mirror of
https://github.com/MoreTore/openpilot.git
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Update Docs (#22229)
* initial move of docs * more cleanups * more docs * simpler * more docs * link fix * typos * more typos * more info * minor updates
This commit is contained in:
George Hotz
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Supported Cars
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------
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
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| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
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| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
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| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
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| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
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| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | e 2020 | All | Stock | 0mph | 3mph |
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| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
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| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
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| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
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| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
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| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
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| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
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| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
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| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
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| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
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| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
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| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Alphard 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
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| Toyota | Camry 2021 | All | openpilot | 0mph<sup>4</sup> | 0mph |
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| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
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| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
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| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
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<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-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](https://comma.ai).*** <br />
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<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
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<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
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<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
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Community Maintained Cars and Features
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------
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
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| Audi | A3 2014-19 | Prestige | Stock | 0mph | 0mph |
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| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
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| Audi | Q2 2018 | Driver Assistance | Stock | 0mph | 0mph |
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| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
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| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
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| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
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| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Elantra 2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
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| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
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| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Ioniq PHEV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
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| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Sonata Hybrid 2021 | All | Stock | 0mph | 0mph |
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| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
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| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
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| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
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| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Niro EV 2019-21 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
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| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
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| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
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| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
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| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
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| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
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| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
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| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
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| Škoda | Karoq 2019 | Driver Assistance | Stock | 0mph | 0mph |
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| Škoda | Kodiaq 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
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| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
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| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
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| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
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| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
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| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
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| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf GTI 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Golf SportWagen 2015 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| T-Cross 2021 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
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| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
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<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
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<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
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Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
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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
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Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
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@@ -0,0 +1,45 @@
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# How to contribute
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Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
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Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
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|
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## Getting Started
|
||||
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
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## Testing
|
||||
|
||||
### Automated Testing
|
||||
|
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All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
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### Code Style and Linting
|
||||
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Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
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## Car Ports (openpilot)
|
||||
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We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
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If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
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## Pull Requests
|
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|
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Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
|
||||
```
|
||||
git clone https://github.com/commaai/openpilot.git --recursive
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||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
|
||||
Modules that are in seperate repositories include:
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
* panda
|
||||
* rednose
|
||||
@@ -0,0 +1,73 @@
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Integration with Stock Features
|
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------
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In all supported cars:
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* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
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* Stock LDW is replaced by openpilot LDW.
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Additionally, on specific supported cars (see ACC column in [supported cars](docs/CARS.md)):
|
||||
* Stock ACC is replaced by openpilot ACC.
|
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* openpilot FCW operates in addition to stock FCW.
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||||
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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.
|
||||
|
||||
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.
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||||
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||||
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.
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||||
|
||||
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.
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||||
* 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.
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||||
* 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.
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||||
|
||||
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.
|
||||
@@ -0,0 +1,34 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
Reference in New Issue
Block a user