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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/navd
Mitchell Goff b3626c8ecd
model_replay: use last N frames of segment so navRoute is valid (#26790) 		2 years ago
..
.gitignore navd: add back VisionIPC map renderer (#25212) 3 years ago
README.md nav: add README (#26802) 2 years ago
SConscript nav: build map renderer python lib by default (#26770) 2 years ago
__init__.py navd: rewrite in python (#24621) 3 years ago
helpers.py navd: broadcast sped limit (#24681) 3 years ago
main.cc navd: include hw.h fix (#25297) 3 years ago
map_renderer.cc model_replay: use last N frames of segment so navRoute is valid (#26790) 2 years ago
map_renderer.h navmodel: check images in replay test (#26747) 2 years ago
map_renderer.py nav: add polyline helpers (#26816) 2 years ago
navd.py navd: recompute if far for > 3 steps (#26798) 2 years ago
set_destination.py nav: add setting for extra coordinates to specify route (#26803) 2 years ago
style.json Added updateZoom function to map_renderer, plus custom style.json (#25997) 3 years ago

README.md

navigation

This directory contains two daemons, navd and map_renderer, which support navigation in the openpilot stack.

navd

navd takes in a route through the NavDestination param and sends out two packets: navRoute and navInstruction. These packets contain the coordinates of the planned route and turn-by-turn instructions.

map renderer

The map renderer listens for the navRoute and publishes a rendered map view over VisionIPC for the navigation model, which lives in selfdrive/modeld/. The rendered maps look like this:

development

Currently, mapbox is used for navigation.