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openpilot_comma
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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/tools/sim/README.md

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openpilot in simulator

Setup

Checkout openpilot

cd ~/ && git clone https://github.com/commaai/openpilot.git

Running the simulator

First, start the CARLA server.

cd ~/openpilot/tools/sim
./start_carla.sh

Then use start_openpilot_docker.sh to start the docker container.

Controls

Now put the focus on the terminal running bridge.py and you can control openpilot driving in the simulation with the following keys

key functionality
1 Cruise up 5 mph
2 Cruise down 5 mph
3 Cruise cancel
q Exit all