* [Limitations of openpilot ALC](#limitations-of-openpilot-alc)
* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
* [Limitations of openpilot ACC](#limitations-of-openpilot-acc)
* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
* [Integration with Stock Features](#integration-with-stock-features)
* [User Data and comma Account](#user-data-and-comma-account)
* [User Data and comma Account](#user-data-and-comma-account)
* [Safety and Testing](#safety-and-testing)
* [Safety and Testing](#safety-and-testing)
* [Testing on PC](#testing-on-pc)
* [Testing on PC](#testing-on-pc)
@ -24,7 +24,7 @@ Table of Contents
What is openpilot?
What is openpilot?
------
------
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted or asleep drivers.
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
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<table>
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@ -41,6 +41,19 @@ What is openpilot?
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</table>
Integration with Stock Features
------
In all supported cars:
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
* Stock LDW is replaced by openpilot LDW.
Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
* Stock ACC is replaced by openpilot ACC.
* openpilot FCW operates in addition to stock FCW.
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
Supported Hardware
Supported Hardware
------
------
@ -49,87 +62,87 @@ At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/product
Supported Cars
Supported Cars
------
------
| Make | Model (US Market Reference) | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [FCA giraffe](https://comma.ai/shop/products/giraffe) <br/>
<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [FCA giraffe](https://comma.ai/shop/products/giraffe) <br/>
<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br/>
<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br/>
<sup>3</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br/>
<sup>3</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br/>
<sup>4</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br/>
<sup>4</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br/>
Community Maintained Cars and Features
Community Maintained Cars and Features
------
------
| Make | Model (US Market Reference) | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
<sup>5</sup>When disconnecting the Driver Support Unit (DSU), openpilot longitudinal control will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br/>
<sup>5</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br/>
<sup>6</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br/>
<sup>6</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br/>
<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br/>
<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br/>
Community Maintained Cars and Features are not confirmed by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
Installation Instructions
Installation Instructions
------
------
@ -138,14 +151,16 @@ Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the
Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
Limitations of openpilot ALC
Limitations of openpilot ALC and LDW
------
------
openpilot Automated Lane Centering (ALC) does not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
Many factors can impact the performance of openpilot ALC, causing it to be unable to function as intended. These include, but are not limited to:
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
@ -160,12 +175,12 @@ Many factors can impact the performance of openpilot ALC, causing it to be unabl
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
Limitations of openpilot ACC
Limitations of openpilot ACC and FCW
------
------
openpilot Adaptive Cruise Control (ACC) is not a system that allows careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
Many factors can impact the performance of openpilot ACC, causing it to be unable to function as intended. These include, but are not limited to:
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
@ -185,37 +200,29 @@ Many factors can impact the performance of openpilot ACC, causing it to be unabl
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
Limitation of openpilot DM
Limitations of openpilot DM
------
------
openpilot Driver Monitoring (DM) should not be considered an exact measurements of the status of alertness of the driver.
openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
* Low light conditions, such as driving at night or in dark tunnels.
* Low light conditions, such as driving at night or in dark tunnels.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* The driver face is partially or completely outside field of view of the the driver facing camera.
* The driver face is partially or completely outside field of view of the driver facing camera.
* Right hand driving vehicles.
* Right hand driving vehicles.
* The driver facing camera is obstructed, covered, or damaged.
* The driver facing camera is obstructed, covered, or damaged.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A fatigued or impared driver should not rely on openpilot DM to asses his level of attention.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
Integration with Stock Features
------
Lane Departure Warning (LDW), Lane Keep Assist (LKAS), and Automated Lane Centering (ALC) are replaced by openpilot ALC, which only functions when openpilot is engaged.
Adaptive Cruise Control (ACC) is replaced by openpilot ACC.
openpilot preserves all other vehicle's stock features, including, but are not limited to: AEB, auto high-beam, blind spot warning, and side collision warning.
User Data and comma Account
User Data and comma Account
------
------
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
[chffrplus](https://github.com/commaai/chffrplus) is an open source dashcam.
This is the shipping reference software for the comma EON Dashcam DevKit. It keeps many of the niceities of [openpilot](https://github.com/commaai/openpilot), like high quality sensors, great camera, and good autostart and stop. Though unlike openpilot, it cannot control your car. chffrplus can interface with your car through a [panda](https://shop.comma.ai/products/panda-obd-ii-dongle), but just like our dashcam app [chffr](https://getchffr.com/), it is read only.
It integrates with the rest of the comma ecosystem, so you can view your drives on the [chffr](https://getchffr.com/) app for Android or iOS, and reverse engineer your car with [cabana](https://community.comma.ai/cabana/?demo=1).
Hardware
------
Right now chffrplus supports the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit) for hardware to run on.
Install chffrplus on a EON device by entering ``https://chffrplus.comma.ai`` during NEOS setup.
User Data / chffr Account / Crash Reporting
------
By default chffrplus creates an account and includes a client for chffr, our dashcam app.
It's open source software, so you are free to disable it if you wish.
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
It does not log the user facing camera or the microphone.
By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
Vehicle Researcher
6 years ago