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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/car
illumiN8i e3d4d629fe
add 2017 Lexus RX 450h (#981) 		6 years ago
..
chrysler Clean up ECU redundancy in selfdrive/car/* (#963) 6 years ago
ford Clean up ECU redundancy in selfdrive/car/* (#963) 6 years ago
gm Clean up ECU redundancy in selfdrive/car/* (#963) 6 years ago
honda add 2017 Civic Hatchback LX fp (#966) 6 years ago
hyundai Clean up ECU redundancy in selfdrive/car/* (#963) 6 years ago
mock selfdrive/car 6 years ago
subaru Clean up ECU redundancy in selfdrive/car/* (#963) 6 years ago
tests selfdrive/car 6 years ago
toyota add 2017 Lexus RX 450h (#981) 6 years ago
volkswagen Clean up ECU redundancy in selfdrive/car/* (#963) 6 years ago
README selfdrive/car 6 years ago
__init__.py selfdrive/car 6 years ago
car_helpers.py startup alert, handle case where param returns none 6 years ago
fingerprints.py selfdrive/car 6 years ago
fw_versions.py selfdrive/car 6 years ago
interfaces.py selfdrive/car 6 years ago
isotp_parallel_query.py selfdrive/car 6 years ago
vin.py selfdrive/car 6 years ago

README 

In here lies the car abstraction layer, and is part of what you will implement to add a new car

== Car State ==

Implement the following minimal set of sensors:
  Speed -- best estimate of the speed of the car
  SteeringAngle -- current angle of the steering wheel
  ControlSurface -- gas position, brake position, steering torque

Implement the following optional sensors:
  RadarPoints -- Currently not optional, but could be with VOACC. Data from the radar of the car.
  WheelSpeeds -- The speed of the 4 wheels of the car. To be used for odometry

Implement the following controls:
  ControlSurface -- gas position (optional if PCM), brake position, steering torque

If you don't have a pedal interceptor and you use the PCM cruise control:
  CruiseState -- If system is enabled, and current set speed
  CruiseControl -- Commands to modify system speed and acceleration

== Car UI ==

I suspect many cars with ACC and LKAS have similar UIs

HUDControl

== Car Buttons ==

Uses an evented protocol

* Blinkers
* Cruise buttons
* Other buttons

== Car Errors ==

See capnp for list of errors