XPS-FORK

If you like my work, don't hesitate to donate- Paypal-Me

• This fork is maintained to support HKG community. The default branch tracks the latest Master-ci updates.

Notes -

• Please feel free to add PR for support for non existing FP.

• If you encounter "Car Unrecognized- Please verify fingerprint with the fork owner" message on the screen, please contact me directly on discord for help.

• Even though the configuration is auto detected, there may be CAN ERROR in some cases, please contact me directly on discord for help.

• This branch uses a different tuning of PI controller for lat(steering). There is a non linear term added with respect to steering request which results in a smoother behavior.

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• If you have git pull or update issues -
  • Run a clean and reset command - cd /data/openpilot && git clean -xdf && git reset --hard
  • Retry git pull - cd /data/openpilot && git pull

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• Check out OP-EDIT to edit tuning set up -
  • To open OP-EDIT - cd /data/openpilot && python op_edit.py
  • Enter your user name to track your changes.
  • Modify values as required.

If you like my work, don't hesitate to donate- Paypal-Me

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Table of Contents

• What is openpilot?
• Integration with Stock Features
• Supported Hardware
• Supported Cars
• Community Maintained Cars and Features
• Installation Instructions
• Limitations of openpilot ALC and LDW
• Limitations of openpilot ACC and FCW
• Limitations of openpilot DM
• User Data and comma Account
• Safety and Testing
• Testing on PC
• Community and Contributing
• Directory Structure
• Licensing

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What is openpilot?

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported car makes, models and model years. In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.

Integration with Stock Features

In all supported cars:

• Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
• Stock LDW is replaced by openpilot LDW.

Additionally, on specific supported cars (see ACC column in supported cars):

• Stock ACC is replaced by openpilot ACC.
• openpilot FCW operates in addition to stock FCW.

openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

Supported Hardware

At the moment, openpilot supports the EON DevKit and the comma two. A car harness is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external webcams.

Supported Cars

Make	Model (US Market Reference)	Supported Package	ACC	No ACC accel below	No ALC below
Acura	ILX 2016-19	AcuraWatch Plus	openpilot	25mph1	25mph
Acura	RDX 2016-18	AcuraWatch Plus	openpilot	25mph1	12mph
Acura	RDX 2020-21	All	Stock	0mph	3mph
Honda	Accord 2018-20	All	Stock	0mph	3mph
Honda	Accord Hybrid 2018-20	All	Stock	0mph	3mph
Honda	Civic Hatchback 2017-21	Honda Sensing	Stock	0mph	12mph
Honda	Civic Sedan/Coupe 2016-18	Honda Sensing	openpilot	0mph	12mph
Honda	Civic Sedan/Coupe 2019-20	All	Stock	0mph	2mph2
Honda	CR-V 2015-16	Touring	openpilot	25mph1	12mph
Honda	CR-V 2017-20	Honda Sensing	Stock	0mph	12mph
Honda	CR-V Hybrid 2017-2019	Honda Sensing	Stock	0mph	12mph
Honda	Fit 2018-19	Honda Sensing	openpilot	25mph1	12mph
Honda	HR-V 2019-20	Honda Sensing	openpilot	25mph1	12mph
Honda	Insight 2019-21	All	Stock	0mph	3mph
Honda	Inspire 2018	All	Stock	0mph	3mph
Honda	Odyssey 2018-20	Honda Sensing	openpilot	25mph1	0mph
Honda	Passport 2019	All	openpilot	25mph1	12mph
Honda	Pilot 2016-19	Honda Sensing	openpilot	25mph1	12mph
Honda	Ridgeline 2017-21	Honda Sensing	openpilot	25mph1	12mph
Hyundai	Palisade 2020-21	All	Stock	0mph	0mph
Hyundai	Sonata 2020-21	All	Stock	0mph	0mph
Lexus	CT Hybrid 2017-18	LSS	Stock3	0mph	0mph
Lexus	ES 2019-20	All	openpilot	0mph	0mph
Lexus	ES Hybrid 2018	LSS	Stock3	0mph	0mph
Lexus	ES Hybrid 2019	All	openpilot	0mph	0mph
Lexus	IS 2017-2019	All	Stock	22mph	0mph
Lexus	IS Hybrid 2017	All	Stock	0mph	0mph
Lexus	NX 2018	All	Stock3	0mph	0mph
Lexus	NX Hybrid 2018	All	Stock3	0mph	0mph
Lexus	RX 2016-18	All	Stock3	0mph	0mph
Lexus	RX 2020-21	All	openpilot	0mph	0mph
Lexus	RX Hybrid 2016-19	All	Stock3	0mph	0mph
Lexus	RX Hybrid 2020	All	openpilot	0mph	0mph
Toyota	Avalon 2016-21	TSS-P	Stock3	20mph1	0mph
Toyota	Camry 2018-20	All	Stock	0mph4	0mph
Toyota	Camry 2021	All	openpilot	0mph	0mph
Toyota	Camry Hybrid 2018-20	All	Stock	0mph4	0mph
Toyota	Camry Hybrid 2021	All	openpilot	0mph	0mph
Toyota	C-HR 2017-20	All	Stock	0mph	0mph
Toyota	C-HR Hybrid 2017-19	All	Stock	0mph	0mph
Toyota	Corolla 2017-19	All	Stock3	20mph1	0mph
Toyota	Corolla 2020-21	All	openpilot	0mph	0mph
Toyota	Corolla Hatchback 2019-21	All	openpilot	0mph	0mph
Toyota	Corolla Hybrid 2020-21	All	openpilot	0mph	0mph
Toyota	Highlander 2017-19	All	Stock3	0mph	0mph
Toyota	Highlander 2020-21	All	openpilot	0mph	0mph
Toyota	Highlander Hybrid 2017-19	All	Stock3	0mph	0mph
Toyota	Highlander Hybrid 2020-21	All	openpilot	0mph	0mph
Toyota	Mirai 2021	All	openpilot	0mph	0mph
Toyota	Prius 2016-20	TSS-P	Stock3	0mph	0mph
Toyota	Prius 2021	All	openpilot	0mph	0mph
Toyota	Prius Prime 2017-20	All	Stock3	0mph	0mph
Toyota	Prius Prime 2021	All	openpilot	0mph	0mph
Toyota	Rav4 2016-18	TSS-P	Stock3	20mph1	0mph
Toyota	Rav4 2019-21	All	openpilot	0mph	0mph
Toyota	Rav4 Hybrid 2016-18	TSS-P	Stock3	0mph	0mph
Toyota	Rav4 Hybrid 2019-21	All	openpilot	0mph	0mph
Toyota	Sienna 2018-20	All	Stock3	0mph	0mph

¹Comma Pedal is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. NOTE: The Comma Pedal is not officially supported by comma.
²2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
³When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
⁴28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.

Community Maintained Cars and Features

Make	Model (US Market Reference)	Supported Package	ACC	No ACC accel below	No ALC below
Audi	A3 2014-17	Prestige	Stock	0mph	0mph
Audi	A3 Sportback e-tron 2017-18	Prestige	Stock	0mph	0mph
Buick	Regal 20181	Adaptive Cruise	openpilot	0mph	7mph
Cadillac	ATS 20181	Adaptive Cruise	openpilot	0mph	7mph
Chevrolet	Malibu 20171	Adaptive Cruise	openpilot	0mph	7mph
Chevrolet	Volt 2017-181	Adaptive Cruise	openpilot	0mph	7mph
Chrysler	Pacifica 2017-18	Adaptive Cruise	Stock	0mph	9mph
Chrysler	Pacifica 2020	Adaptive Cruise	Stock	0mph	39mph
Chrysler	Pacifica Hybrid 2017-18	Adaptive Cruise	Stock	0mph	9mph
Chrysler	Pacifica Hybrid 2019-21	Adaptive Cruise	Stock	0mph	39mph
Genesis	G70 2018	All	Stock	0mph	0mph
Genesis	G80 2018	All	Stock	0mph	0mph
Genesis	G90 2018	All	Stock	0mph	0mph
GMC	Acadia 20181	Adaptive Cruise	openpilot	0mph	7mph
Holden	Astra 20171	Adaptive Cruise	openpilot	0mph	7mph
Hyundai	Elantra 2017-19	SCC + LKAS	Stock	19mph	34mph
Hyundai	Genesis 2015-16	SCC + LKAS	Stock	19mph	37mph
Hyundai	Ioniq Electric 2019	SCC + LKAS	Stock	0mph	32mph
Hyundai	Ioniq Electric 2020	SCC + LKAS	Stock	0mph	0mph
Hyundai	Kona 2020	SCC + LKAS	Stock	0mph	0mph
Hyundai	Kona EV 2019	SCC + LKAS	Stock	0mph	0mph
Hyundai	Santa Fe 2019-20	All	Stock	0mph	0mph
Hyundai	Sonata 2018-2019	SCC + LKAS	Stock	0mph	0mph
Hyundai	Veloster 2019	SCC + LKAS	Stock	5mph	0mph
Jeep	Grand Cherokee 2016-18	Adaptive Cruise	Stock	0mph	9mph
Jeep	Grand Cherokee 2019-20	Adaptive Cruise	Stock	0mph	39mph
Kia	Forte 2018-2021	SCC + LKAS	Stock	0mph	0mph
Kia	Niro EV 2020	SCC + LKAS	Stock	0mph	0mph
Kia	Optima 2017	SCC + LKAS	Stock	0mph	32mph
Kia	Optima 2019	SCC + LKAS	Stock	0mph	0mph
Kia	Seltos 2021	SCC + LKAS	Stock	0mph	0mph
Kia	Sorento 2018	SCC + LKAS	Stock	0mph	0mph
Kia	Stinger 2018	SCC + LKAS	Stock	0mph	0mph
Kia	Ceed 2019	SCC + LKAS	Stock	0mph	0mph
Nissan	Altima 2020	ProPILOT	Stock	0mph	0mph
Nissan	Leaf 2018-20	ProPILOT	Stock	0mph	0mph
Nissan	Rogue 2018-19	ProPILOT	Stock	0mph	0mph
Nissan	X-Trail 2017	ProPILOT	Stock	0mph	0mph
SEAT	Ateca 2018	Driver Assistance	Stock	0mph	0mph
Škoda	Kodiaq 2018	Driver Assistance	Stock	0mph	0mph
Škoda	Scala 2020	Driver Assistance	Stock	0mph	0mph
Škoda	Superb 2018	Driver Assistance	Stock	0mph	0mph
Subaru	Ascent 2019	EyeSight	Stock	0mph	0mph
Subaru	Crosstrek 2018-19	EyeSight	Stock	0mph	0mph
Subaru	Forester 2019-20	EyeSight	Stock	0mph	0mph
Subaru	Impreza 2017-19	EyeSight	Stock	0mph	0mph
Volkswagen	e-Golf 2014, 2020	Driver Assistance	Stock	0mph	0mph
Volkswagen	Golf 2015-19	Driver Assistance	Stock	0mph	0mph
Volkswagen	Golf GTE 2016	Driver Assistance	Stock	0mph	0mph
Volkswagen	Golf GTI 2018-19	Driver Assistance	Stock	0mph	0mph
Volkswagen	Golf R 2016-19	Driver Assistance	Stock	0mph	0mph
Volkswagen	Golf SportsVan 2016	Driver Assistance	Stock	0mph	0mph
Volkswagen	Jetta 2018-20	Driver Assistance	Stock	0mph	0mph
Volkswagen	Jetta GLI 2021	Driver Assistance	Stock	0mph	0mph
Volkswagen	Passat 2016-172	Driver Assistance	Stock	0mph	0mph
Volkswagen	Tiguan 2020	Driver Assistance	Stock	0mph	0mph

¹Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
²Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.

Although it's not upstream, there's a community of people getting openpilot to run on Tesla's here

Community Maintained Cars and Features are not verified by comma to meet our safety model. Be extra cautious using them. They are only available after enabling the toggle in Settings->Developer->Enable Community Features.

To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0

Installation Instructions

Install openpilot on an EON or comma two by entering https://openpilot.comma.ai during the installer setup.

Follow these video instructions to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.

Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.

You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.

Limitations of openpilot ALC and LDW

openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.

While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.

Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:

• Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
• The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
• The device is mounted incorrectly.
• When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
• In the presence of restricted lanes or construction zones.
• When driving on highly banked roads or in presence of strong cross-wind.
• Extremely hot or cold temperatures.
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• Driving on hills, narrow, or winding roads.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.

Limitations of openpilot ACC and FCW

openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.

Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:

• Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
• The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
• The device is mounted incorrectly.
• Approaching a toll booth, a bridge or a large metal plate.
• When driving on roads with pedestrians, cyclists, etc...
• In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
• When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
• In presence of vehicles in the same lane that are not moving.
• When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
• When surrounding vehicles perform close cut-ins from neighbor lanes.
• Driving on hills, narrow, or winding roads.
• Extremely hot or cold temperatures.
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• Interference from other equipment that generates radar waves.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.

Limitations of openpilot DM

openpilot DM should not be considered an exact measurement of the alertness of the driver.

Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:

• Low light conditions, such as driving at night or in dark tunnels.
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• The driver's face is partially or completely outside field of view of the driver facing camera.
• The driver facing camera is obstructed, covered, or damaged.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

User Data and comma Account

By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app (iOS, Android). We use your data to train better models and improve openpilot for everyone.

openpilot is open source software: the user is free to disable data collection if they wish to do so.

openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

Safety and Testing

• openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
• openpilot has software in the loop tests that run on every commit.
• The safety model code lives in panda and is written in C, see code rigor for more details.
• panda has software in the loop safety tests.
• Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
• panda has additional hardware in the loop tests.
• We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.

Testing on PC

For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.

Steps:

1. Start the CARLA server on first terminal

bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"

2. Start openpilot on second terminal

bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"

3. Press 1 to engage openpilot

See the full README

You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.

Community and Contributing

openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Bug fixes and new car ports are encouraged.

You can add support for your car by following guides we have written for Brand and Model ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. Join our Discord to discuss car ports: most car makes have a dedicated channel.

Want to get paid to work on openpilot? comma is hiring.

And follow us on Twitter.

Directory Structure

.
├── cereal              # The messaging spec and libs used for all logs
├── common              # Library like functionality we've developed here
├── installer/updater   # Manages auto-updates of openpilot
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN
├── phonelibs           # Libraries used on NEOS devices
├── pyextra             # Libraries used on NEOS devices
└── selfdrive           # Code needed to drive the car
    ├── assets          # Fonts, images and sounds for UI
    ├── athena          # Allows communication with the app
    ├── boardd          # Daemon to talk to the board
    ├── camerad         # Driver to capture images from the camera sensors
    ├── car             # Car specific code to read states and control actuators
    ├── common          # Shared C/C++ code for the daemons
    ├── controls        # Perception, planning and controls
    ├── debug           # Tools to help you debug and do car ports
    ├── locationd       # Soon to be home of precise location
    ├── logcatd         # Android logcat as a service
    ├── loggerd         # Logger and uploader of car data
    ├── modeld          # Driving and monitoring model runners
    ├── proclogd        # Logs information from proc
    ├── sensord         # IMU / GPS interface code
    ├── test            # Unit tests, system tests and a car simulator
    └── ui              # The UI

Licensing

openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.

THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.

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