[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently, it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
The openpilot codebase has been written to be concise and to enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
<sup>1</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.ai](https://comma.ai)***
<sup>1</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.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais. <br/>
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br/>
Community Maintained Cars
Community Maintained Cars
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------
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br/>
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br/>
<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br/>
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
@ -116,6 +119,7 @@ In Progress Cars
- All TSS-P Toyota with Steering Assist.
- All TSS-P Toyota with Steering Assist.
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
- Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
@ -131,7 +135,7 @@ We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- The 2016-2017 Honda Accord use a custom signaling protocol for steering that's unlikely to ever be upstreamed.
- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.
Directory structure
Directory structure
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@ -166,7 +170,7 @@ To understand how the services interact, see `selfdrive/service_list.yaml`
User Data / chffr Account / Crash Reporting
User Data / chffr Account / Crash Reporting
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------
By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
By default, openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
It's open source software, so you are free to disable it if you wish.
It's open source software, so you are free to disable it if you wish.
@ -190,6 +194,7 @@ The resulting plots are displayed in `selfdrive/test/tests/plant/out/longitudina
More extensive testing infrastructure and simulation environments are coming soon.
More extensive testing infrastructure and simulation environments are coming soon.
Contributing
Contributing
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@ -208,3 +213,7 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
Vehicle Researcher
7 years ago