings.cc" line="144"/>
<source>CHANGE</source>
<translation>切换</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="141"/>
<location filename="../qt/offroad/settings.cc" line="148"/>
<source>Select a language</source>
<translation>选择语言</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="161"/>
<location filename="../qt/offroad/settings.cc" line="168"/>
<source>Reboot</source>
<translation>重启</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="166"/>
<location filename="../qt/offroad/settings.cc" line="173"/>
<source>Power Off</source>
<translation>关机</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="186"/>
<location filename="../qt/offroad/settings.cc" line="193"/>
<source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
<translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="197"/>
<location filename="../qt/offroad/settings.cc" line="204"/>
<source> Your device is pointed %1° %2 and %3° %4.</source>
<translation>您的设备校准为%1° %2、%3° %4。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="198"/>
<location filename="../qt/offroad/settings.cc" line="205"/>
<source>down</source>
<translation>朝下</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="198"/>
<location filename="../qt/offroad/settings.cc" line="205"/>
<source>up</source>
<translation>朝上</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="199"/>
<location filename="../qt/offroad/settings.cc" line="206"/>
<source>left</source>
<translation>朝左</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="199"/>
<location filename="../qt/offroad/settings.cc" line="206"/>
<source>right</source>
<translation>朝右</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="210"/>
<location filename="../qt/offroad/settings.cc" line="217"/>
<source>Are you sure you want to reboot?</source>
<translation>您确定要重新启动吗？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="217"/>
<location filename="../qt/offroad/settings.cc" line="224"/>
<source>Disengage to Reboot</source>
<translation>取消openpilot以重新启动</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="223"/>
<location filename="../qt/offroad/settings.cc" line="230"/>
<source>Are you sure you want to power off?</source>
<translation>您确定要关机吗？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="230"/>
<location filename="../qt/offroad/settings.cc" line="237"/>
<source>Disengage to Power Off</source>
<translation>取消openpilot以关机</translation>
</message>
@ -486,30 +486,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="202"/>
<location filename="../qt/onroad.cc" line="208"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="202"/>
<location filename="../qt/onroad.cc" line="208"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="269"/>
<location filename="../qt/onroad.cc" line="272"/>
<location filename="../qt/onroad.cc" line="275"/>
<location filename="../qt/onroad.cc" line="278"/>
<source>MAX</source>
<translation>最高定速</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="316"/>
<location filename="../qt/onroad.cc" line="319"/>
<location filename="../qt/onroad.cc" line="322"/>
<location filename="../qt/onroad.cc" line="325"/>
<source>SPEED</source>
<translation>SPEED</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="322"/>
<location filename="../qt/onroad.cc" line="325"/>
<location filename="../qt/onroad.cc" line="328"/>
<location filename="../qt/onroad.cc" line="331"/>
<source>LIMIT</source>
<translation>LIMIT</translation>
</message>
@ -708,33 +708,33 @@ location set</source>
<context>
<name>SettingsWindow</name>
<message>
<location filename="../qt/offroad/settings.cc" line="315"/>
<location filename="../qt/offroad/settings.cc" line="337"/>
<source>×</source>
<translation>×</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="341"/>
<location filename="../qt/offroad/settings.cc" line="363"/>
<source>Device</source>
<translation>设备</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="342"/>
<location filename="../qt/offroad/settings.cc" line="381"/>
<location filename="../qt/offroad/settings.cc" line="364"/>
<location filename="../qt/offroad/settings.cc" line="403"/>
<source>Network</source>
<translation>网络</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="343"/>
<location filename="../qt/offroad/settings.cc" line="365"/>
<source>Toggles</source>
<translation>设定</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="344"/>
<location filename="../qt/offroad/settings.cc" line="366"/>
<source>Software</source>
<translation>软件</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="349"/>
<location filename="../qt/offroad/settings.cc" line="371"/>
<source>Navigation</source>
<translation>导航</translation>
</message>
@ -973,68 +973,83 @@ location set</source>
<context>
<name>SoftwarePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="235"/>
<location filename="../qt/offroad/settings.cc" line="242"/>
<source>Git Branch</source>
<translation>Git Branch</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="236"/>
<location filename="../qt/offroad/settings.cc" line="243"/>
<source>Git Commit</source>
<translation>Git Commit</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="237"/>
<location filename="../qt/offroad/settings.cc" line="244"/>
<source>OS Version</source>
<translation>系统版本</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="238"/>
<location filename="../qt/offroad/settings.cc" line="245"/>
<source>Version</source>
<translation>软件版本</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="239"/>
<location filename="../qt/offroad/settings.cc" line="246"/>
<source>Last Update Check</source>
<translation>上次检查更新</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="239"/>
<location filename="../qt/offroad/settings.cc" line="246"/>
<source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
<translation>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="240"/>
<location filename="../qt/offroad/settings.cc" line="247"/>
<source>Check for Update</source>
<translation>检查更新</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="245"/>
<location filename="../qt/offroad/settings.cc" line="252"/>
<source>CHECKING</source>
<translation>正在检查更新</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="252"/>
<location filename="../qt/offroad/settings.cc" line="259"/>
<source>Switch Branch</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="259"/>
<source>ENTER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="261"/>
<source>Enter name of new branch</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="271"/>
<source>UNINSTALL</source>
<translation>卸载</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="252"/>
<location filename="../qt/offroad/settings.cc" line="271"/>
<source>Uninstall %1</source>
<translation>卸载 %1</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="254"/>
<location filename="../qt/offroad/settings.cc" line="273"/>
<source>Are you sure you want to uninstall?</source>
<translation>您确定要卸载吗？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="268"/>
<location filename="../qt/offroad/settings.cc" line="290"/>
<source>failed to fetch update</source>
<translation>获取更新失败</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="269"/>
<location filename="../qt/offroad/settings.cc" line="290"/>
<location filename="../qt/offroad/settings.cc" line="291"/>
<location filename="../qt/offroad/settings.cc" line="312"/>
<source>CHECK</source>
<translation>查看</translation>
</message>
@ -1122,82 +1137,92 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="33"/>
<location filename="../qt/offroad/settings.cc" line="34"/>
<source>Enable openpilot</source>
<translation>启用openpilot</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="34"/>
<location filename="../qt/offroad/settings.cc" line="35"/>
<source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
<translation>使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="39"/>
<location filename="../qt/offroad/settings.cc" line="40"/>
<source>Enable Lane Departure Warnings</source>
<translation>启用车道偏离警告</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="40"/>
<location filename="../qt/offroad/settings.cc" line="41"/>
<source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
<translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="45"/>
<location filename="../qt/offroad/settings.cc" line="46"/>
<source>Enable Right-Hand Drive</source>
<translation>启用右舵模式</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="46"/>
<location filename="../qt/offroad/settings.cc" line="47"/>
<source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
<translation>允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="51"/>
<location filename="../qt/offroad/settings.cc" line="52"/>
<source>Use Metric System</source>
<translation>使用公制单位</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="52"/>
<location filename="../qt/offroad/settings.cc" line="53"/>
<source>Display speed in km/h instead of mph.</source>
<translation>显示车速时，以km/h代替mph。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="57"/>
<location filename="../qt/offroad/settings.cc" line="58"/>
<source>Record and Upload Driver Camera</source>
<translation>录制并上传驾驶员摄像头</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="58"/>
<location filename="../qt/offroad/settings.cc" line="59"/>
<source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
<translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="63"/>
<location filename="../qt/offroad/settings.cc" line="64"/>
<source>Disengage On Accelerator Pedal</source>
<translation>踩油门时取消控制</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="64"/>
<location filename="../qt/offroad/settings.cc" line="65"/>
<source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
<translation>启用后，踩下油门踏板将取消openpilot。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="70"/>
<location filename="../qt/offroad/settings.cc" line="71"/>
<source>Show ETA in 24h format</source>
<translation>以24小时格式显示预计到达时间</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="71"/>
<location filename="../qt/offroad/settings.cc" line="72"/>
<source>Use 24h format instead of am/pm</source>
<translation>使用24小时制代替am/pm</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="83"/>
<location filename="../qt/offroad/settings.cc" line="77"/>
<source>Show Map on Left Side of UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="78"/>
<source>Show map on left side when in split screen view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="90"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot纵向控制</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="84"/>
<location filename="../qt/offroad/settings.cc" line="91"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
</message>

175
selfdrive/ui/translations/main_zh-CHT.ts
Unescape View File

@ -108,152 +108,152 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="99"/>
<location filename="../qt/offroad/settings.cc" line="106"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="99"/>
<location filename="../qt/offroad/settings.cc" line="106"/>
<source>N/A</source>
<translation>無法使用</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="100"/>
<location filename="../qt/offroad/settings.cc" line="107"/>
<source>Serial</source>
<translation>序號</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="104"/>
<location filename="../qt/offroad/settings.cc" line="111"/>
<source>Driver Camera</source>
<translation>駕駛員攝像頭</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="104"/>
<location filename="../qt/offroad/settings.cc" line="111"/>
<source>PREVIEW</source>
<translation>預覽</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="105"/>
<location filename="../qt/offroad/settings.cc" line="112"/>
<source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
<translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="109"/>
<location filename="../qt/offroad/settings.cc" line="116"/>
<source>Reset Calibration</source>
<translation>重置校準</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="109"/>
<location filename="../qt/offroad/settings.cc" line="116"/>
<source>RESET</source>
<translation>重置</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="112"/>
<location filename="../qt/offroad/settings.cc" line="119"/>
<source>Are you sure you want to reset calibration?</source>
<translation>您確定要重置校準嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>Review Training Guide</source>
<translation>觀看使用教學</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>REVIEW</source>
<translation>觀看</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="119"/>
<location filename="../qt/offroad/settings.cc" line="126"/>
<source>Review the rules, features, and limitations of openpilot</source>
<translation>觀看 openpilot 的使用規則、功能和限制</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="121"/>
<location filename="../qt/offroad/settings.cc" line="128"/>
<source>Are you sure you want to review the training guide?</source>
<translation>您確定要觀看使用教學嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="129"/>
<location filename="../qt/offroad/settings.cc" line="136"/>
<source>Regulatory</source>
<translation>法規/監管</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="129"/>
<location filename="../qt/offroad/settings.cc" line="136"/>
<source>VIEW</source>
<translation>觀看</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="137"/>
<location filename="../qt/offroad/settings.cc" line="144"/>
<source>Change Language</source>
<translation>更改語言</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="137"/>
<location filename="../qt/offroad/settings.cc" line="144"/>
<source>CHANGE</source>
<translation>更改</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="141"/>
<location filename="../qt/offroad/settings.cc" line="148"/>
<source>Select a language</source>
<translation>選擇語言</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="161"/>
<location filename="../qt/offroad/settings.cc" line="168"/>
<source>Reboot</source>
<translation>重新啟動</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="166"/>
<location filename="../qt/offroad/settings.cc" line="173"/>
<source>Power Off</source>
<translation>關機</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="186"/>
<location filename="../qt/offroad/settings.cc" line="193"/>
<source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
<translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="197"/>
<location filename="../qt/offroad/settings.cc" line="204"/>
<source> Your device is pointed %1° %2 and %3° %4.</source>
<translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="198"/>
<location filename="../qt/offroad/settings.cc" line="205"/>
<source>down</source>
<translation>下</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="198"/>
<location filename="../qt/offroad/settings.cc" line="205"/>
<source>up</source>
<translation>上</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="199"/>
<location filename="../qt/offroad/settings.cc" line="206"/>
<source>left</source>
<translation>左</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="199"/>
<location filename="../qt/offroad/settings.cc" line="206"/>
<source>right</source>
<translation>右</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="210"/>
<location filename="../qt/offroad/settings.cc" line="217"/>
<source>Are you sure you want to reboot?</source>
<translation>您確定要重新啟動嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="217"/>
<location filename="../qt/offroad/settings.cc" line="224"/>
<source>Disengage to Reboot</source>
<translation>請先取消控車才能重新啟動</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="223"/>
<location filename="../qt/offroad/settings.cc" line="230"/>
<source>Are you sure you want to power off?</source>
<translation>您確定您要關機嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="230"/>
<location filename="../qt/offroad/settings.cc" line="237"/>
<source>Disengage to Power Off</source>
<translation>請先取消控車才能關機</translation>
</message>
@ -488,30 +488,30 @@ location set</source>
<context>
<name>NvgWindow</name>
<message>
<location filename="../qt/onroad.cc" line="202"/>
<location filename="../qt/onroad.cc" line="208"/>
<source>km/h</source>
<translation>km/h</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="202"/>
<location filename="../qt/onroad.cc" line="208"/>
<source>mph</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="269"/>
<location filename="../qt/onroad.cc" line="272"/>
<location filename="../qt/onroad.cc" line="275"/>
<location filename="../qt/onroad.cc" line="278"/>
<source>MAX</source>
<translation>最高</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="316"/>
<location filename="../qt/onroad.cc" line="319"/>
<location filename="../qt/onroad.cc" line="322"/>
<location filename="../qt/onroad.cc" line="325"/>
<source>SPEED</source>
<translation>速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="322"/>
<location filename="../qt/onroad.cc" line="325"/>
<location filename="../qt/onroad.cc" line="328"/>
<location filename="../qt/onroad.cc" line="331"/>
<source>LIMIT</source>
<translation>速限</translation>
</message>
@ -713,33 +713,33 @@ location set</source>
<context>
<name>SettingsWindow</name>
<message>
<location filename="../qt/offroad/settings.cc" line="315"/>
<location filename="../qt/offroad/settings.cc" line="337"/>
<source>×</source>
<translation>×</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="341"/>
<location filename="../qt/offroad/settings.cc" line="363"/>
<source>Device</source>
<translation>設備</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="342"/>
<location filename="../qt/offroad/settings.cc" line="381"/>
<location filename="../qt/offroad/settings.cc" line="364"/>
<location filename="../qt/offroad/settings.cc" line="403"/>
<source>Network</source>
<translation>網路</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="343"/>
<location filename="../qt/offroad/settings.cc" line="365"/>
<source>Toggles</source>
<translation>設定</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="344"/>
<location filename="../qt/offroad/settings.cc" line="366"/>
<source>Software</source>
<translation>軟體</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="349"/>
<location filename="../qt/offroad/settings.cc" line="371"/>
<source>Navigation</source>
<translation>導航</translation>
</message>
@ -978,68 +978,83 @@ location set</source>
<context>
<name>SoftwarePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="235"/>
<location filename="../qt/offroad/settings.cc" line="242"/>
<source>Git Branch</source>
<translation>Git 分支</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="236"/>
<location filename="../qt/offroad/settings.cc" line="243"/>
<source>Git Commit</source>
<translation>Git 提交</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="237"/>
<location filename="../qt/offroad/settings.cc" line="244"/>
<source>OS Version</source>
<translation>系統版本</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="238"/>
<location filename="../qt/offroad/settings.cc" line="245"/>
<source>Version</source>
<translation>版本</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="239"/>
<location filename="../qt/offroad/settings.cc" line="246"/>
<source>Last Update Check</source>
<translation>上次檢查時間</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="239"/>
<location filename="../qt/offroad/settings.cc" line="246"/>
<source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
<translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="240"/>
<location filename="../qt/offroad/settings.cc" line="247"/>
<source>Check for Update</source>
<translation>檢查更新</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="245"/>
<location filename="../qt/offroad/settings.cc" line="252"/>
<source>CHECKING</source>
<translation>檢查中</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="252"/>
<location filename="../qt/offroad/settings.cc" line="259"/>
<source>Switch Branch</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="259"/>
<source>ENTER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="261"/>
<source>Enter name of new branch</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="271"/>
<source>UNINSTALL</source>
<translation>卸載</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="252"/>
<location filename="../qt/offroad/settings.cc" line="271"/>
<source>Uninstall %1</source>
<translation>卸載 %1</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="254"/>
<location filename="../qt/offroad/settings.cc" line="273"/>
<source>Are you sure you want to uninstall?</source>
<translation>您確定您要卸載嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="268"/>
<location filename="../qt/offroad/settings.cc" line="290"/>
<source>failed to fetch update</source>
<translation>下載更新失敗</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="269"/>
<location filename="../qt/offroad/settings.cc" line="290"/>
<location filename="../qt/offroad/settings.cc" line="291"/>
<location filename="../qt/offroad/settings.cc" line="312"/>
<source>CHECK</source>
<translation>檢查</translation>
</message>
@ -1127,82 +1142,92 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="33"/>
<location filename="../qt/offroad/settings.cc" line="34"/>
<source>Enable openpilot</source>
<translation>啟用 openpilot</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="34"/>
<location filename="../qt/offroad/settings.cc" line="35"/>
<source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
<translation>使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="39"/>
<location filename="../qt/offroad/settings.cc" line="40"/>
<source>Enable Lane Departure Warnings</source>
<translation>啟用車道偏離警告</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="40"/>
<location filename="../qt/offroad/settings.cc" line="41"/>
<source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
<translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="45"/>
<location filename="../qt/offroad/settings.cc" line="46"/>
<source>Enable Right-Hand Drive</source>
<translation>啟用右駕模式</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="46"/>
<location filename="../qt/offroad/settings.cc" line="47"/>
<source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
<translation>openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="51"/>
<location filename="../qt/offroad/settings.cc" line="52"/>
<source>Use Metric System</source>
<translation>使用公制單位</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="52"/>
<location filename="../qt/offroad/settings.cc" line="53"/>
<source>Display speed in km/h instead of mph.</source>
<translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="57"/>
<location filename="../qt/offroad/settings.cc" line="58"/>
<source>Record and Upload Driver Camera</source>
<translation>記錄並上傳駕駛監控影像</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="58"/>
<location filename="../qt/offroad/settings.cc" line="59"/>
<source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
<translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="63"/>
<location filename="../qt/offroad/settings.cc" line="64"/>
<source>Disengage On Accelerator Pedal</source>
<translation>油門取消控車</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="64"/>
<location filename="../qt/offroad/settings.cc" line="65"/>
<source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
<translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="70"/>
<location filename="../qt/offroad/settings.cc" line="71"/>
<source>Show ETA in 24h format</source>
<translation>預計到達時間單位改用 24 小時制</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="71"/>
<location filename="../qt/offroad/settings.cc" line="72"/>
<source>Use 24h format instead of am/pm</source>
<translation>使用 24 小時制。(預設值為 12 小時制)</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="83"/>
<location filename="../qt/offroad/settings.cc" line="77"/>
<source>Show Map on Left Side of UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="78"/>
<source>Show map on left side when in split screen view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="90"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot 縱向控制</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="84"/>
<location filename="../qt/offroad/settings.cc" line="91"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
</message>

4
selfdrive/ui/ui.cc
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@ -192,7 +192,9 @@ static void update_state(UIState *s) {
}
void ui_update_params(UIState *s) {
s->scene.is_metric = Params().getBool("IsMetric");
auto params = Params();
s->scene.is_metric = params.getBool("IsMetric");
s->scene.map_on_left = params.getBool("NavSettingLeftSide");
}
void UIState::updateStatus() {

2
selfdrive/ui/ui.h
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@ -101,7 +101,7 @@ typedef struct UIScene {
QPointF lead_vertices[2];
float light_sensor, accel_sensor, gyro_sensor;
bool started, ignition, is_metric, longitudinal_control;
bool started, ignition, is_metric, map_on_left, longitudinal_control;
uint64_t started_frame;
} UIScene;

1
selfdrive/ui/watch3.cc
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@ -19,6 +19,7 @@ int main(int argc, char *argv[]) {
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
}

18
selfdrive/updated.py
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@ -314,18 +314,26 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
new_version: bool = cur_hash != upstream_hash
git_fetch_result = check_git_fetch_result(git_fetch_output)
new_branch = Params().get("SwitchToBranch", encoding='utf8')
if new_branch is not None:
new_version = True
cloudlog.info(f"comparing {cur_hash} to {upstream_hash}")
if new_version or git_fetch_result:
cloudlog.info("Running update")
if new_version:
cloudlog.info("git reset in progress")
r = [
run(["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED, low_priority=True),
run(["git", "clean", "-xdf"], OVERLAY_MERGED, low_priority=True ),
run(["git", "submodule", "init"], OVERLAY_MERGED, low_priority=True),
run(["git", "submodule", "update"], OVERLAY_MERGED, low_priority=True),
cmds = [
["git", "reset", "--hard", "@{u}"],
["git", "clean", "-xdf"],
["git", "submodule", "init"],
["git", "submodule", "update"],
]
if new_branch is not None:
cloudlog.info(f"switching to branch {repr(new_branch)}")
cmds.insert(0, ["git", "checkout", "-f", new_branch])
r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds]
cloudlog.info("git reset success: %s", '\n'.join(r))
if AGNOS:

22
tools/replay/logreader.cc
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@ -47,22 +47,22 @@ LogReader::~LogReader() {
}
bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
FileReader f(local_cache, chunk_size, retries);
std::string data = f.read(url, abort);
if (data.empty()) return false;
raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
if (raw_.empty()) return false;
return load((std::byte*)data.data(), data.size(), abort);
if (url.find(".bz2") != std::string::npos) {
raw_ = decompressBZ2(raw_, abort);
if (raw_.empty()) return false;
}
return parse(abort);
}
bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
raw_ = decompressBZ2(data, size, abort);
if (raw_.empty()) {
if (!(abort && *abort)) {
rWarning("failed to decompress log");
}
return false;
}
raw_.assign((const char *)data, size);
return parse(abort);
}
bool LogReader::parse(std::atomic<bool> *abort) {
try {
kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
while (words.size() > 0 && !(abort && *abort)) {

2
tools/replay/logreader.h
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@ -52,10 +52,10 @@ public:
~LogReader();
bool load(const std::string &url, std::atomic<bool> *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0);
bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
std::vector<Event*> events;
private:
bool parse(std::atomic<bool> *abort);
std::string raw_;
#ifdef HAS_MEMORY_RESOURCE
std::pmr::monotonic_buffer_resource *mbr_ = nullptr;

4
tools/replay/route.cc
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@ -82,9 +82,9 @@ void Route::addFileToSegment(int n, const QString &file) {
const int pos = name.lastIndexOf("--");
name = pos != -1 ? name.mid(pos + 2) : name;
if (name == "rlog.bz2") {
if (name == "rlog.bz2" || name == "rlog") {
segments_[n].rlog = file;
} else if (name == "qlog.bz2") {
} else if (name == "qlog.bz2" || name == "qlog") {
segments_[n].qlog = file;
} else if (name == "fcamera.hevc") {
segments_[n].road_cam = file;

1
tools/replay/tests/test_replay.cc
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@ -71,6 +71,7 @@ TEST_CASE("LogReader") {
FileReader reader(true);
std::string corrupt_content = reader.read(TEST_RLOG_URL);
corrupt_content.resize(corrupt_content.length() / 2);
corrupt_content = decompressBZ2(corrupt_content);
LogReader log;
REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
REQUIRE(log.events.size() > 0);

1
tools/sim/start_carla.sh
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@ -22,6 +22,7 @@ if [[ "$DETACH" ]]; then
EXTRA_ARGS="-d"
fi
docker kill carla_sim || true
docker run \
--name carla_sim \
--rm \

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