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.
In all supported cars:
Additionally, on specific supported cars (see ACC column in supported cars):
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.
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. In the future, we'd like to support other platforms as well, like gaming PCs.
Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
---|---|---|---|---|---|
Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 25mph |
Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 12mph |
Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph |
Honda | CR-V 2015-16 | Touring | openpilot | 25mph5 | 12mph |
Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph5 | 12mph |
Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph5 | 0mph |
Honda | Passport 2019 | All | openpilot | 25mph5 | 12mph |
Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph5 | 12mph |
Honda | Pilot 2019 | All | openpilot | 25mph5 | 12mph |
Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph5 | 12mph |
Hyundai | Elantra 2017-191 | SCC + LKAS | Stock | 19mph | 34mph |
Hyundai | Genesis 20181 | All | Stock | 19mph | 34mph |
Hyundai | Santa Fe 20191 | All | Stock | 0mph | 0mph |
Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
Kia | Optima 20191 | SCC + LKAS | Stock | 0mph | 0mph |
Kia | Sorento 20181 | All | Stock | 0mph | 0mph |
Kia | Stinger 20181 | SCC + LKAS | Stock | 0mph | 0mph |
Lexus | CT Hybrid 2017-18 | All | Stock4 | 0mph | 0mph |
Lexus | ES 2019 | All | openpilot | 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 Hybrid 2018 | All | Stock4 | 0mph | 0mph |
Lexus | RX 2016-17 | All | Stock4 | 0mph | 0mph |
Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
Lexus | RX Hybrid 2016-19 | All | Stock4 | 0mph | 0mph |
Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
Toyota | Avalon 2016 | TSS-P | Stock4 | 20mph5 | 0mph |
Toyota | Avalon 2017-18 | All | Stock4 | 20mph5 | 0mph |
Toyota | Camry 2018-19 | All | Stock | 0mph2 | 0mph |
Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph2 | 0mph |
Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
Toyota | Corolla 2017-19 | All | Stock4 | 20mph5 | 0mph |
Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
Toyota | Highlander 2017-19 | All | Stock4 | 0mph | 0mph |
Toyota | Highlander Hybrid 2017-19 | All | Stock4 | 0mph | 0mph |
Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
Toyota | Prius 2016 | TSS-P | Stock4 | 0mph | 0mph |
Toyota | Prius 2017-19 | All | Stock4 | 0mph | 0mph |
Toyota | Prius Prime 2017-20 | All | Stock4 | 0mph | 0mph |
Toyota | Rav4 2016 | TSS-P | Stock4 | 20mph5 | 0mph |
Toyota | Rav4 2017-18 | All | Stock4 | 20mph5 | 0mph |
Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
Toyota | Rav4 Hybrid 2016 | TSS-P | Stock4 | 0mph | 0mph |
Toyota | Rav4 Hybrid 2017-18 | All | Stock4 | 0mph | 0mph |
Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
Toyota | Sienna 2018 | All | Stock4 | 0mph | 0mph |
Volkswagen | Golf 2016-193 | Driver Assistance | Stock | 0mph | 0mph |
1Requires a panda and open sourced Hyundai giraffe, designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models.
228mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
3Requires a custom connector for the car harness
Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
---|---|---|---|---|---|
Buick | Regal 20186 | Adaptive Cruise | openpilot | 0mph | 7mph |
Cadillac | ATS 20186 | Adaptive Cruise | openpilot | 0mph | 7mph |
Chevrolet | Malibu 20176 | Adaptive Cruise | openpilot | 0mph | 7mph |
Chevrolet | Volt 2017-186 | Adaptive Cruise | openpilot | 0mph | 7mph |
GMC | Acadia Denali 20186 | Adaptive Cruise | openpilot | 0mph | 7mph |
Holden | Astra 20176 | Adaptive Cruise | openpilot | 0mph | 7mph |
4When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see Toyota Wiki page. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
5Comma Pedal is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to build a Comma Pedal. NOTE: The Comma Pedal is not officially supported by comma.
6Requires a panda and community built giraffe. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
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
.
Install openpilot on a EON by entering https://openpilot.comma.ai
during the installer setup.
Follow this video instructions to properly mount the EON 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 EON 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.
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:
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.
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:
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.
openpilot DM should not be considered an exact measurements of the status of 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:
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.
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.
Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
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. We also have a bounty program.
And follow us on Twitter.
.
├── apk # The apk files used for the UI
├── cereal # The messaging spec and libs used for all logs on EON
├── 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 EON
├── pyextra # Libraries used on EON
└── selfdrive # Code needed to drive the car
├── assets # Fonts and images 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
├── tests # Unit tests, system tests and a car simulator
└── ui # The UI
To understand how the services interact, see cereal/service_list.yaml
.
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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