openpilot_comma/RELEASES.md

Version 0.9.9 (2025-04-30)

• New driving model
• Tesla Model 3 and Y support thanks to lukasloetkolben!
• Coming soon
  • New driving model supervised by MLSIM
  • An online learner for steering actuator delay

Version 0.9.8 (2025-02-28)

• New driving model
  • Model now gates applying positive acceleration in Chill mode
• New driver monitoring model
  • Reduced false positives related to passengers
• Image processing pipeline moved to the ISP
  • More GPU time for bigger driving models
  • Power draw reduced 0.5W, which means your device runs cooler
• Added toggle to enable driver monitoring even when openpilot is not engaged
• Localizer rewritten to remove GPS dependency at runtime
• Firehose Mode for maximizing your training data uploads
• Enable openpilot longitudinal control for Ford Q3 vehicles
• New Toyota TSS2 longitudinal tune
• Rivian R1S and R1T support thanks to lukasloetkolben!
• Ford F-150, F-150 Hybrid, Mach-E, and Ranger support

Version 0.9.7 (2024-06-13)

• New driving model
  • Inputs the past curvature for smoother and more accurate lateral control
  • Simplified neural network architecture in the model's last layers
  • Minor fixes to desire augmentation and weight decay
• New driver monitoring model
  • Improved end-to-end bit for phone detection
• Adjust driving personality with the follow distance button
• Support for hybrid variants of supported Ford models
• Fingerprinting without the OBD-II port on all cars
• Improved fuzzy fingerprinting for Ford and Volkswagen

Version 0.9.6 (2024-02-27)

• New driving model
  • Vision model trained on more data
  • Improved driving performance
  • Directly outputs curvature for lateral control
• New driver monitoring model
  • Trained on larger dataset
• Model path UI
  • Shows where driving model wants to be
  • Shows what model is seeing more clearly, but more jittery
• AGNOS 9
• comma body streaming and controls over WebRTC
• Improved fuzzy fingerprinting for many makes and models
• Alpha longitudinal support for new Toyota models
• Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
• Dodge Durango 2020-21 support
• Hyundai Staria 2023 support thanks to sunnyhaibin!
• Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Lexus LC 2024 support thanks to nelsonjchen!
• Toyota RAV4 2023-24 support
• Toyota RAV4 Hybrid 2023-24 support

Version 0.9.5 (2023-11-17)

• New driving model
  • Improved navigate on openpilot performance using navigation instructions as an additional model input
  • Do lateral planning inside the model
  • New vision transformer architecture
• Cadillac Escalade ESV 2019 support thanks to twilsonco!
• Hyundai Azera 2022 support thanks to sunnyhaibin!
• Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
• Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
• Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
• Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
• Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
• Kia Optima Hybrid 2019 support
• Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
• Lexus GS F 2016 support thanks to snyperifle!
• Lexus IS 2023 support thanks to L3R5!

Version 0.9.4 (2023-07-27)

• comma 3X support
• Navigate on openpilot in Experimental mode
  • When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
  • When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
  • When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
  • When navigate on openpilot is active, the path on the map is green
• UI updates
  • Navigation settings moved to home screen and map
  • Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
  • Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
• Bookmarked segments are preserved on the device's storage
• Ford Focus 2018 support
• Kia Carnival 2023 support thanks to sunnyhaibin!

Version 0.9.3 (2023-06-29)

• New driving model
  • Improved height estimation and added height tracking in liveCalibration
  • Model inputs refactor
• New driving personality setting
  • Three settings: aggressive, standard, and relaxed
  • Standard is recommended and the default
  • In aggressive mode, lead follow distance is shorter and acceleration response is quicker
  • In relaxed mode, lead follow distance is longer
• Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
• Improved thermal management logic

Version 0.9.2 (2023-05-22)

• New driving model
  • Reduced turn diving
  • Trained on a new dataset
• UI updates
  • New experimental mode visualization
  • Draw MPC path instead of model-predicted path
• AGNOS 7
  • Faster boot time
  • Fixes rare no sounds bug
  • Fixes bootsplash bug at extreme temperatures
• Buick LaCrosse 2017-19 support thanks to koch-cf!
• Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
• Ford Bronco Sport 2021-22 support
• Ford Escape 2020-22 support
• Ford Explorer 2020-22 support
• Ford Kuga 2020-22 support
• Ford Maverick 2022-23 support
• Genesis GV80 2023 support thanks to JWingate80!
• Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
• Kia Niro EV 2023 support thanks to JosselinLecocq!
• Lexus ES 2017-18 support
• Lincoln Aviator 2021 support
• Škoda Fabia 2022-23 support thanks to jyoung8607!

Version 0.9.1 (2023-02-28)

• New driving model
  • 30% improved height estimation resulting in better driving performance for tall cars
• Driver monitoring: removed timer resetting on user interaction if distracted
• UI updates
  • Adjust alert volume using ambient noise level
  • Driver monitoring icon shows driver's head pose
  • German translation thanks to Vrabetz and CzokNorris!
• Cadillac Escalade 2017 support thanks to rickygilleland!
• Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
• Genesis GV60 2023 support thanks to sunnyhaibin!
• Hyundai Tucson 2022-23 support
• Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
• Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
• Kia Sorento 2022-23 support thanks to sunnyhaibin!
• Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Toyota C-HR 2021 support thanks to eFiniLan!
• Toyota C-HR Hybrid 2022 support thanks to Korben00!
• Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!

Version 0.9.0 (2022-11-21)

• New driving model
  • Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
  • Less reliance on previous frames makes model more reactive and snappy
  • Trained in new reprojective simulator
  • Trained in 36 hours from scratch, compared to one week for previous releases
  • Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
• Experimental driving mode
  • End-to-end longitudinal control
  • Stops for traffic lights and stop signs
  • Slows down for turns
  • openpilot defaults to chill mode, enable experimental mode in settings
• Driver monitoring updates
  • New bigger model with added end-to-end distracted trigger
  • Reduced false positives during driver calibration
• Self-tuning torque controller: learns parameters live for each car
• Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
• UI updates
  • Matched speeds shown on car's dash
  • Multi-language in navigation
  • Improved update experience
  • Border turns grey while overriding steering
  • Bookmark events while driving; view them in comma connect
  • New onroad visualization for experimental mode
• tools: new and improved cabana thanks to deanlee!
• Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
• Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
• Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
• Kia Sportage 2023 support thanks to sunnyhaibin!
• Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
• Kia Stinger 2022 support thanks to sunnyhaibin!

Version 0.8.16 (2022-08-26)

• New driving model
  • Reduced turn cutting
• Auto-detect right hand drive setting with driver monitoring model
• Improved fan controller for comma three
• New translations
  • Japanese thanks to cydia2020!
  • Brazilian Portuguese thanks to AlexandreSato!
• Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
• Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
• GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
• Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
• Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
• Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
• Subaru Legacy 2020-22 support thanks to martinl!
• Subaru Outback 2020-22 support

Version 0.8.15 (2022-07-20)

• New driving model
  • Path planning uses end-to-end output instead of lane lines at all times
  • Reduced ping pong
  • Improved lane centering
• New lateral controller based on physical wheel torque model
  • Much smoother control that's consistent across the speed range
  • Effective feedforward that uses road roll
  • Simplified tuning, all car-specific parameters can be derived from data
  • Used on select Toyota and Hyundai models at first
  • Significantly improved control on TSS-P Prius
• New driver monitoring model
  • Bigger model, covering full interior view from driver camera
  • Works with a wider variety of mounting angles
  • 3x more unique comma three training data than previous
• Navigation improvements
  • Speed limits shown while navigating
  • Faster position fix by using raw GPS measurements
• UI updates
  • Multilanguage support for settings and home screen
  • New font
  • Refreshed max speed design
  • More consistent camera view perspective across cars
• Reduced power usage: device runs cooler and fan spins less
• AGNOS 5
  • Support VSCode remote SSH target
  • Support for delta updates to reduce data usage on future OS updates
• Chrysler ECU firmware fingerprinting thanks to realfast!
• Honda Civic 2022 support
• Hyundai Tucson 2021 support thanks to bluesforte!
• Kia EV6 2022 support
• Lexus NX Hybrid 2020 support thanks to AlexandreSato!
• Ram 1500 2019-21 support thanks to realfast!

Version 0.8.14 (2022-06-01)

• New driving model
  • Bigger model, using both of comma three's road-facing cameras
  • Better at cut-in detection and tight turns
• New driver monitoring model
  • Tweaked network structure to improve output resolution for DSP
  • Fixed bug in quantization aware training to reduce quantizing errors
  • Resulted in 7x less MSE and no more random biases at runtime
• Added toggle to disable disengaging on the accelerator pedal
• comma body support
• Audi RS3 support thanks to jyoung8607!
• Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
• Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
• Toyota Alphard Hybrid 2021 support
• Toyota Avalon Hybrid 2022 support
• Toyota RAV4 2022 support
• Toyota RAV4 Hybrid 2022 support

Version 0.8.13 (2022-02-18)

• Improved driver monitoring
  • Re-tuned driver pose learner for relaxed driving positions
  • Added reliance on driving model to be more scene adaptive
  • Matched strictness between comma two and comma three
• Improved performance in turns by compensating for the road bank angle
• Improved camera focus on the comma two
• AGNOS 4
  • ADB support
  • improved cell auto configuration
• NEOS 19
  • package updates
  • stability improvements
• Subaru ECU firmware fingerprinting thanks to martinl!
• Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Mazda CX-5 2022 support thanks to Jafaral!
• Subaru Impreza 2020 support thanks to martinl!
• Toyota Avalon 2022 support thanks to sshane!
• Toyota Prius v 2017 support thanks to CT921!
• Volkswagen Caravelle 2020 support thanks to jyoung8607!

Version 0.8.12 (2021-12-15)

• New driving model
  • Improved behavior around exits
  • Better pose accuracy at high speeds, allowing max speed of 90mph
  • Fully incorporated comma three data into all parts of training stack
• Improved follow distance
• Better longitudinal policy, especially in low speed traffic
• New alert sounds
• AGNOS 3
  • Display burn in mitigation
  • Improved audio amplifier configuration
  • System reliability improvements
  • Update Python to 3.8.10
• Raw logs upload moved to connect.comma.ai
• Fixed HUD alerts on newer Honda Bosch thanks to csouers!
• Audi Q3 2020-21 support thanks to jyoung8607!
• Lexus RC 2020 support thanks to ErichMoraga!

Version 0.8.11 (2021-11-29)

• Support for CAN FD on the red panda
• Support for an external panda on the comma three
• Navigation: Show more detailed instructions when approaching maneuver
• Fixed occasional steering faults on GM cars thanks to jyoung8607!
• Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
• Cadillac Escalade ESV 2016 support thanks to Gibby!
• Genesis G70 2020 support thanks to tecandrew!
• Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
• Mazda CX-9 2021 support thanks to Jacar!
• Volkswagen Polo 2020 support thanks to jyoung8607!
• Volkswagen T-Roc 2021 support thanks to jyoung8607!

Version 0.8.10 (2021-11-01)

• New driving model
  • Trained on one million minutes!!!
  • Fixed lead training making lead predictions significantly more accurate
  • Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
• New driver monitoring model
  • Trained on latest data from both comma two and comma three
  • Increased model field of view by 40% on comma three
  • Improved model stability on masked users
  • Improved pose prediction with reworked ground-truth stack
• Lateral and longitudinal planning MPCs now in ACADOS
• Combined longitudinal MPCs
  • All longitudinal planning now happens in a single MPC system
  • Fixed instability in MPC problem to prevent sporadic CPU usage
• AGNOS 2: minor stability improvements and builder repo open sourced
• tools: new and improved replay thanks to deanlee!
• Moved community-supported cars outside of the Community Features toggle
• Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
• Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
• Audi S3 2015 support thanks to jyoung8607!
• Honda Freed 2020 support thanks to belm0!
• Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
• Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
• Kia K5 2021 support thanks to sunnyhaibin!
• Škoda Kamiq 2021 support thanks to jyoung8607!
• Škoda Karoq 2019 support thanks to jyoung8607!
• Volkswagen Arteon 2021 support thanks to jyoung8607!
• Volkswagen California 2021 support thanks to jyoung8607!
• Volkswagen Taos 2022 support thanks to jyoung8607!

Version 0.8.9 (2021-09-14)

• Improved fan control on comma three
• AGNOS 1.5: improved stability
• Honda e 2020 support

Version 0.8.8 (2021-08-27)

• New driving model with improved laneless performance
  • Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
  • Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
  • All new desire ground-truthing stack makes the model better at lane changes
• New driver monitoring model: improved performance on comma three
• NEOS 18 for comma two: update packages
• AGNOS 1.3 for comma three: fix display init at high temperatures
• Improved auto-exposure on comma three
• Improved longitudinal control on Honda Nidec cars
• Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
• Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
• Kia Niro Hybrid 2021 support thanks to tetious!

Version 0.8.7 (2021-07-31)

• comma three support!
• Navigation alpha for the comma three!
• Volkswagen T-Cross 2021 support thanks to jyoung8607!

Version 0.8.6 (2021-07-21)

• Revamp lateral and longitudinal planners
  • Refactor planner output API to be more readable and verbose
  • Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
  • Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
• Remove "CHECK DRIVER FACE VISIBILITY" warning
• Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
• Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
• Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
• Kia Niro Hybrid 2019 support thanks to jyoung8607!
• Škoda Octavia RS 2016 support thanks to jyoung8607!
• Toyota Alphard 2020 support thanks to belm0!
• Volkswagen Golf SportWagen 2015 support thanks to jona96!
• Volkswagen Touran 2017 support thanks to jyoung8607!

Version 0.8.5 (2021-06-11)

• NEOS update: improved reliability and stability with better voltage regulator configuration
• Smart model-based Forward Collision Warning
• CAN-based fingerprinting moved behind community features toggle
• Improved longitudinal control on Toyotas with a comma pedal
• Improved auto-brightness using road-facing camera
• Added "Software" settings page with updater controls
• Audi Q2 2018 support thanks to jyoung8607!
• Hyundai Elantra 2021 support thanks to CruiseBrantley!
• Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
• Toyota Avalon Hybrid 2019 support thanks to jbates9011!
• SEAT Leon 2017 & 2020 support thanks to jyoung8607!
• Škoda Octavia 2015 & 2019 support thanks to jyoung8607!

Version 0.8.4 (2021-05-17)

• Delay controls start until system is ready
• Fuzzy car identification, enabled with Community Features toggle
• Localizer optimized for increased precision and less CPU usage
• Re-tuned lateral control to be more aggressive when model is confident
• Toyota Mirai 2021 support
• Lexus NX 300 2020 support thanks to goesreallyfast!
• Volkswagen Atlas 2018-19 support thanks to jyoung8607!

Version 0.8.3 (2021-04-01)

• New model
  • Trained on new diverse dataset from 2000+ users from 30+ countries
  • Trained with improved segnet from the comma-pencil community project
  • 🥬 Dramatically improved end-to-end lateral performance 🥬
• Toggle added to disable the use of lanelines
• NEOS update: update packages and support for new UI
• New offroad UI based on Qt
• Default SSH key only used for setup
• Kia Ceed 2019 support thanks to ZanZaD13!
• Kia Seltos 2021 support thanks to speedking456!
• Added support for many Volkswagen and Škoda models thanks to jyoung8607!

Version 0.8.2 (2021-02-26)

• Use model points directly in MPC (no more polyfits), making lateral planning more accurate
• Use model heading prediction for smoother lateral control
• Smarter actuator delay compensation
• Improve qcamera resolution for improved video in explorer and connect
• Adjust maximum engagement speed to better fit the model's training distribution
• New driver monitoring model trained with 3x more diverse data
• Improved face detection with masks
• More predictable DM alerts when visibility is bad
• Rewritten video streaming between openpilot processes
• Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
• Audi A3 2015 and 2017 support thanks to keeleysam!
• Nissan Altima 2020 support thanks to avolmensky!
• Lexus ES Hybrid 2018 support thanks to TheInventorMan!
• Toyota Camry Hybrid 2021 support thanks to alancyau!

Version 0.8.1 (2020-12-21)

• Original EON is deprecated, upgrade to comma two
• Better model performance in heavy rain
• Better lane positioning in turns
• Fixed bug where model would cut turns on empty roads at night
• Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
• Toyota Camry 2021 with TSS2.5 support
• Hyundai Ioniq Electric 2020 support thanks to baldwalker!

Version 0.8.0 (2020-11-30)

• New driving model: fully 3D and improved cut-in detection
• UI draws 2 road edges, 4 lanelines and paths in 3D
• Major fixes to cut-in detection for openpilot longitudinal
• Grey panda is no longer supported, upgrade to comma two or black panda
• Lexus NX 2018 support thanks to matt12eagles!
• Kia Niro EV 2020 support thanks to nickn17!
• Toyota Prius 2021 support thanks to rav4kumar!
• Improved lane positioning with uncertain lanelines, wide lanes and exits
• Improved lateral control for Prius and Subaru

Version 0.7.10 (2020-10-29)

• Grey panda is deprecated, upgrade to comma two or black panda
• NEOS update: update to Python 3.8.2 and lower CPU frequency
• Improved thermals due to reduced CPU frequency
• Update SNPE to 1.41.0
• Reduced offroad power consumption
• Various system stability improvements
• Acura RDX 2020 support thanks to csouers!

Version 0.7.9 (2020-10-09)

• Improved car battery power management
• Improved updater robustness
• Improved realtime performance
• Reduced UI and modeld lags
• Increased torque on 2020 Hyundai Sonata and Palisade

Version 0.7.8 (2020-08-19)

• New driver monitoring model: improved face detection and better compatibility with sunglasses
• Download NEOS operating system updates in the background
• Improved updater reliability and responsiveness
• Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!

Version 0.7.7 (2020-07-20)

• White panda is no longer supported, upgrade to comma two or black panda
• Improved vehicle model estimation using high precision localizer
• Improved thermal management on comma two
• Improved autofocus for road-facing camera
• Improved noise performance for driver-facing camera
• Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
• Fix GM ignition detection
• Code cleanup and smaller release sizes
• Hyundai Sonata 2020 promoted to officially supported car
• Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
• Subaru Forester 2019 and Ascent 2019 support thanks to martinl!

Version 0.7.6.1 (2020-06-16)

• Hotfix: update kernel on some comma twos (orders #8570-#8680)

Version 0.7.6 (2020-06-05)

• White panda is deprecated, upgrade to comma two or black panda
• 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
• 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
• Huge CPU savings in modeld by using thneed!
• Lots of code cleanup and refactors

Version 0.7.5 (2020-05-13)

• Right-Hand Drive support for both driving and driver monitoring!
• New driving model: improved at sharp turns and lead speed estimation
• New driver monitoring model: overall improvement on comma two
• Driver camera preview in settings to improve mounting position
• Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
• Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)

Version 0.7.4 (2020-03-20)

• New driving model: improved lane changes and lead car detection
• Improved driver monitoring model: improve eye detection
• Improved calibration stability
• Improved lateral control on some 2019 and 2020 Toyota Prius
• Improved lateral control on VW Golf: 20% more steering torque
• Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
• Support for Honda Insight thanks to theantihero!
• Code cleanup in car abstraction layers and ui

Version 0.7.3 (2020-02-21)

• Support for 2020 Highlander thanks to che220!
• Support for 2018 Lexus NX 300h thanks to kengggg!
• Speed up ECU firmware query
• Fix bug where manager would sometimes hang after shutting down the car

Version 0.7.2 (2020-02-07)

• ECU firmware version based fingerprinting for Honda & Toyota
• New driving model: improved path prediction during turns and lane changes and better lead speed tracking
• Improve driver monitoring under extreme lighting and add low accuracy alert
• Support for 2019 Rav4 Hybrid thanks to illumiN8i!
• Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
• Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!

Version 0.7.1 (2020-01-20)

• comma two support!
• Lane Change Assist above 45 mph!
• Replace zmq with custom messaging library, msgq!
• Supercombo model: calibration and driving models are combined for better lead estimate
• More robust updater thanks to jyoung8607! Requires NEOS update
• Improve low speed ACC tuning

Version 0.7 (2019-12-13)

• Move to SCons build system!
• Add Lane Departure Warning (LDW) for all supported vehicles!
• NEOS update: increase wifi speed thanks to jyoung8607!
• Adaptive driver monitoring based on scene
• New driving model trained end-to-end: improve lane lines and lead detection
• Smarter torque limit alerts for all cars
• Improve GM longitudinal control: proper computations for 15Hz radar
• Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
• Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
• Refactor Panda code towards ISO26262 and SIL2 compliance
• Forward stock FCW for Honda Nidec
• Volkswagen port now standard: comma Harness intercepts stock camera

Version 0.6.6 (2019-11-05)

• Volkswagen support thanks to jyoung8607!
• Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
• Lexus ES with TSS 2.0 support thanks to energee!
• Fix GM ignition detection and lock safety mode not required anymore
• Log panda firmware and dongle ID thanks to martinl!
• New driving model: improve path prediction and lead detection
• New driver monitoring model, 4x smaller and running on DSP
• Display an alert and don't start openpilot if panda has wrong firmware
• Fix bug preventing EON from terminating processes after a drive
• Remove support for Toyota giraffe without the 120Ohm resistor

Version 0.6.5 (2019-10-07)

• NEOS update: upgrade to Python3 and new installer!
• comma Harness support!
• New driving model: improve path prediction
• New driver monitoring model: more accurate face and eye detection
• Redesign offroad screen to display updates and alerts
• Increase maximum allowed acceleration
• Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
• Lexus CT Hybrid support thanks to thomaspich!
• Louder chime for critical alerts
• Add toggle to switch to dashcam mode
• Fix "invalid vehicle params" error on DSU-less Toyota

Version 0.6.4 (2019-09-08)

• Forward stock AEB for Honda Nidec
• Improve lane centering on banked roads
• Always-on forward collision warning
• Always-on driver monitoring, except for right hand drive countries
• Driver monitoring learns the user's normal driving position
• Honda Fit support thanks to energee!
• Lexus IS support

Version 0.6.3 (2019-08-12)

• Alert sounds from EON: requires NEOS update
• Improve driver monitoring: eye tracking and improved awareness logic
• Improve path prediction with new driving model
• Improve lane positioning with wide lanes and exits
• Improve lateral control on RAV4
• Slow down for turns using model
• Open sourced regression test to verify outputs against reference logs
• Open sourced regression test to sanity check all car models

Version 0.6.2 (2019-07-29)

• New driving model!
• Improve lane tracking with double lines
• Strongly improve stationary vehicle detection
• Strongly reduce cases of braking due to false leads
• Better lead tracking around turns
• Improve cut-in prediction by using neural network
• Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
• Fix unintended openpilot disengagements on Jeep thanks to adhintz!
• Fix delayed transition to offroad when car is turned off

Version 0.6.1 (2019-07-21)

• Remote SSH with comma prime and ssh.comma.ai
• Panda code Misra-c2012 compliance, tested against cppcheck coverage
• Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
• Toyota Sienna support thanks to wocsor!

Version 0.6 (2019-07-01)

• New model, with double the pixels and ten times the temporal context!
• Car should not take exits when in the right lane
• openpilot uses only ~65% of the CPU (down from 75%)
• Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
• loggerd and sensord are open source, every line of openpilot is now open
• Panda safety code is MISRA compliant and ships with a signed version on release2
• New NEOS is 500MB smaller and has a reproducible usr/pipenv
• Lexus ES Hybrid support thanks to wocsor!
• Improve tuning for supported Toyota with TSS 2.0
• Various other stability improvements

Version 0.5.13 (2019-05-31)

• Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
• Reduce EON power consumption by 40%, down to 1100mW, when car is off
• Reduce CPU utilization by 20% and improve stability
• Temporarily remove mapd functionalities to improve stability
• Add openpilot record-only mode for unsupported cars
• Synchronize controlsd to pandad to reduce latency
• Remove panda support for Subaru giraffe

Version 0.5.12 (2019-05-16)

• Improve lateral control for the Prius and Prius Prime
• Compress logs before writing to disk
• Remove old driving data when storage reaches 90% full
• Fix small offset in following distance
• Various small CPU optimizations
• Improve offroad power consumption: require NEOS Update
• Add default speed limits for Estonia thanks to martinl!
• Subaru Crosstrek support thanks to martinl!
• Toyota Avalon support thanks to njbrown09!
• Toyota Rav4 with TSS 2.0 support thanks to wocsor!
• Toyota Corolla with TSS 2.0 support thanks to wocsor!

Version 0.5.11 (2019-04-17)

• Add support for Subaru
• Reduce panda power consumption by 60% when car is off
• Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
• Fix bug in controls with new angle-offset learner in MPC
• Reduce cpu consumption of ubloxd by rewriting it in C++
• Improve driver monitoring model and face detection
• Improve performance of visiond and ui
• Honda Passport 2019 support
• Lexus RX Hybrid 2019 support thanks to schomems!
• Improve road selection heuristic in mapd
• Add Lane Departure Warning to dashboard for Toyota thanks to arne182

Version 0.5.10 (2019-03-19)

• Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
• Improve longitudinal control at low speed when lead vehicle harshly decelerates
• Fix panda bug going unexpectedly in DCP mode when EON is connected
• Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
• New Driver Monitoring Model
• Support QR codes for login using comma connect
• Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. Please see #hw-pedal on discord for assistance updating comma pedal.
• Additional speed limit rules for Germany thanks to arne182
• Allow negative speed limit offsets

Version 0.5.9 (2019-02-10)

• Improve calibration using a dedicated neural network
• Abstract planner in its own process to remove lags in controls process
• Improve speed limits with country/region defaults by road type
• Reduce mapd data usage with gzip thanks to eFiniLan
• Zip log files in the background to reduce disk usage
• Kia Optima support thanks to emmertex!
• Buick Regal 2018 support thanks to HOYS!
• Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
• Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!

Version 0.5.8 (2019-01-17)

• Open sourced visiond
• Auto-slowdown for upcoming turns
• Chrysler/Jeep/Fiat support thanks to adhintz!
• Honda Civic 2019 support thanks to csouers!
• Improve use of car display in Toyota thanks to arne182!
• No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
• EON stops charging when 12V battery drops below 11.8V

Version 0.5.7 (2018-12-06)

• Speed limit from OpenStreetMap added to UI
• Highlight speed limit when speed exceeds road speed limit plus a delta
• Option to limit openpilot max speed to road speed limit plus a delta
• Cadillac ATS support thanks to vntarasov!
• GMC Acadia support thanks to CryptoKylan!
• Decrease GPU power consumption
• NEOSv8 autoupdate

Version 0.5.6 (2018-11-16)

• Refresh settings layout and add feature descriptions
• In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
• In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
• Improve camera calibration stability
• More tuning to Honda positive accelerations
• Reduce brake pump use on Hondas
• Chevrolet Malibu support thanks to tylergets!
• Holden Astra support thanks to AlexHill!

Version 0.5.5 (2018-10-20)

• Increase allowed Honda positive accelerations
• Fix sporadic unexpected braking when passing semi-trucks in Toyota
• Fix gear reading bug in Hyundai Elantra thanks to emmertex!

Version 0.5.4 (2018-09-25)

• New Driving Model
• New Driver Monitoring Model
• Improve longitudinal mpc in mid-low speed braking
• Honda Accord hybrid support thanks to energee!
• Ship mpc binaries and sensibly reduce build time
• Calibration more stable
• More Hyundai and Kia cars supported thanks to emmertex!
• Various GM Volt improvements thanks to vntarasov!

Version 0.5.3 (2018-09-03)

• Hyundai Santa Fe support!
• Honda Pilot 2019 support thanks to energee!
• Toyota Highlander support thanks to daehahn!
• Improve steering tuning for Honda Odyssey

Version 0.5.2 (2018-08-16)

• New calibration: more accurate, a lot faster, open source!
• Enable orbd
• Add little endian support to CAN packer
• Fix fingerprint for Honda Accord 1.5T
• Improve driver monitoring model

Version 0.5.1 (2018-08-01)

• Fix radar error on Civic sedan 2018
• Improve thermal management logic
• Alpha Toyota C-HR and Camry support!
• Auto-switch Driver Monitoring to 3 min counter when inaccurate

Version 0.5 (2018-07-11)

• Driver Monitoring (beta) option in settings!
• Make visiond, loggerd and UI use less resources
• 60 FPS UI
• Better car parameters for most cars
• New sidebar with stats
• Remove Waze and Spotify to free up system resources
• Remove rear view mirror option
• Calibration 3x faster

Version 0.4.7.2 (2018-06-25)

• Fix loggerd lag issue
• No longer prompt for updates
• Mitigate right lane hugging for properly mounted EON (procedure on wiki)

Version 0.4.7.1 (2018-06-18)

• Fix Acura ILX steer faults
• Fix bug in mock car

Version 0.4.7 (2018-06-15)

• New model!
• GM Volt (and CT6 lateral) support!
• Honda Bosch lateral support!
• Improve actuator modeling to reduce lateral wobble
• Minor refactor of car abstraction layer
• Hack around orbd startup issue

Version 0.4.6 (2018-05-18)

• NEOSv6 required! Will autoupdate
• Stability improvements
• Fix all memory leaks
• Update C++ compiler to clang6
• Improve front camera exposure

Version 0.4.5 (2018-04-27)

• Release notes added to the update popup
• Improve auto shut-off logic to disallow empty battery
• Added onboarding instructions
• Include orbd, the first piece of new calibration algorithm
• Show remaining upload data instead of file numbers
• Fix UI bugs
• Fix memory leaks

Version 0.4.4 (2018-04-13)

• EON are flipped! Flip your EON's mount!
• Alpha Honda Ridgeline support thanks to energee!
• Support optional front camera recording
• Upload over cellular toggle now applies to all files, not just video
• Increase acceleration when closing lead gap
• User now prompted for future updates
• NEO no longer supported :(

Version 0.4.3.2 (2018-03-29)

• Improve autofocus
• Improve driving when only one lane line is detected
• Added fingerprint for Toyota Corolla LE
• Fixed Toyota Corolla steer error
• Full-screen driving UI
• Improved path drawing

Version 0.4.3.1 (2018-03-19)

• Improve autofocus
• Add check for MPC solution error
• Make first distracted warning visual only

Version 0.4.3 (2018-03-13)

• Add HDR and autofocus
• Update UI aesthetic
• Grey panda works in Waze
• Add alpha support for 2017 Honda Pilot
• Slight increase in acceleration response from stop
• Switch CAN sending to use CANPacker
• Fix pulsing acceleration regression on Honda
• Fix openpilot bugs when stock system is in use
• Change starting logic for chffrplus to use battery voltage

Version 0.4.2 (2018-02-05)

• Add alpha support for 2017 Lexus RX Hybrid
• Add alpha support for 2018 ACURA RDX
• Updated fingerprint to include Toyota Rav4 SE and Prius Prime
• Bugfixes for Acura ILX and Honda Odyssey

Version 0.4.1 (2018-01-30)

• Add alpha support for 2017 Toyota Corolla
• Add alpha support for 2018 Honda Odyssey with Honda Sensing
• Add alpha support for Grey Panda
• Refactored car abstraction layer to make car ports easier
• Increased steering torque limit on Honda CR-V by 30%

Version 0.4.0.2 (2018-01-18)

• Add focus adjustment slider
• Minor bugfixes

Version 0.4.0.1 (2017-12-21)

• New UI to match chffrplus
• Improved lateral control tuning to fix oscillations on Civic
• Add alpha support for 2017 Toyota Rav4 Hybrid
• Reduced CPU usage
• Removed unnecessary utilization of fan at max speed
• Minor bug fixes

Version 0.3.9 (2017-11-21)

• Add alpha support for 2017 Toyota Prius
• Improved longitudinal control using model predictive control
• Enable Forward Collision Warning
• Acura ILX now maintains openpilot engaged at standstill when brakes are applied

Version 0.3.8.2 (2017-10-30)

• Add alpha support for 2017 Toyota RAV4
• Smoother lateral control
• Stay silent if stock system is connected through giraffe
• Minor bug fixes

Version 0.3.7 (2017-09-30)

• Improved lateral control using model predictive control
• Improved lane centering
• Improved GPS
• Reduced tendency of path deviation near right side exits
• Enable engagement while the accelerator pedal is pressed
• Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
• Disable engagement when park brake or brake hold are active
• Fixed sporadic longitudinal pulsing in Civic
• Cleanups to vehicle interface

Version 0.3.6.1 (2017-08-15)

• Mitigate low speed steering oscillations on some vehicles
• Include board steering check for CR-V

Version 0.3.6 (2017-08-08)

• Fix alpha CR-V support
• Improved GPS
• Fix display of target speed not always matching HUD
• Increased acceleration after stop
• Mitigated some vehicles driving too close to the right line

Version 0.3.5 (2017-07-30)

• Fix bug where new devices would not begin calibration
• Minor robustness improvements

Version 0.3.4 (2017-07-28)

• Improved model trained on more data
• Much improved controls tuning
• Performance improvements
• Bugfixes and improvements to calibration
• Driving log can play back video
• Acura only: system now stays engaged below 25mph as long as brakes are applied

Version 0.3.3 (2017-06-28)

• Improved model trained on more data
• Alpha CR-V support thanks to energee and johnnwvs!
• Using the opendbc project for DBC files
• Minor performance improvements
• UI update thanks to pjlao307
• Power off button
• 6% more torque on the Civic

Version 0.3.2 (2017-05-22)

• Minor stability bugfixes
• Added metrics and rear view mirror disable to settings
• Update model with more crowdsourced data

Version 0.3.1 (2017-05-17)

• visiond stability bugfix
• Add logging for angle and flashing

Version 0.3.0 (2017-05-12)

• Add CarParams struct to improve the abstraction layer
• Refactor visiond IPC to support multiple clients
• Add raw GPS and beginning support for navigation
• Improve model in visiond using crowdsourced data
• Add improved system logging to diagnose instability
• Rewrite baseui in React Native
• Moved calibration to the cloud

Version 0.2.9 (2017-03-01)

• Retain compatibility with NEOS v1

Version 0.2.8 (2017-02-27)

• Fix bug where frames were being dropped in minute 71

Version 0.2.7 (2017-02-08)

• Better performance and pictures at night
• Fix ptr alignment issue in pandad
• Fix brake error light, fix crash if too cold

Version 0.2.6 (2017-01-31)

• Fix bug in visiond model execution

Version 0.2.5 (2017-01-30)

• Fix race condition in manager

Version 0.2.4 (2017-01-27)

• OnePlus 3T support
• Enable installation as NEOS app
• Various minor bugfixes

Version 0.2.3 (2017-01-11)

• Reduce space usage by 80%
• Add better logging
• Add Travis CI

Version 0.2.2 (2017-01-10)

• Board triggers started signal on CAN messages
• Improved autoexposure
• Handle out of space, improve upload status

Version 0.2.1 (2016-12-14)

• Performance improvements, removal of more numpy
• Fix pandad process priority
• Make counter timer reset on use of steering wheel

Version 0.2 (2016-12-12)

• Car/Radar abstraction layers have shipped, see cereal/car.capnp
• controlsd has been refactored
• Shipped plant model and testing maneuvers
• visiond exits more gracefully now
• Hardware encoder in visiond should always init
• ui now turns off the screen after 30 seconds
• Switch to openpilot release branch for future releases
• Added preliminary Docker container to run tests on PC

Version 0.1 (2016-11-29)

• Initial release of openpilot
• Adaptive cruise control is working
• Lane keep assist is working
• Support for Acura ILX 2016 with AcuraWatch Plus
• Support for Honda Civic 2016 Touring Edition