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10 Commits
| Author | SHA1 | Date | |
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 Prabhaav Pillai
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firestar5683
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firestar5683
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firestar5683
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firestar5683
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firestar5683
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firestarsdog
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firestar5683
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firestar5683
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firestarsdog
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+11
-3
@@ -1,3 +1,5 @@
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import subprocess
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Import('env', 'common', 'msgq')
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cereal_dir = Dir('.')
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@@ -5,9 +7,15 @@ gen_dir = Dir('gen')
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# Build cereal
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schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
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env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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schema_outputs = env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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# capnpc embeds an exact compiler-version guard in every generated C++ header.
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# Include the tool version in the dependency signature so SCons cannot reuse
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# generated headers from a cache populated by another AGNOS/toolchain version.
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capnp_compiler_version = subprocess.check_output(['capnpc', '--version'], encoding='utf-8').strip()
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env.Depends(schema_outputs, env.Value(capnp_compiler_version))
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cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
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@@ -220,11 +220,6 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
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disableThrottle @35 :Bool;
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trackingLead @36 :Bool;
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stopSignConfirmed @37 :Bool;
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# Curve Speed Controller diagnostics, for tuning and rollout validation
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cscOverridden @38 :Bool; # driver cancelled this curve with RES+
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cscLearnedLatAccel @39 :Float32; # learned comfort at the current curvature, before margin
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cscBindingDistance @40 :Float32; # distance to the horizon point setting the target, m
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approachStopLength @41 :Float32; # pre-commit distance to a detected stop, m; 0 when off
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}
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struct StarPilotRadarState @0xb86e6369214c01c8 {
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@@ -241,8 +241,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
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{"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
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{"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
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{"CurveSpeedApproachDecel", {PERSISTENT, FLOAT, "0.6", "0.6", 2, SETTINGS_SIMPLE}},
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{"CurveSpeedMargin", {PERSISTENT, INT, "85", "85", 2, SETTINGS_SIMPLE}},
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{"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
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{"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
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{"CustomAccelProfileInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
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+186
-44
@@ -4,27 +4,79 @@
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 326 Supported Cars
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# 451 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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|Acura|ADX 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
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|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
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|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
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|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
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|Acura|Integra 2023-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura Integra 2023-26">Buy Here</a></sub></details>|||
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|Acura|MDX 2014-16|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2014-16">Buy Here</a></sub></details>|||
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|Acura|MDX 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2017-19">Buy Here</a></sub></details>|||
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|Acura|MDX 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2020">Buy Here</a></sub></details>|||
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|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
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|Acura|MDX 2025|All except Type S|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
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|Acura|MDX Hybrid 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2017-19">Buy Here</a></sub></details>|||
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|Acura|MDX Hybrid 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2020">Buy Here</a></sub></details>|||
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|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
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|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
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|Acura|RDX 2022-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2022-26">Buy Here</a></sub></details>|||
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|Acura|TLX 2015-17|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2015-17">Buy Here</a></sub></details>|||
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|Acura|TLX 2018-20|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2018-20">Buy Here</a></sub></details>|||
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|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
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|Acura|TLX 2024-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2024-25">Buy Here</a></sub></details>|||
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|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
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|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
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|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
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|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
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|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2021-23">Buy Here</a></sub></details>|||
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|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2024-25">Buy Here</a></sub></details>|||
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|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
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|Buick|Baby Enclave 2020-23|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Baby Enclave 2020-23">Buy Here</a></sub></details>|||
|
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|Buick[<sup>3</sup>](#footnotes)|LaCrosse 2017-19|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse 2017-19">Buy Here</a></sub></details>|||
|
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|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse ASCM Harness 2017-19">Buy Here</a></sub></details>|||
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|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|Stock|3 mph|27 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse US ASCM Harness 2019">Buy Here</a></sub></details>|||
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|Buick[<sup>3</sup>](#footnotes)|Regal Essence 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Regal Essence 2018">Buy Here</a></sub></details>|||
|
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|Cadillac[<sup>3</sup>](#footnotes)|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac ATS Premium Performance 2018">Buy Here</a></sub></details>|||
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||||
|Cadillac[<sup>3</sup>](#footnotes)|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac CT6 No-ACC 2016-20">Buy Here</a></sub></details>|||
|
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|Cadillac[<sup>3</sup>](#footnotes)|Escalade 2017|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade 2017">Buy Here</a></sub></details>|||
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|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ASCM Harness 2018">Buy Here</a></sub></details>|||
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||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2016">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV Platinum ASCM Harness 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT4 2023|Driver Assist Package|Stock|0 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 2023">Buy Here</a></sub></details>|||
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|Cadillac[<sup>3</sup>](#footnotes)|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 No-ACC 2023">Buy Here</a></sub></details>|||
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|Cadillac|XT5 2022|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 2022">Buy Here</a></sub></details>|||
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||||
|Cadillac[<sup>3</sup>](#footnotes)|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 No-ACC 2022">Buy Here</a></sub></details>|||
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|Cadillac|XT6 2020|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT6 2020">Buy Here</a></sub></details>|||
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|Chevrolet|Blazer 2019-25|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Blazer 2019-25">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV ACC 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Bolt EV & EUV ACC w Pedal 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC w Pedal 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV No-ACC 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV No-ACC 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2018-21|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Equinox No-ACC 2019-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox No-ACC 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu 2019|SDGM Harness (Optional SASCM)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu ASCM Harness 2017-19">Buy Here</a></sub></details>|||
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||||
|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Hybrid No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu No-ACC 2023">Buy Here</a></sub></details>|||
|
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|Chevrolet[<sup>3</sup>](#footnotes)|Malibu Premier 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Premier 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier 2016-20">Buy Here</a></sub></details>|||
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|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer No-ACC 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Traverse 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet TRAX 2024-25">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Volt 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
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|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
|
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@@ -32,32 +84,37 @@ A supported vehicle is one that just works when you install a comma device. All
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|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Edge 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Lightning 2022-25">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mondeo 2014-22">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Transit 2025|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Transit 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
@@ -69,14 +126,25 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified 2026">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 Coupe (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Acadia 2018|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia ASCM Harness 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon 2019-20">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon No-ACC 2019-20">Buy Here</a></sub></details>|||
|
||||
|Holden[<sup>3</sup>](#footnotes)|Astra 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Holden Astra 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2016-17|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2016-17">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2017|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -87,13 +155,16 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|All|openpilot|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Clarity 2018-21">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2024-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
@@ -102,10 +173,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Prelude 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
@@ -115,14 +189,20 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2024-25">Buy Here</a></sub></details>|||
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|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
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|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Hyundai|Elantra Hybrid 2024-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2024-26">Buy Here</a></sub></details>|||
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|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 Hybrid 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 N (with HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 N (with HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 PE (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 9 (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -130,39 +210,62 @@ A supported vehicle is one that just works when you install a comma device. All
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|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (with HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (with HDA II & LFA2) 2024-25|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (without HDA II, LFA2) 2025-26|Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA I) 2025|Highway Driving Assist I|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA I) 2025">Buy Here</a></sub></details>|||
|
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|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV9 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV9 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -186,13 +289,20 @@ A supported vehicle is one that just works when you install a comma device. All
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|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage (without HDA II) 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage (without HDA II) 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Kia|XCeed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia XCeed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -222,28 +332,34 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf Instrument Cluster 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf Instrument Cluster 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1S 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023-25|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023-25">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2022-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Enyaq 2021-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2021-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Enyaq 2024-25[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2024-25">Buy Here</a></sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -322,6 +438,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2020-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.5 2022-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
@@ -339,6 +460,30 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
## StarPilot Community Cars
|
||||
|
||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||
|
||||
# 15 Community Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Bayon Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
|
||||
|Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[](##)|[](##)|None|||
|
||||
|Toyota|Matrix Retrofit 2005|Custom retrofit|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Matrix Retrofit 2005">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Prime 2021-23|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Prime 2021-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Sienna 2021-25|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2021-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Yaris (Non-US only) 2020, 2023|All|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Yaris (Non-US only) 2020, 2023">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
@@ -356,9 +501,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
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/).
|
||||
|
||||
# Don't see your car here?
|
||||
|
||||
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
@@ -400,4 +542,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Toyota Camry 2025+
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
* Subaru Solterra 2023+
|
||||
+10
-10
@@ -38,8 +38,8 @@
|
||||
|Audi|A5 2016-24|All|[Not compatible](#flexray)|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -93,7 +93,7 @@
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|comma|body|All|[Upstream](#upstream)|
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
@@ -401,8 +401,8 @@
|
||||
|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -498,11 +498,11 @@
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|
||||
@@ -70,8 +70,9 @@ class CarInterface(CarInterfaceBase):
|
||||
late_prius_camera = candidate == CAR.TOYOTA_PRIUS and any(
|
||||
fw.ecu == Ecu.fwdCamera and bytes(fw.fwVersion).startswith(b'8646F4705') for fw in car_fw
|
||||
)
|
||||
if candidate == CAR.LEXUS_IS or late_prius_camera:
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in fingerprint.get(1, {})) or
|
||||
if candidate in (CAR.LEXUS_IS, CAR.TOYOTA_CAMRY) or late_prius_camera:
|
||||
native_acc_fingerprints = (fingerprint.get(0, {}), fingerprint.get(1, {}))
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and not any(0x343 in native_bus for native_bus in native_acc_fingerprints)) or
|
||||
(0x4CB in camera_fingerprint and 0x4CB not in fingerprint.get(0, {})))
|
||||
if not use_sdsu and candidate not in TSS2_CAR and has_dsu_bypass:
|
||||
ret.flags |= ToyotaFlags.DSU_BYPASS.value
|
||||
|
||||
@@ -284,6 +284,36 @@ class TestToyotaInterfaces:
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
|
||||
|
||||
def test_camry_ignores_startup_acc_bus_mirror(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
fingerprint[0][0x343] = 8
|
||||
fingerprint[2][0x343] = 8
|
||||
|
||||
car_params = CarInterface.get_params(
|
||||
CAR.TOYOTA_CAMRY,
|
||||
fingerprint,
|
||||
[CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(),
|
||||
)
|
||||
|
||||
assert car_params.flags & ToyotaFlags.HYBRID.value
|
||||
assert not car_params.flags & ToyotaFlags.DSU_BYPASS.value
|
||||
assert not car_params.openpilotLongitudinalControl
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
|
||||
starpilot_params = CarInterface.get_starpilot_params(
|
||||
CAR.TOYOTA_CAMRY, fingerprint, [], car_params, SimpleNamespace(),
|
||||
)
|
||||
car_state = CarState(car_params, starpilot_params)
|
||||
can_parsers = car_state.get_can_parsers(car_params)
|
||||
car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
|
||||
assert "PRE_COLLISION" in can_parsers[Bus.pt].vl
|
||||
for message in ("ACC_CONTROL", "PRE_COLLISION"):
|
||||
assert message not in can_parsers[Bus.cam].vl
|
||||
|
||||
@pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
|
||||
def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
|
||||
@@ -62,7 +62,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kiV = [0., 0.12]
|
||||
ret.lateralTuning.pid.kf = 1.
|
||||
|
||||
if any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
|
||||
if docs or any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarUnavailable = Bus.radar not in DBC[candidate]
|
||||
else:
|
||||
|
||||
@@ -45,6 +45,14 @@ class TestVolkswagenPlatformConfigs:
|
||||
assert not cp.openpilotLongitudinalControl
|
||||
assert not (cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL)
|
||||
|
||||
def test_meb_docs_assume_required_gateway_harness(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fingerprint, [], True, False, True, None)
|
||||
|
||||
assert cp.networkLocation == CarParams.NetworkLocation.gateway
|
||||
assert not cp.dashcamOnly
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
|
||||
def test_meb_gateway_longitudinal(self):
|
||||
cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=True, alpha_long=True)
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
|
||||
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-d161c01d-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-4078e6fc-DEBUG";
|
||||
|
||||
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@@ -1 +1 @@
|
||||
DEV-d161c01d-DEBUG
|
||||
DEV-4078e6fc-DEBUG
|
||||
@@ -21,14 +21,24 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|
||||
{% endfor %}
|
||||
|
||||
## StarPilot Community Cars
|
||||
|
||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||
|
||||
# {{starpilot_community_car_docs | length}} Community Cars
|
||||
|
||||
|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
|
||||
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
|
||||
{% for car_docs in starpilot_community_car_docs %}
|
||||
|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
|
||||
|
||||
{% endfor %}
|
||||
|
||||
### Footnotes
|
||||
{% for footnote in footnotes %}
|
||||
<sup>{{loop.index}}</sup>{{footnote | replace('</br>', '')}} <br />
|
||||
{% endfor %}
|
||||
|
||||
## Community Maintained Cars
|
||||
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/).
|
||||
|
||||
# Don't see your car here?
|
||||
|
||||
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
@@ -71,4 +81,3 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
|
||||
|
||||
@@ -24,7 +24,7 @@ from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.car.cruise import (
|
||||
VCruiseHelper, IMPERIAL_INCREMENT, V_CRUISE_MAX, V_CRUISE_MIN,
|
||||
is_csc_override_pending, is_speed_limit_confirmation_pending,
|
||||
is_speed_limit_confirmation_pending,
|
||||
)
|
||||
from openpilot.selfdrive.car.redneck_cruise import RedneckCruise, select_redneck_target_speed
|
||||
from openpilot.selfdrive.car.car_specific import MockCarState
|
||||
@@ -277,7 +277,6 @@ class Car:
|
||||
)
|
||||
if not preap_software_cruise:
|
||||
speed_limit_confirmation_pending = is_speed_limit_confirmation_pending(self.sm['starpilotPlan'])
|
||||
csc_override_pending = is_csc_override_pending(self.sm['starpilotPlan'])
|
||||
self.v_cruise_helper.update_v_cruise(
|
||||
CS,
|
||||
self.sm['carControl'].enabled,
|
||||
@@ -285,7 +284,6 @@ class Car:
|
||||
speed_limit_confirmation_pending,
|
||||
self.starpilot_toggles,
|
||||
FPCS,
|
||||
csc_active=csc_override_pending,
|
||||
)
|
||||
else:
|
||||
preap_v_cruise_kph = float(CS.cruiseState.speed * CV.MS_TO_KPH)
|
||||
|
||||
+4
-11
@@ -37,11 +37,6 @@ def is_speed_limit_confirmation_pending(starpilot_plan) -> bool:
|
||||
return bool(starpilot_plan.speedLimitChanged and starpilot_plan.unconfirmedSlcSpeedLimit >= 1)
|
||||
|
||||
|
||||
def is_csc_override_pending(starpilot_plan) -> bool:
|
||||
"""Accel presses cancel an active curve slowdown instead of raising the set speed."""
|
||||
return bool(starpilot_plan.cscControllingSpeed) and not is_speed_limit_confirmation_pending(starpilot_plan)
|
||||
|
||||
|
||||
class VCruiseHelper:
|
||||
def __init__(self, CP, FPCP=None):
|
||||
self.CP = CP
|
||||
@@ -94,13 +89,13 @@ class VCruiseHelper:
|
||||
return bool(getattr(starpilot_car_state, "decelHardCruise", False))
|
||||
return False
|
||||
|
||||
def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None, csc_active=False):
|
||||
def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None):
|
||||
self.v_cruise_kph_last = self.v_cruise_kph
|
||||
|
||||
if CS.cruiseState.available:
|
||||
if self.gm_cc_only or self.redneck_non_pcm or not self.CP.pcmCruise:
|
||||
# if stock cruise is completely disabled, then we can use our own set speed logic
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state, csc_active)
|
||||
self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state)
|
||||
self.v_cruise_cluster_kph = self.v_cruise_kph
|
||||
self.update_button_timers(CS, enabled, starpilot_car_state)
|
||||
else:
|
||||
@@ -116,7 +111,7 @@ class VCruiseHelper:
|
||||
self.v_cruise_kph = V_CRUISE_UNSET
|
||||
self.v_cruise_cluster_kph = V_CRUISE_UNSET
|
||||
|
||||
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None, csc_active=False):
|
||||
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, starpilot_toggles, starpilot_car_state=None):
|
||||
# handle button presses. TODO: this should be in state_control, but a decelCruise press
|
||||
# would have the effect of both enabling and changing speed is checked after the state transition
|
||||
if not enabled:
|
||||
@@ -131,9 +126,7 @@ class VCruiseHelper:
|
||||
for b in CS.buttonEvents:
|
||||
event_button_type = b.type.raw
|
||||
if event_button_type in self.button_timers:
|
||||
# decel presses keep their normal meaning
|
||||
consume_press = speed_limit_changed or (csc_active and event_button_type in ACCEL_CRUISE_BUTTONS)
|
||||
if consume_press and b.pressed:
|
||||
if speed_limit_changed and b.pressed:
|
||||
self.confirmation_button_suppressed.add(event_button_type)
|
||||
elif not b.pressed and event_button_type in self.confirmation_button_suppressed:
|
||||
self.confirmation_button_suppressed.remove(event_button_type)
|
||||
|
||||
+25
-1
@@ -3,11 +3,35 @@ import argparse
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.docs import get_all_car_docs, generate_cars_md
|
||||
from opendbc.car.docs_definitions import CarDocs, SupportType
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
|
||||
CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
|
||||
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
|
||||
|
||||
|
||||
def get_starpilot_community_car_docs(all_car_docs: list[CarDocs]) -> list[CarDocs]:
|
||||
return [car_docs for car_docs in all_car_docs
|
||||
if car_docs.support_type == SupportType.COMMUNITY and
|
||||
car_docs.car_fingerprint != MOCK.MOCK and
|
||||
car_docs.car_fingerprint in interfaces]
|
||||
|
||||
|
||||
def get_starpilot_supported_car_docs(all_car_docs: list[CarDocs]) -> list[CarDocs]:
|
||||
upstream_car_docs = [car_docs for car_docs in all_car_docs if car_docs.support_type == SupportType.UPSTREAM]
|
||||
return upstream_car_docs + get_starpilot_community_car_docs(all_car_docs)
|
||||
|
||||
|
||||
def generate_starpilot_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
|
||||
return generate_cars_md(
|
||||
all_car_docs,
|
||||
template_fn,
|
||||
starpilot_community_car_docs=get_starpilot_community_car_docs(all_car_docs),
|
||||
)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
|
||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
||||
@@ -17,5 +41,5 @@ if __name__ == "__main__":
|
||||
args = parser.parse_args()
|
||||
|
||||
with open(args.out, 'w') as f:
|
||||
f.write(generate_cars_md(get_all_car_docs(), args.template))
|
||||
f.write(generate_starpilot_cars_md(get_all_car_docs(), args.template))
|
||||
print(f"Generated and written to {args.out}")
|
||||
|
||||
@@ -1,74 +0,0 @@
|
||||
import pytest
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
from openpilot.selfdrive.car.cruise import ButtonType, VCruiseHelper, is_csc_override_pending
|
||||
|
||||
|
||||
def make_helper():
|
||||
CP = SimpleNamespace(carFingerprint="MOCK", flags=0, pcmCruise=False, brand="mock")
|
||||
helper = VCruiseHelper(CP)
|
||||
helper.v_cruise_kph = 40.0
|
||||
return helper
|
||||
|
||||
|
||||
def make_toggles():
|
||||
return SimpleNamespace(cruise_increase=1.0, cruise_increase_long=5.0, reverse_cruise_increase=False)
|
||||
|
||||
|
||||
def make_cs(button_events):
|
||||
return SimpleNamespace(
|
||||
buttonEvents=button_events,
|
||||
cruiseState=SimpleNamespace(available=True, standstill=False, speed=0, speedCluster=0),
|
||||
gasPressed=False,
|
||||
vEgo=20.0,
|
||||
)
|
||||
|
||||
|
||||
def press(button):
|
||||
return SimpleNamespace(type=SimpleNamespace(raw=button), pressed=True)
|
||||
|
||||
|
||||
def release(button):
|
||||
return SimpleNamespace(type=SimpleNamespace(raw=button), pressed=False)
|
||||
|
||||
|
||||
def press_and_release(helper, button, csc_active):
|
||||
toggles = make_toggles()
|
||||
helper.update_v_cruise(make_cs([press(button)]), True, True, False, toggles, None, csc_active=csc_active)
|
||||
helper.update_v_cruise(make_cs([release(button)]), True, True, False, toggles, None, csc_active=csc_active)
|
||||
|
||||
|
||||
def test_accel_press_consumed_while_csc_active():
|
||||
helper = make_helper()
|
||||
|
||||
press_and_release(helper, ButtonType.accelCruise, csc_active=True)
|
||||
|
||||
assert helper.v_cruise_kph == pytest.approx(40.0)
|
||||
|
||||
|
||||
def test_accel_press_adjusts_set_speed_when_csc_inactive():
|
||||
helper = make_helper()
|
||||
|
||||
press_and_release(helper, ButtonType.accelCruise, csc_active=False)
|
||||
|
||||
assert helper.v_cruise_kph > 40.0
|
||||
|
||||
|
||||
def test_decel_press_still_works_while_csc_active():
|
||||
helper = make_helper()
|
||||
|
||||
press_and_release(helper, ButtonType.decelCruise, csc_active=True)
|
||||
|
||||
assert helper.v_cruise_kph < 40.0
|
||||
|
||||
|
||||
def test_csc_override_pending_defers_to_slc_confirmation():
|
||||
active_plan = SimpleNamespace(cscControllingSpeed=True, speedLimitChanged=False, unconfirmedSlcSpeedLimit=0)
|
||||
assert is_csc_override_pending(active_plan)
|
||||
|
||||
idle_plan = SimpleNamespace(cscControllingSpeed=False, speedLimitChanged=False, unconfirmedSlcSpeedLimit=0)
|
||||
assert not is_csc_override_pending(idle_plan)
|
||||
|
||||
slc_pending_plan = SimpleNamespace(cscControllingSpeed=True, speedLimitChanged=True, unconfirmedSlcSpeedLimit=25)
|
||||
assert not is_csc_override_pending(slc_pending_plan)
|
||||
@@ -1,10 +1,18 @@
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.docs import generate_cars_md, get_all_car_docs
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.docs import get_all_car_docs
|
||||
from opendbc.car.docs_definitions import SupportType
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
|
||||
from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
|
||||
from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
|
||||
from openpilot.selfdrive.car.docs import (
|
||||
CARS_MD_TEMPLATE,
|
||||
generate_starpilot_cars_md,
|
||||
get_starpilot_community_car_docs,
|
||||
get_starpilot_supported_car_docs,
|
||||
)
|
||||
|
||||
|
||||
class TestCarDocs:
|
||||
@@ -13,7 +21,26 @@ class TestCarDocs:
|
||||
cls.all_cars = get_all_car_docs()
|
||||
|
||||
def test_generator(self):
|
||||
generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
generate_starpilot_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
|
||||
def test_starpilot_community_cars_are_registered(self):
|
||||
community_cars = get_starpilot_community_car_docs(self.all_cars)
|
||||
|
||||
assert community_cars
|
||||
assert all(car.support_type == SupportType.COMMUNITY for car in community_cars)
|
||||
assert all(car.car_fingerprint != MOCK.MOCK for car in community_cars)
|
||||
assert all(car.car_fingerprint in interfaces for car in community_cars)
|
||||
|
||||
def test_every_starpilot_supported_car_is_rendered(self):
|
||||
rendered_docs = generate_starpilot_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
supported_cars = get_starpilot_supported_car_docs(self.all_cars)
|
||||
|
||||
assert supported_cars
|
||||
for car in supported_cars:
|
||||
expected_row = f"|{car.model} {car.years}".rstrip()
|
||||
assert expected_row in rendered_docs, f"Missing supported car from CARS.md: {car.name}"
|
||||
|
||||
assert "|Subaru|Ascent 2023-25|" in rendered_docs
|
||||
|
||||
def test_docs_diff(self):
|
||||
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
|
||||
|
||||
@@ -163,20 +163,6 @@ CURVATURE_HOLD_OPPOSITE_RELEASE = 0.01 # 1/m
|
||||
CURVATURE_HOLD_CONFIRM_MIN = 0.003 # 1/m (~7 deg) of wound curvature before capture
|
||||
CURVATURE_HOLD_CONFIRM_SWEPT = 0.6 # rad of heading swept this blinker cycle; past this the push is exit-shaping, not initiation
|
||||
|
||||
# Pull-away twitch guard. modeld divides the action head's lateral-ACCELERATION output by
|
||||
# max(1, v)^2, so its residual at pull-away (~0.02 m/s^2, the head's noise floor) reads as
|
||||
# curvature 0.015 — 38 deg of wheel — where the same value at highway speed is 0.2 deg.
|
||||
# Route 78511c37 twitched on 10 of 10 straight takeoffs. The model's own planned path is the
|
||||
# tell: it read straight there while the action demanded 6-108x more.
|
||||
TWITCH_GUARD_MAX_SPEED = 4.0 # m/s; above this the 1/v^2 amplification is gone
|
||||
TWITCH_GUARD_FADE_SPEED = 3.0 # m/s; full strength below, faded out by MAX_SPEED
|
||||
TWITCH_GUARD_PLAN_RATIO = 4.0 # allowed |action| / |plan curvature|
|
||||
TWITCH_GUARD_FLOOR = 0.002 # 1/m (~5 deg); a near-zero probe must not clamp to nothing
|
||||
TWITCH_GUARD_STRAIGHT_LO = 0.005 # 1/m; a plain ratio is too permissive near straight (3x of
|
||||
TWITCH_GUARD_STRAIGHT_HI = 0.014 # 0.003 still licenses 22 deg), so fade the allowance out too
|
||||
TWITCH_GUARD_MIN_REACH = 12.0 # m; shorter plans read straight while the action legitimately
|
||||
# unwinds a turn (ce2b186c51 seg 28 t=14.6). Twitches: p5 24 m
|
||||
|
||||
|
||||
def _plan_circle_curvature(xs, ys, lookahead: float) -> float:
|
||||
# curvature of the circle through the origin, tangent to the car's heading, passing
|
||||
@@ -234,25 +220,6 @@ def get_plan_reach(model_v2) -> float:
|
||||
return xs[-1] if len(xs) else 0.0
|
||||
|
||||
|
||||
def limit_curvature_to_plan(model_v2, curvature: float, v_ego: float) -> float:
|
||||
# See TWITCH_GUARD_*. Magnitude only: the command is bounded, never reversed. FAR fit alone —
|
||||
# the near probe swings with the car's heading error, so once a twitch has yawed the car it
|
||||
# bends to correct it and licenses the very command that caused it (seg 10 t=53.1).
|
||||
if v_ego >= TWITCH_GUARD_MAX_SPEED or curvature == 0.0:
|
||||
return curvature
|
||||
if get_plan_reach(model_v2) < TWITCH_GUARD_MIN_REACH:
|
||||
return curvature
|
||||
plan = abs(_plan_circle_curvature(model_v2.position.x, model_v2.position.y,
|
||||
CURVATURE_HOLD_PLAN_LOOKAHEAD_FAR))
|
||||
straightness = (plan - TWITCH_GUARD_STRAIGHT_LO) / (TWITCH_GUARD_STRAIGHT_HI - TWITCH_GUARD_STRAIGHT_LO)
|
||||
limit = max(TWITCH_GUARD_PLAN_RATIO * plan * min(max(straightness, 0.0), 1.0), TWITCH_GUARD_FLOOR)
|
||||
if abs(curvature) <= limit:
|
||||
return curvature
|
||||
fade = (TWITCH_GUARD_MAX_SPEED - v_ego) / (TWITCH_GUARD_MAX_SPEED - TWITCH_GUARD_FADE_SPEED)
|
||||
fade = min(max(fade, 0.0), 1.0)
|
||||
return curvature + (math.copysign(limit, curvature) - curvature) * fade
|
||||
|
||||
|
||||
def get_control_lateral_smooth_seconds(brand: str, v_ego: float, vehicle_smooth_seconds: float) -> float:
|
||||
if brand != "rivian":
|
||||
return LAT_SMOOTH_SECONDS
|
||||
@@ -514,10 +481,6 @@ class Controls:
|
||||
# here is positive for RIGHT turns (pauseturn log: left turn at +148 deg steering
|
||||
# angle logs desiredCurvature -0.07), so the blinker maps right=+1, left=-1.
|
||||
blinker_dir = float(CS.rightBlinker) - float(CS.leftBlinker)
|
||||
# Pull-away twitch guard (see TWITCH_GUARD_*). Requires no turn intent in play, so the
|
||||
# pre-wind ratchet, turn lead and exit opposite-release never see a reduced command.
|
||||
if CC.latActive and blinker_dir == 0.0 and self.turn_hold_curvature == 0.0:
|
||||
new_desired_curvature = limit_curvature_to_plan(model_v2, new_desired_curvature, CS.vEgo)
|
||||
# heading swept in the blinker's direction over the whole blinker cycle (any speed):
|
||||
# discriminates a turn not yet made from one being exited (see the re-arm below)
|
||||
if blinker_dir == 0.0:
|
||||
|
||||
@@ -9,7 +9,6 @@ from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.starpilot.common.model_versions import is_tinygrad_model_version
|
||||
from openpilot.starpilot.controls.lib.starpilot_vcruise import FT_TO_M, OFFSET_FT_MAX, OFFSET_FT_MIN
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
|
||||
@@ -374,11 +373,6 @@ def get_vehicle_min_accel(CP, v_ego):
|
||||
|
||||
# Restored planner constants retained by CEM, stop, and departure paths.
|
||||
A_CRUISE_MIN = -1.0
|
||||
# The stop distance runs ~9 m long through the mid-approach, which leaves the obstacle slack
|
||||
# so it stays silent and deceleration sags. Multiplicative so the trim scales with what is
|
||||
# left: ~13 m at 90 m, ~1.5 m at the line. Buys the 35-70 m band; the far bands are dominated
|
||||
# by the over-read, so lowering this further cannot reach them.
|
||||
FORCE_STOP_OBSTACLE_TRIM = 0.85
|
||||
STANDSTILL_LEAD_CREEP_RELEASE_MIN_LEAD_SPEED = 0.25
|
||||
STANDSTILL_LEAD_CREEP_RELEASE_MIN_LEAD_ACCEL = 0.08
|
||||
STANDSTILL_LEAD_CREEP_RELEASE_MIN_GAP_MARGIN = 0.1
|
||||
@@ -2202,17 +2196,8 @@ class LongitudinalPlanner:
|
||||
force_stop_x = None
|
||||
force_stop_handoff_m = get_force_stop_handoff_distance(self.CP.carFingerprint)
|
||||
if sm['starpilotPlan'].forcingStop and sm['starpilotPlan'].forcingStopLength > force_stop_handoff_m:
|
||||
stop_length = float(sm['starpilotPlan'].forcingStopLength)
|
||||
else:
|
||||
# pre-commit the envelope is only a speed ceiling, which the solver tracks with a lag;
|
||||
# getattr so a stale cereal build degrades to the old behaviour instead of raising
|
||||
stop_length = float(getattr(sm['starpilotPlan'], 'approachStopLength', 0.0))
|
||||
if stop_length > force_stop_handoff_m:
|
||||
# ForceStopDistanceOffset shifts the perceived line for the v_cruise ceiling, so it has
|
||||
# to shift the obstacle too or the slider barely moves anything now that stop_x leads.
|
||||
offset_ft = max(OFFSET_FT_MIN, min(OFFSET_FT_MAX, int(getattr(starpilot_toggles, 'force_stop_distance_offset', 0) or 0)))
|
||||
force_stop_x = (
|
||||
stop_length * FORCE_STOP_OBSTACLE_TRIM + offset_ft * FT_TO_M + STOP_DISTANCE +
|
||||
float(sm['starpilotPlan'].forcingStopLength) + STOP_DISTANCE +
|
||||
get_force_stop_distance_bias(self.CP.carFingerprint)
|
||||
)
|
||||
|
||||
|
||||
@@ -41,8 +41,6 @@ ADJACENT_STOP_REST_FRAMES = 15
|
||||
ADJACENT_STOP_MIN_Y = 1.8 # m — inside this is our own lane
|
||||
ADJACENT_STOP_MAX_Y = 7.5 # m — beyond this is roadside, not an adjacent lane
|
||||
ADJACENT_STOP_MAX_D = 110.0 # m
|
||||
ADJACENT_STOP_QUEUE_GAP_M = 5.0 # m — anything stopped beyond the furthest qualifier means
|
||||
# the bar is past it too, so the hint would stop us short
|
||||
|
||||
|
||||
class KalmanParams:
|
||||
@@ -159,10 +157,6 @@ class Track:
|
||||
if self.leadTrackID == self.identifier:
|
||||
return False
|
||||
|
||||
return self.in_adjacent_lane(model_data)
|
||||
|
||||
def in_adjacent_lane(self, model_data: capnp._DynamicStructReader):
|
||||
"""Lane geometry only, no deceleration history — also used to spot a queue ahead."""
|
||||
if not (ADJACENT_STOP_MIN_Y < abs(self.yRel) < ADJACENT_STOP_MAX_Y):
|
||||
return False
|
||||
|
||||
@@ -336,10 +330,9 @@ def get_adjacent_lead(tracks: dict[int, Track], standstill: bool, model_data: ca
|
||||
def get_adjacent_stopped(tracks: dict[int, Track], model_data: capnp._DynamicStructReader) -> dict[str, Any]:
|
||||
"""Stop-line hint: a vehicle that decelerated to a stop in a neighbouring lane.
|
||||
|
||||
Takes the FARTHEST qualifying vehicle, then drops the hint entirely if a queue reaches
|
||||
past it. Cars already stopped when we acquire them never show the moving -> stopped
|
||||
transition, so the qualifying set is biased toward the back of a line; without this the
|
||||
hint marks a mid-queue bumper and stops us short of the bar.
|
||||
Takes the FARTHEST qualifying vehicle: in a queue the front car sits at the bar and the
|
||||
rest are closer to us, so the nearest one underestimates the distance. The consumer only
|
||||
shortens with this, so underestimating is the harmful direction.
|
||||
"""
|
||||
if len(model_data.laneLines) < 4:
|
||||
return {'status': False}
|
||||
@@ -349,11 +342,6 @@ def get_adjacent_stopped(tracks: dict[int, Track], model_data: capnp._DynamicStr
|
||||
return {'status': False}
|
||||
|
||||
furthest = max(candidates, key=lambda c: c.dRel)
|
||||
for c in tracks.values():
|
||||
if (c.dRel > furthest.dRel + ADJACENT_STOP_QUEUE_GAP_M and
|
||||
abs(c.vLead) < ADJACENT_STOP_REST_V and
|
||||
c.in_adjacent_lane(model_data)):
|
||||
return {'status': False}
|
||||
return {
|
||||
'status': True,
|
||||
'dRel': float(furthest.dRel),
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
from pathlib import Path
|
||||
from types import SimpleNamespace
|
||||
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.starpilot.controls.starpilot_planner import StarPilotPlanner
|
||||
import openpilot.starpilot.controls.starpilot_planner as starpilot_planner_module
|
||||
@@ -1170,7 +1168,6 @@ def test_starpilot_planner_updates_cem_with_current_frame_state(monkeypatch):
|
||||
|
||||
try:
|
||||
monkeypatch.setattr(starpilot_planner_module, "calculate_road_curvature", lambda model, v_ego: (0.01, 1.0))
|
||||
monkeypatch.setattr(starpilot_planner_module, "extract_curve_profile", lambda model: (np.zeros(33), np.zeros(33)))
|
||||
monkeypatch.setattr(planner.starpilot_acceleration, "update", lambda *args, **kwargs: None)
|
||||
monkeypatch.setattr(planner.starpilot_events, "update", lambda *args, **kwargs: None)
|
||||
monkeypatch.setattr(planner.starpilot_vcruise, "update", lambda *args, **kwargs: 0.0)
|
||||
|
||||
@@ -1,555 +0,0 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.starpilot.common.starpilot_variables import DEFAULT_LATERAL_ACCELERATION
|
||||
from openpilot.starpilot.controls.lib.curve_speed_controller import (
|
||||
CSC_APPROACH_DECEL,
|
||||
CSC_COMFORT_MARGIN,
|
||||
CSC_COUNT_CAP,
|
||||
CSC_EGO_HEADROOM,
|
||||
CSC_FARFIELD_GAIN,
|
||||
CSC_LAT_ACCEL_MAX,
|
||||
CSC_MIN_SPEED,
|
||||
MAX_CURVATURE,
|
||||
PRIOR_CURVATURE_BP,
|
||||
PRIOR_LAT_ACCEL_V,
|
||||
CSC_NUDGE,
|
||||
CSC_NUDGE_WEIGHT,
|
||||
CSC_OVERRIDE_WATCH_TIME,
|
||||
CSC_TARGET_UP_RATE,
|
||||
CSC_TRAINING_SETTLE_TIME,
|
||||
CurveSpeedController,
|
||||
weighted_isotonic,
|
||||
)
|
||||
|
||||
|
||||
class FakeParams:
|
||||
def __init__(self, values=None):
|
||||
self.values = dict(values or {})
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
key = args[0] if args else None
|
||||
return self.values.get(key)
|
||||
|
||||
def put_nonblocking(self, key, value):
|
||||
self.values[key] = value
|
||||
|
||||
|
||||
def make_controller(curve_profile=None, curvature_data=None, weather_id=0, reduce_lat=0.0, road_curvature=0.02, driving_in_curve=False):
|
||||
if curve_profile is None:
|
||||
curve_profile = (np.zeros(33), np.linspace(0.0, 300.0, 33))
|
||||
|
||||
planner = SimpleNamespace(
|
||||
params=FakeParams({"CurvatureData": curvature_data} if curvature_data is not None else None),
|
||||
curve_profile=curve_profile,
|
||||
starpilot_weather=SimpleNamespace(weather_id=weather_id, reduce_lateral_acceleration=reduce_lat),
|
||||
road_curvature=road_curvature,
|
||||
driving_in_curve=driving_in_curve,
|
||||
tracking_lead=False,
|
||||
lateral_acceleration=0.0,
|
||||
)
|
||||
controller = CurveSpeedController(SimpleNamespace(starpilot_planner=planner))
|
||||
return planner, controller
|
||||
|
||||
|
||||
def make_sm(*, gas=False, brake=False, long_active=True, blinker=False, accel_pressed=False):
|
||||
return {
|
||||
"carControl": SimpleNamespace(longActive=long_active),
|
||||
"carState": SimpleNamespace(gasPressed=gas, brakePressed=brake, leftBlinker=blinker, rightBlinker=False),
|
||||
"starpilotCarState": SimpleNamespace(accelPressed=accel_pressed),
|
||||
"onroadEvents": [],
|
||||
}
|
||||
|
||||
|
||||
def single_apex_profile(curvature, distance):
|
||||
distances = np.linspace(0.0, max(distance * 1.5, 1.0), 33)
|
||||
curvatures = np.zeros(33)
|
||||
index = int(np.argmin(np.abs(distances - distance)))
|
||||
distances[index] = distance
|
||||
curvatures[index] = curvature
|
||||
return curvatures, distances
|
||||
|
||||
|
||||
def converge(controller, v_ego, v_cruise, frames=600):
|
||||
for _ in range(frames):
|
||||
controller.update_target(v_ego, v_cruise)
|
||||
return controller.target
|
||||
|
||||
|
||||
def envelope_speed(controller, curvature, distance):
|
||||
curve_speed = max(float(np.sqrt(controller.lat_accel_for_curvature(curvature) / curvature)), CSC_MIN_SPEED)
|
||||
return float(np.sqrt(curve_speed**2 + 2.0 * CSC_APPROACH_DECEL * distance))
|
||||
|
||||
|
||||
def test_straight_road_target_is_cruise_speed():
|
||||
_, controller = make_controller()
|
||||
|
||||
controller.update_target(30.0, 30.0)
|
||||
|
||||
assert controller.target == pytest.approx(30.0)
|
||||
|
||||
|
||||
def test_distant_apex_does_not_constrain_until_braking_is_due():
|
||||
# derived from the shipped decel so retuning it doesn't silently invalidate the case
|
||||
_, probe = make_controller()
|
||||
curve_speed = max(float(np.sqrt(probe.lat_accel_for_curvature(0.02) / 0.02)), CSC_MIN_SPEED)
|
||||
beyond_braking = 1.3 * (30.0**2 - curve_speed**2) / (2 * CSC_APPROACH_DECEL)
|
||||
|
||||
_, controller = make_controller(curve_profile=single_apex_profile(0.02, beyond_braking))
|
||||
|
||||
target = converge(controller, 30.0, 30.0)
|
||||
|
||||
assert target == pytest.approx(30.0)
|
||||
|
||||
|
||||
def test_apex_in_braking_range_constrains_to_kinematic_envelope():
|
||||
_, controller = make_controller(curve_profile=single_apex_profile(0.02, 150.0))
|
||||
|
||||
target = converge(controller, 30.0, 30.0)
|
||||
|
||||
assert target == pytest.approx(envelope_speed(controller, 0.02, 150.0), abs=0.1)
|
||||
assert target < 30.0
|
||||
|
||||
|
||||
def test_exit_recovery_rises_immediately_without_freeze():
|
||||
planner, controller = make_controller(curve_profile=single_apex_profile(0.03, 20.0))
|
||||
low_target = converge(controller, 15.0, 30.0)
|
||||
assert low_target < 20.0
|
||||
|
||||
planner.curve_profile = (np.zeros(33), np.linspace(0.0, 300.0, 33))
|
||||
controller.update_target(15.0, 30.0)
|
||||
assert controller.target > low_target # rises on the very next frame, no freeze
|
||||
assert controller.target - low_target == pytest.approx(CSC_TARGET_UP_RATE * DT_MDL)
|
||||
|
||||
# and it clears the car by the headroom within the time the up-rate needs
|
||||
frames = int((15.0 + CSC_EGO_HEADROOM - controller.target) / (CSC_TARGET_UP_RATE * DT_MDL)) + 1
|
||||
for _ in range(frames):
|
||||
controller.update_target(15.0, 30.0)
|
||||
assert controller.target >= 15.0 + CSC_EGO_HEADROOM
|
||||
|
||||
recovered = converge(controller, 15.0, 30.0)
|
||||
assert recovered == pytest.approx(30.0)
|
||||
|
||||
|
||||
def test_upward_jitter_in_the_envelope_is_rate_limited():
|
||||
# a sweeper the envelope only grazes: raw_target flicks between a mild cap and the
|
||||
# set speed. The target must not chase the jumps, or the glow strobes.
|
||||
planner, controller = make_controller(curve_profile=single_apex_profile(0.002, 40.0))
|
||||
steady = converge(controller, 30.0, 32.0)
|
||||
assert steady < 32.0
|
||||
|
||||
flat = (np.zeros(33), np.linspace(0.0, 300.0, 33))
|
||||
grazing = planner.curve_profile
|
||||
peak = steady
|
||||
for i in range(40):
|
||||
planner.curve_profile = flat if i % 2 else grazing
|
||||
controller.update_target(30.0, 32.0)
|
||||
assert controller.target - peak <= CSC_TARGET_UP_RATE * DT_MDL + 1e-6
|
||||
peak = controller.target
|
||||
|
||||
|
||||
def test_firm_distant_curvature_is_corrected_for_the_model_under_read():
|
||||
# the model reads ~0.81x actual at range, so a firm distant bend binds later than it should
|
||||
distance = 90.0
|
||||
_, plain = make_controller(curve_profile=single_apex_profile(0.0045, distance))
|
||||
_, probe = make_controller()
|
||||
corrected = probe._correct_far_field(*single_apex_profile(0.0045, distance))
|
||||
|
||||
assert corrected.max() == pytest.approx(0.0045 * CSC_FARFIELD_GAIN)
|
||||
assert converge(plain, 30.0, 30.0) < envelope_speed(plain, 0.0045, distance) + 1e-6
|
||||
|
||||
|
||||
def test_weak_or_near_readings_are_left_alone():
|
||||
_, probe = make_controller()
|
||||
|
||||
# too weak to carry usable magnitude at range
|
||||
weak = probe._correct_far_field(*single_apex_profile(0.002, 90.0))
|
||||
assert weak.max() == pytest.approx(0.002)
|
||||
|
||||
# firm, but close enough that the model is already accurate
|
||||
near = probe._correct_far_field(*single_apex_profile(0.0045, 10.0))
|
||||
assert near.max() == pytest.approx(0.0045)
|
||||
|
||||
|
||||
def test_far_field_correction_brings_the_slowdown_forward():
|
||||
profile = single_apex_profile(0.0045, 120.0)
|
||||
_, controller = make_controller(curve_profile=profile)
|
||||
|
||||
corrected = converge(controller, 30.0, 30.0)
|
||||
raw_curvatures, distances = profile
|
||||
uncorrected = float(np.sqrt(
|
||||
max(np.sqrt(controller.lat_accel_for_curvature(0.0045) / 0.0045), CSC_MIN_SPEED) ** 2
|
||||
+ 2.0 * CSC_APPROACH_DECEL * 120.0))
|
||||
|
||||
assert corrected < uncorrected # binds sooner than the model's own reading would
|
||||
|
||||
|
||||
def test_fresh_activation_seeds_at_envelope_not_cruise():
|
||||
_, controller = make_controller(curve_profile=(np.full(33, 0.05), np.linspace(0.0, 60.0, 33)))
|
||||
|
||||
controller.update_target(6.0, 30.0)
|
||||
|
||||
assert controller.target < 15.0
|
||||
|
||||
|
||||
def test_target_never_trails_accelerating_car_when_unconstrained():
|
||||
planner, controller = make_controller(curve_profile=single_apex_profile(0.03, 20.0))
|
||||
converge(controller, 15.0, 30.0)
|
||||
|
||||
planner.curve_profile = (np.zeros(33), np.linspace(0.0, 300.0, 33))
|
||||
v_ego = 15.0
|
||||
caught_up = None
|
||||
for frame in range(200):
|
||||
v_ego = min(v_ego + 2.0 * DT_MDL, 30.0)
|
||||
controller.update_target(v_ego, 30.0)
|
||||
# the target climbs faster than the car can, so once it is ahead it stays ahead
|
||||
if controller.target >= v_ego:
|
||||
caught_up = caught_up if caught_up is not None else frame
|
||||
assert caught_up is None or controller.target >= min(30.0, v_ego) - 1e-6
|
||||
|
||||
assert caught_up is not None and caught_up * DT_MDL < 2.0
|
||||
assert controller.target == pytest.approx(30.0)
|
||||
|
||||
|
||||
def test_target_does_not_ratchet_down_with_ego_speed():
|
||||
_, controller = make_controller(curve_profile=single_apex_profile(0.02, 150.0))
|
||||
target = converge(controller, 30.0, 30.0)
|
||||
assert target > 15.0
|
||||
|
||||
controller.update_target(14.0, 30.0)
|
||||
|
||||
assert controller.target == pytest.approx(target, abs=0.2)
|
||||
|
||||
|
||||
def test_sharp_curve_target_floors_at_min_speed():
|
||||
_, controller = make_controller(curve_profile=(np.full(33, 0.1), np.linspace(0.0, 100.0, 33)))
|
||||
|
||||
target = converge(controller, 15.0, 30.0)
|
||||
|
||||
assert target == pytest.approx(CSC_MIN_SPEED, abs=0.05)
|
||||
|
||||
|
||||
def test_weather_reduces_curve_speed():
|
||||
_, dry = make_controller(curve_profile=single_apex_profile(0.01, 0.0))
|
||||
_, wet = make_controller(curve_profile=single_apex_profile(0.01, 0.0), weather_id=1, reduce_lat=0.2)
|
||||
|
||||
dry_target = converge(dry, 20.0, 30.0)
|
||||
wet_target = converge(wet, 20.0, 30.0)
|
||||
|
||||
assert wet_target < dry_target
|
||||
assert wet_target == pytest.approx(dry_target * np.sqrt(0.8), abs=0.1)
|
||||
|
||||
|
||||
def test_prior_gives_higher_lat_accel_for_sharper_curves():
|
||||
_, controller = make_controller()
|
||||
|
||||
assert controller.learned_lat_accel(0.001) == pytest.approx(1.5, abs=0.05)
|
||||
assert controller.learned_lat_accel(MAX_CURVATURE) > controller.learned_lat_accel(0.001)
|
||||
assert controller.learned_lat_accel(MAX_CURVATURE) == pytest.approx(
|
||||
float(np.interp(MAX_CURVATURE, PRIOR_CURVATURE_BP, PRIOR_LAT_ACCEL_V)), abs=0.05)
|
||||
assert controller.lateral_acceleration == pytest.approx(DEFAULT_LATERAL_ACCELERATION)
|
||||
|
||||
|
||||
def test_comfort_margin_aims_below_the_learned_habit():
|
||||
_, controller = make_controller()
|
||||
|
||||
assert controller.lat_accel_for_curvature(0.01) == pytest.approx(
|
||||
controller.learned_lat_accel(0.01) * CSC_COMFORT_MARGIN)
|
||||
assert controller.lat_accel_for_curvature(0.01) < controller.learned_lat_accel(0.01)
|
||||
|
||||
|
||||
def test_margin_slider_overrides_the_default():
|
||||
_, controller = make_controller()
|
||||
controller.starpilot_toggles = SimpleNamespace(csc_margin=0.7)
|
||||
|
||||
assert controller.comfort_margin == pytest.approx(0.7)
|
||||
assert controller.lat_accel_for_curvature(0.01) == pytest.approx(
|
||||
controller.learned_lat_accel(0.01) * 0.7)
|
||||
|
||||
|
||||
def test_margin_falls_back_to_default_without_toggles():
|
||||
_, controller = make_controller()
|
||||
|
||||
# toggles are only attached once vcruise runs
|
||||
assert controller.comfort_margin == pytest.approx(CSC_COMFORT_MARGIN)
|
||||
controller.starpilot_toggles = SimpleNamespace(csc_margin=0.0)
|
||||
assert controller.comfort_margin == pytest.approx(CSC_COMFORT_MARGIN)
|
||||
|
||||
|
||||
def test_lower_margin_engages_on_gentler_curves():
|
||||
planner, controller = make_controller(curve_profile=single_apex_profile(0.004, 0.0))
|
||||
controller.starpilot_toggles = SimpleNamespace(csc_margin=1.0)
|
||||
relaxed = converge(controller, 30.0, 30.0)
|
||||
|
||||
planner2, aggressive_controller = make_controller(curve_profile=single_apex_profile(0.004, 0.0))
|
||||
aggressive_controller.starpilot_toggles = SimpleNamespace(csc_margin=0.7)
|
||||
aggressive = converge(aggressive_controller, 30.0, 30.0)
|
||||
|
||||
assert aggressive < relaxed
|
||||
|
||||
|
||||
def test_approach_decel_slider_moves_where_braking_starts():
|
||||
# the same curve must bind further out when the approach is planned gentler
|
||||
def bind_distance(decel):
|
||||
planner, controller = make_controller(curve_profile=single_apex_profile(0.01, 200.0))
|
||||
controller.starpilot_toggles = SimpleNamespace(csc_approach_decel=decel)
|
||||
converge(controller, 30.0, 30.0)
|
||||
return controller.target
|
||||
|
||||
assert bind_distance(0.3) < bind_distance(1.5)
|
||||
|
||||
|
||||
def test_approach_decel_falls_back_to_default():
|
||||
_, controller = make_controller()
|
||||
|
||||
assert controller.approach_decel == pytest.approx(CSC_APPROACH_DECEL)
|
||||
controller.starpilot_toggles = SimpleNamespace(csc_approach_decel=0.0)
|
||||
assert controller.approach_decel == pytest.approx(CSC_APPROACH_DECEL)
|
||||
|
||||
|
||||
def test_binding_distance_reports_the_constraining_point():
|
||||
_, controller = make_controller(curve_profile=single_apex_profile(0.02, 150.0))
|
||||
converge(controller, 30.0, 30.0)
|
||||
|
||||
assert controller.binding_distance == pytest.approx(150.0, abs=1.0)
|
||||
|
||||
|
||||
def test_binding_distance_is_zero_when_unconstrained():
|
||||
_, controller = make_controller()
|
||||
converge(controller, 30.0, 30.0)
|
||||
|
||||
assert controller.binding_distance == 0.0
|
||||
|
||||
|
||||
def test_heavily_sampled_bucket_dominates_prior():
|
||||
_, controller = make_controller(curvature_data={"0.05": {"average": 3.0, "count": 100000}})
|
||||
|
||||
assert controller.learned_lat_accel(0.05) == pytest.approx(3.0, abs=0.05)
|
||||
assert controller.learned_lat_accel(0.08) >= controller.learned_lat_accel(0.05)
|
||||
|
||||
|
||||
def test_learned_curve_stays_monotonic_despite_low_outlier_bucket():
|
||||
_, controller = make_controller(curvature_data={"0.05": {"average": 0.5, "count": 100000}})
|
||||
|
||||
assert controller.learned_lat_accel(0.05) >= controller.learned_lat_accel(0.03)
|
||||
|
||||
|
||||
def test_dense_bucket_is_not_overridden_by_sparse_neighbour():
|
||||
# real device data: a running maximum ratcheted the 80-sample bucket up to the 20-sample neighbour
|
||||
_, dense_low = make_controller(curvature_data={
|
||||
"0.003": {"average": 1.95, "count": 20},
|
||||
"0.005": {"average": 1.38, "count": 80},
|
||||
})
|
||||
_, dense_high = make_controller(curvature_data={
|
||||
"0.003": {"average": 1.95, "count": 80},
|
||||
"0.005": {"average": 1.38, "count": 20},
|
||||
})
|
||||
|
||||
assert dense_low.learned_lat_accel(0.005) < 1.95 # not ratcheted to the sparse neighbour
|
||||
assert dense_low.learned_lat_accel(0.005) >= dense_low.learned_lat_accel(0.003)
|
||||
# whichever side is better sampled should pull the fit: swapping the counts must raise it
|
||||
assert dense_high.learned_lat_accel(0.005) > dense_low.learned_lat_accel(0.005)
|
||||
|
||||
|
||||
def test_weighted_isotonic_pools_violators_by_weight():
|
||||
fitted = weighted_isotonic(np.array([1.0, 3.0, 1.2]), np.array([1.0, 1.0, 1000.0]))
|
||||
|
||||
assert np.all(np.diff(fitted) >= -1e-9)
|
||||
assert fitted[-1] == pytest.approx(1.2, abs=0.02)
|
||||
|
||||
|
||||
def test_weighted_isotonic_leaves_sorted_input_untouched():
|
||||
values = np.array([1.0, 1.5, 2.0, 2.5])
|
||||
fitted = weighted_isotonic(values, np.ones(4))
|
||||
|
||||
assert fitted == pytest.approx(values)
|
||||
|
||||
|
||||
def test_legacy_off_grid_curvature_data_merges_into_buckets():
|
||||
_, controller = make_controller(curvature_data={
|
||||
"0.0203": {"average": 2.5, "count": 10},
|
||||
"0.02": {"average": 2.0, "count": 10},
|
||||
})
|
||||
|
||||
assert controller.curvature_data["0.02"]["count"] == 20
|
||||
assert controller.curvature_data["0.02"]["average"] == pytest.approx(2.25)
|
||||
|
||||
|
||||
def test_training_update_step_is_capped_by_ema_count():
|
||||
planner, controller = make_controller(curvature_data={"0.02": {"average": 2.0, "count": 10000}}, driving_in_curve=True)
|
||||
planner.lateral_acceleration = 3.0
|
||||
controller.training_timer = CSC_TRAINING_SETTLE_TIME
|
||||
|
||||
controller.log_data(10.0, make_sm(long_active=False))
|
||||
|
||||
data = controller.curvature_data["0.02"]
|
||||
assert data["count"] == 10001
|
||||
assert data["average"] == pytest.approx((2.0 * CSC_COUNT_CAP + 3.0) / (CSC_COUNT_CAP + 1))
|
||||
|
||||
|
||||
def test_no_passive_training_right_after_csc_limited_speed():
|
||||
planner, controller = make_controller(curve_profile=single_apex_profile(0.03, 20.0), driving_in_curve=True)
|
||||
planner.lateral_acceleration = 3.0
|
||||
converge(controller, 15.0, 30.0)
|
||||
assert controller.training_quiet_timer > 0.0
|
||||
|
||||
controller.training_timer = CSC_TRAINING_SETTLE_TIME
|
||||
controller.log_data(10.0, make_sm(long_active=False))
|
||||
assert "0.02" not in controller.curvature_data
|
||||
assert not controller.enable_training
|
||||
|
||||
controller.training_quiet_timer = 0.0
|
||||
controller.training_timer = CSC_TRAINING_SETTLE_TIME
|
||||
controller.log_data(10.0, make_sm(long_active=False))
|
||||
assert controller.curvature_data["0.02"]["count"] == 1
|
||||
|
||||
|
||||
def test_training_settles_within_a_couple_of_seconds():
|
||||
# a real drive rarely holds every eligibility condition for a whole model horizon,
|
||||
# so the settle time has to be short enough that ordinary curves still teach it
|
||||
planner, controller = make_controller(driving_in_curve=True)
|
||||
planner.lateral_acceleration = 2.4
|
||||
sm = make_sm(long_active=False)
|
||||
|
||||
for _ in range(int(CSC_TRAINING_SETTLE_TIME / DT_MDL) - 2):
|
||||
controller.log_data(10.0, sm)
|
||||
assert "0.02" not in controller.curvature_data
|
||||
|
||||
for _ in range(3):
|
||||
controller.log_data(10.0, sm)
|
||||
assert controller.curvature_data["0.02"]["count"] >= 1
|
||||
|
||||
|
||||
def test_brief_ineligibility_does_not_restart_the_settle_timer():
|
||||
planner, controller = make_controller(driving_in_curve=True)
|
||||
planner.lateral_acceleration = 2.4
|
||||
sm = make_sm(long_active=False)
|
||||
for _ in range(int(CSC_TRAINING_SETTLE_TIME / DT_MDL) + 1):
|
||||
controller.log_data(10.0, sm)
|
||||
trained = controller.curvature_data["0.02"]["count"]
|
||||
|
||||
# a lead flickers into the tracker for two frames, then leaves
|
||||
planner.tracking_lead = True
|
||||
controller.log_data(10.0, sm)
|
||||
controller.log_data(10.0, sm)
|
||||
planner.tracking_lead = False
|
||||
|
||||
controller.log_data(10.0, sm)
|
||||
assert controller.curvature_data["0.02"]["count"] == trained + 1
|
||||
|
||||
|
||||
def test_sustained_ineligibility_still_drains_the_settle_timer():
|
||||
planner, controller = make_controller(driving_in_curve=True)
|
||||
planner.lateral_acceleration = 2.4
|
||||
engaged = make_sm(long_active=True)
|
||||
manual = make_sm(long_active=False)
|
||||
for _ in range(int(CSC_TRAINING_SETTLE_TIME / DT_MDL) + 1):
|
||||
controller.log_data(10.0, manual)
|
||||
|
||||
for _ in range(int(2 * CSC_TRAINING_SETTLE_TIME / DT_MDL)):
|
||||
controller.log_data(10.0, engaged)
|
||||
assert controller.training_timer == pytest.approx(0.0)
|
||||
|
||||
controller.log_data(10.0, manual)
|
||||
assert not controller.enable_training
|
||||
|
||||
|
||||
def settle_override(controller, sm=None, frames=None):
|
||||
"""Run the post-override watch out so the pseudo-sample is committed."""
|
||||
sm = sm if sm is not None else make_sm()
|
||||
for _ in range(frames if frames is not None else int(CSC_OVERRIDE_WATCH_TIME / DT_MDL) + 1):
|
||||
controller.handle_override(20.0, False, sm)
|
||||
|
||||
|
||||
def test_gas_override_nudges_bucket_up_once_per_episode():
|
||||
_, controller = make_controller()
|
||||
prior = controller.learned_lat_accel(0.02)
|
||||
controller.target = 10.0
|
||||
|
||||
controller.handle_override(20.0, True, make_sm(gas=True))
|
||||
controller.handle_override(20.0, True, make_sm(gas=True))
|
||||
assert "0.02" not in controller.curvature_data # still watching what the driver holds
|
||||
|
||||
settle_override(controller)
|
||||
assert controller.curvature_data["0.02"]["count"] == CSC_NUDGE_WEIGHT
|
||||
assert controller.curvature_data["0.02"]["average"] > prior
|
||||
|
||||
controller.handle_override(20.0, False, make_sm())
|
||||
controller.target = 10.0
|
||||
controller.handle_override(20.0, True, make_sm(gas=True))
|
||||
settle_override(controller)
|
||||
assert controller.curvature_data["0.02"]["count"] == 2 * CSC_NUDGE_WEIGHT
|
||||
|
||||
|
||||
def test_override_learns_the_cornering_the_driver_actually_held():
|
||||
# the whole point: a fixed step needs several rejections to close a real disagreement,
|
||||
# so record what they demonstrated instead
|
||||
planner, observed = make_controller(driving_in_curve=True)
|
||||
observed.target = 10.0
|
||||
observed.handle_override(20.0, True, make_sm(gas=True))
|
||||
planner.lateral_acceleration = 2.9 # they hold the curve much harder than CSC wanted
|
||||
settle_override(observed, make_sm(gas=True))
|
||||
|
||||
_, stepped = make_controller(driving_in_curve=True)
|
||||
stepped._apply_nudge(CSC_NUDGE) # what the old fixed-step path would have recorded
|
||||
|
||||
assert observed.curvature_data["0.02"]["average"] == pytest.approx(2.9)
|
||||
assert observed.curvature_data["0.02"]["average"] > stepped.curvature_data["0.02"]["average"]
|
||||
assert observed.learned_lat_accel(0.02) > stepped.learned_lat_accel(0.02)
|
||||
|
||||
|
||||
def test_override_on_a_straight_still_registers_the_fixed_step():
|
||||
planner, controller = make_controller()
|
||||
prior = controller.learned_lat_accel(0.02)
|
||||
controller.target = 10.0
|
||||
|
||||
controller.handle_override(20.0, True, make_sm(gas=True))
|
||||
planner.lateral_acceleration = 0.0 # never reached a corner
|
||||
settle_override(controller)
|
||||
|
||||
assert controller.curvature_data["0.02"]["average"] == pytest.approx(prior + CSC_NUDGE)
|
||||
|
||||
|
||||
def test_res_button_nudges_bucket_up_even_at_target_speed():
|
||||
_, controller = make_controller()
|
||||
prior = controller.learned_lat_accel(0.02)
|
||||
controller.target = 20.0 # car tracking the target, so the gas-press condition would not fire
|
||||
|
||||
controller.handle_override(20.0, True, make_sm(), accel_button=True)
|
||||
settle_override(controller)
|
||||
|
||||
assert controller.curvature_data["0.02"]["count"] == CSC_NUDGE_WEIGHT
|
||||
assert controller.curvature_data["0.02"]["average"] > prior
|
||||
|
||||
|
||||
def test_brake_override_nudges_bucket_down():
|
||||
_, controller = make_controller(driving_in_curve=True)
|
||||
prior = controller.learned_lat_accel(0.02)
|
||||
|
||||
controller.handle_override(20.0, True, make_sm(brake=True))
|
||||
|
||||
assert controller.curvature_data["0.02"]["count"] == CSC_NUDGE_WEIGHT
|
||||
assert controller.curvature_data["0.02"]["average"] < prior
|
||||
|
||||
|
||||
def test_calibrated_lateral_acceleration_param_is_written_on_flush():
|
||||
planner, controller = make_controller(curvature_data={"0.02": {"average": 2.8, "count": 5000}})
|
||||
|
||||
assert "CalibratedLateralAcceleration" not in planner.params.values
|
||||
controller.flush_data()
|
||||
|
||||
assert planner.params.values["CalibratedLateralAcceleration"] > DEFAULT_LATERAL_ACCELERATION
|
||||
assert controller.lateral_acceleration == planner.params.values["CalibratedLateralAcceleration"]
|
||||
|
||||
|
||||
def test_stale_param_from_a_previous_build_is_republished_without_training():
|
||||
# a stale value must not survive a restart just because this drive never trained
|
||||
planner, controller = make_controller(curvature_data={"0.02": {"average": 2.8, "count": 5000}})
|
||||
planner.params.values["CalibratedLateralAcceleration"] = 3.71
|
||||
|
||||
controller.log_data(0.0, make_sm()) # standstill: ineligible -> flush path
|
||||
|
||||
assert planner.params.values["CalibratedLateralAcceleration"] <= CSC_LAT_ACCEL_MAX
|
||||
@@ -434,7 +434,6 @@ def make_sm(v_ego: float, desired_accel: float, min_accel: float, *, experimenta
|
||||
forcingStop=False,
|
||||
redLight=False,
|
||||
forcingStopLength=2,
|
||||
approachStopLength=0.0,
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
@@ -5,11 +5,9 @@ import pytest
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.starpilot.common.starpilot_variables import PLANNER_TIME
|
||||
from openpilot.starpilot.controls.lib.curve_speed_controller import CSC_GLOW_HOLD_TIME, CSC_GLOW_ON_DELTA
|
||||
from openpilot.starpilot.controls.lib.curve_speed_controller import CSC_MAX_DECEL_RATE, CurveSpeedController
|
||||
from openpilot.starpilot.controls.lib.starpilot_vcruise import (
|
||||
FORCE_STOP_CAP_SLACK_M,
|
||||
FORCE_STOP_TURN_VETO_STOP_SEEN_HOLD_TIME,
|
||||
STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME,
|
||||
StarPilotVCruise,
|
||||
get_active_slc_control_target,
|
||||
get_lead_veto_distance,
|
||||
@@ -48,7 +46,6 @@ def make_vcruise(*, red_light=False, raw_model_stopped=False, forcing_stop=False
|
||||
starpilot_following=SimpleNamespace(following_lead=False),
|
||||
tracking_lead=False,
|
||||
driving_in_curve=False,
|
||||
lateral_acceleration=0.0,
|
||||
model_length=60.0,
|
||||
raw_model_stopped=raw_model_stopped,
|
||||
road_curvature=road_curvature,
|
||||
@@ -58,8 +55,6 @@ def make_vcruise(*, red_light=False, raw_model_stopped=False, forcing_stop=False
|
||||
vcruise.forcing_stop = forcing_stop
|
||||
vcruise.force_stop_timer = 1.0 if forcing_stop else 0.0
|
||||
vcruise.tracked_model_length = 0.0 if forcing_stop else planner.model_length
|
||||
# what the not-committed branch would have left behind on the frame before commit
|
||||
vcruise.force_stop_distance_cap = planner.model_length
|
||||
return planner, vcruise
|
||||
|
||||
|
||||
@@ -82,12 +77,12 @@ def make_sm(*, standstill=True, min_steer_speed=0.0):
|
||||
}
|
||||
|
||||
|
||||
def update_vcruise(vcruise, sm, toggles, *, now, v_ego=0.0, v_cruise=20.0, controls_enabled=True):
|
||||
def update_vcruise(vcruise, sm, toggles, *, now, v_ego=0.0, controls_enabled=True):
|
||||
return vcruise.update(
|
||||
controls_enabled=controls_enabled,
|
||||
now=now,
|
||||
time_validated=True,
|
||||
v_cruise=v_cruise,
|
||||
v_cruise=20.0,
|
||||
v_ego=v_ego,
|
||||
sm=sm,
|
||||
starpilot_toggles=toggles,
|
||||
@@ -135,56 +130,30 @@ def test_camry_tss2_gets_forward_force_stop_bias_only():
|
||||
assert get_force_stop_distance_bias("TOYOTA_RAV4_TSS2") == pytest.approx(0.0)
|
||||
|
||||
|
||||
def test_curve_speed_controller_blinker_releases_the_cap_but_keeps_the_plan():
|
||||
def test_curve_speed_controller_holds_target_through_brief_detector_dropout():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
calls = []
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
calls.append(_v_ego)
|
||||
def set_curve_target(_v_ego):
|
||||
vcruise.csc.target_set = True
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
planner.road_curvature_detected = True
|
||||
result = update_vcruise(vcruise, sm, toggles, now=10.0, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
# the cap lifts so CSC can't fight the lane change, but the envelope keeps planning
|
||||
# so the curve doesn't have to be re-discovered from the set speed afterwards
|
||||
sm["carState"].leftBlinker = True
|
||||
planner.road_curvature_detected = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=10.25, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
assert len(calls) == 2 # still planning, so nothing has to be rediscovered
|
||||
|
||||
# blinker off: the plan is already current, so the cap comes straight back
|
||||
sm["carState"].leftBlinker = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=10.5, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_curve_speed_controller_reseeds_after_a_real_dropout():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
update_vcruise(vcruise, sm, toggles, now=11.0, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
# disengaging is a real dropout, not a momentary veto -- that still resets
|
||||
sm["carControl"].longActive = False
|
||||
update_vcruise(vcruise, sm, toggles, now=11.05, v_ego=20.0)
|
||||
result = update_vcruise(vcruise, sm, toggles, now=10.8, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
assert vcruise.csc.seed_pending
|
||||
|
||||
|
||||
def test_curve_speed_controller_releases_immediately_when_disabled():
|
||||
@@ -193,13 +162,16 @@ def test_curve_speed_controller_releases_immediately_when_disabled():
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
def set_curve_target(_v_ego):
|
||||
vcruise.csc.target_set = True
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
planner.road_curvature_detected = True
|
||||
update_vcruise(vcruise, sm, toggles, now=20.0, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
planner.road_curvature_detected = False
|
||||
toggles.curve_speed_controller = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=20.1, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
@@ -213,10 +185,12 @@ def test_curve_speed_controller_can_be_limited_to_driving_without_a_lead():
|
||||
toggles.curve_speed_controller = True
|
||||
toggles.csc_no_lead = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
def set_curve_target(_v_ego):
|
||||
vcruise.csc.target_set = True
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
planner.road_curvature_detected = True
|
||||
|
||||
result = update_vcruise(vcruise, sm, toggles, now=30.0, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
@@ -234,8 +208,10 @@ def test_curve_speed_controller_stays_enabled_with_a_lead_by_default():
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
planner.starpilot_following.following_lead = True
|
||||
planner.road_curvature_detected = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
def set_curve_target(_v_ego):
|
||||
vcruise.csc.target_set = True
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
@@ -285,275 +261,54 @@ def test_curve_speed_controller_persists_data_after_leaving_curve():
|
||||
assert any(key == "CurvatureData" for key, _ in planner.params.writes)
|
||||
|
||||
|
||||
def test_csc_res_press_cancels_for_episode_and_rearms():
|
||||
planner, vcruise = make_vcruise()
|
||||
def test_curve_speed_controller_publishes_live_values_to_memory_params():
|
||||
planner, vcruise = make_vcruise(road_curvature=0.02)
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
curve_target = {"v": 14.0}
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = curve_target["v"]
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
result = update_vcruise(vcruise, sm, toggles, now=60.0, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
sm["starpilotCarState"].accelPressed = True
|
||||
result = update_vcruise(vcruise, sm, toggles, now=60.05, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
assert vcruise.csc_override
|
||||
|
||||
# latches for the rest of the episode, not just while pressed
|
||||
sm["starpilotCarState"].accelPressed = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=60.1, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
assert vcruise.csc_override
|
||||
|
||||
# curve ends -> re-arms
|
||||
curve_target["v"] = 20.0
|
||||
update_vcruise(vcruise, sm, toggles, now=60.15, v_ego=20.0)
|
||||
assert not vcruise.csc_override
|
||||
|
||||
curve_target["v"] = 14.0
|
||||
result = update_vcruise(vcruise, sm, toggles, now=60.2, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_csc_res_press_does_not_latch_when_csc_was_not_active():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
# press before CSC ever limited: suspends it while held, but must not latch a cancel
|
||||
sm["starpilotCarState"].accelPressed = True
|
||||
result = update_vcruise(vcruise, sm, toggles, now=70.0, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
assert not vcruise.csc_override
|
||||
|
||||
sm["starpilotCarState"].accelPressed = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=70.05, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_csc_res_press_defers_to_slc_confirmation():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
update_vcruise(vcruise, sm, toggles, now=80.0, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
# confirming a speed limit must not also cancel the curve slowdown
|
||||
vcruise.slc.speed_limit_changed_timer = 1.0
|
||||
vcruise.slc.unconfirmed_speed_limit = 25.0
|
||||
sm["starpilotCarState"].accelPressed = True
|
||||
update_vcruise(vcruise, sm, toggles, now=80.05, v_ego=20.0)
|
||||
assert not vcruise.csc_override
|
||||
|
||||
sm["starpilotCarState"].accelPressed = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=80.1, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_curve_speed_controller_glow_ignores_a_trivial_graze():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
# a long gentle bend where the envelope only shaves a little: the target hovers either
|
||||
# side of the threshold for the whole curve, so a low bar strobes the glow
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 20.0 - (CSC_GLOW_ON_DELTA / 2.0)
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
result = update_vcruise(vcruise, sm, toggles, now=160.0, v_ego=20.0)
|
||||
|
||||
assert result < 20.0 # the cap is still applied
|
||||
assert not vcruise.csc_controlling_speed # it just isn't worth announcing
|
||||
|
||||
|
||||
def test_curve_speed_controller_glow_holds_through_a_brief_release():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
curve_target = {"v": 14.0}
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = curve_target["v"]
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
update_vcruise(vcruise, sm, toggles, now=130.0, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
# one curve routinely lets go and re-engages; the glow must ride through it
|
||||
curve_target["v"] = 20.0
|
||||
now = 130.0
|
||||
for _ in range(int((CSC_GLOW_HOLD_TIME - 0.2) / DT_MDL)):
|
||||
now += DT_MDL
|
||||
update_vcruise(vcruise, sm, toggles, now=now, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
curve_target["v"] = 14.0
|
||||
now += DT_MDL
|
||||
update_vcruise(vcruise, sm, toggles, now=now, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_curve_speed_controller_glow_clears_once_the_release_sticks():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
curve_target = {"v": 14.0}
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = curve_target["v"]
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
update_vcruise(vcruise, sm, toggles, now=140.0, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
curve_target["v"] = 20.0
|
||||
now = 140.0
|
||||
for _ in range(int(CSC_GLOW_HOLD_TIME / DT_MDL) + 1):
|
||||
now += DT_MDL
|
||||
update_vcruise(vcruise, sm, toggles, now=now, v_ego=20.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_curve_speed_controller_keeps_the_cap_when_signalling_mid_curve():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 14.0
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
result = update_vcruise(vcruise, sm, toggles, now=150.0, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
|
||||
# a lane change taken inside a curve must not hand the speed back
|
||||
sm["carControl"].longActive = False
|
||||
planner.driving_in_curve = True
|
||||
sm["carState"].leftBlinker = True
|
||||
result = update_vcruise(vcruise, sm, toggles, now=150.05, v_ego=20.0)
|
||||
assert result == pytest.approx(14.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
planner.lateral_acceleration = 2.4
|
||||
vcruise.csc.training_timer = PLANNER_TIME
|
||||
|
||||
# on a straight it still yields, so CSC can't fight the manoeuvre
|
||||
planner.driving_in_curve = False
|
||||
result = update_vcruise(vcruise, sm, toggles, now=150.1, v_ego=20.0)
|
||||
assert result == pytest.approx(20.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
vcruise.csc.log_data(20.0, sm)
|
||||
|
||||
assert any(key == "CalibratedLateralAcceleration" for key, _ in planner.params_memory.writes)
|
||||
assert any(key == "CalibrationProgress" for key, _ in planner.params_memory.writes)
|
||||
assert planner.params_memory.values["CalibrationProgress"] > 0.0
|
||||
|
||||
|
||||
def test_curve_speed_controller_glow_lights_when_the_car_arrives_at_the_cap_from_below():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
def test_curve_speed_controller_ramps_toward_curve_speed_at_bounded_rate():
|
||||
planner = SimpleNamespace(
|
||||
params=FakeParams(),
|
||||
road_curvature=0.004,
|
||||
time_to_curve=2.0,
|
||||
starpilot_weather=SimpleNamespace(weather_id=0, reduce_lateral_acceleration=0.0),
|
||||
)
|
||||
controller = CurveSpeedController(SimpleNamespace(starpilot_planner=planner))
|
||||
controller.lateral_acceleration = 2.0
|
||||
controller.target_set = True
|
||||
controller.target = 30.0
|
||||
|
||||
# accelerating out of a slow zone into a curve: the target is never under v_ego, but it
|
||||
# is still the only thing stopping the car from reaching the set speed
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 22.0
|
||||
controller.update_target(30.0)
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
|
||||
update_vcruise(vcruise, sm, toggles, now=120.0, v_ego=15.0, v_cruise=32.0)
|
||||
assert not vcruise.csc_controlling_speed # still climbing, CSC isn't holding it yet
|
||||
|
||||
result = update_vcruise(vcruise, sm, toggles, now=120.05, v_ego=22.0, v_cruise=32.0)
|
||||
assert result == pytest.approx(22.0)
|
||||
assert vcruise.csc_controlling_speed # arrived at the cap, and it binds
|
||||
assert controller.target == pytest.approx(30.0 - CSC_MAX_DECEL_RATE * DT_MDL)
|
||||
assert controller.target > (controller.lateral_acceleration / planner.road_curvature) ** 0.5
|
||||
|
||||
|
||||
def test_curve_speed_controller_glow_stays_off_while_the_target_is_above_v_ego():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
def test_curve_speed_controller_does_not_slow_for_curve_speed_above_ego():
|
||||
planner = SimpleNamespace(
|
||||
params=FakeParams(),
|
||||
road_curvature=0.001,
|
||||
time_to_curve=2.0,
|
||||
starpilot_weather=SimpleNamespace(weather_id=0, reduce_lateral_acceleration=0.0),
|
||||
)
|
||||
controller = CurveSpeedController(SimpleNamespace(starpilot_planner=planner))
|
||||
controller.lateral_acceleration = 2.0
|
||||
controller.target_set = True
|
||||
controller.target = 28.0
|
||||
|
||||
# a highway sweeper trims the target well under the set speed but never under v_ego,
|
||||
# so the car keeps accelerating and the driver feels nothing
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 26.0
|
||||
controller.update_target(30.0)
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
result = update_vcruise(vcruise, sm, toggles, now=90.0, v_ego=20.0, v_cruise=30.0)
|
||||
|
||||
assert result == pytest.approx(26.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_curve_speed_controller_glow_holds_through_the_recovery_ramp():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
curve_target = {"v": 14.0}
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = curve_target["v"]
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
update_vcruise(vcruise, sm, toggles, now=100.0, v_ego=20.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
# past the apex the target climbs back above v_ego while the car is still cornering
|
||||
curve_target["v"] = 18.0
|
||||
update_vcruise(vcruise, sm, toggles, now=100.05, v_ego=15.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
# fully released, but the glow only clears once the release has stuck
|
||||
curve_target["v"] = 20.0
|
||||
now = 100.1
|
||||
update_vcruise(vcruise, sm, toggles, now=now, v_ego=17.0)
|
||||
assert vcruise.csc_controlling_speed
|
||||
|
||||
for _ in range(int(CSC_GLOW_HOLD_TIME / DT_MDL) + 1):
|
||||
now += DT_MDL
|
||||
update_vcruise(vcruise, sm, toggles, now=now, v_ego=17.0)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
|
||||
|
||||
def test_curve_speed_controller_hysteresis_keeps_glow_off_for_marginal_targets():
|
||||
planner, vcruise = make_vcruise()
|
||||
sm = make_sm(standstill=False)
|
||||
toggles = make_toggles()
|
||||
toggles.curve_speed_controller = True
|
||||
|
||||
def set_curve_target(_v_ego, _v_cruise):
|
||||
vcruise.csc.target = 19.7
|
||||
|
||||
vcruise.csc.update_target = set_curve_target
|
||||
result = update_vcruise(vcruise, sm, toggles, now=50.0, v_ego=20.0)
|
||||
|
||||
assert result == pytest.approx(19.7)
|
||||
assert not vcruise.csc_controlling_speed
|
||||
assert controller.target == pytest.approx(30.0)
|
||||
|
||||
|
||||
def test_active_slc_control_target_applies_offset_and_cluster_diff():
|
||||
@@ -754,61 +509,17 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
|
||||
|
||||
def test_force_stop_reanchors_when_model_reopens_path_without_stop_action():
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 90.0
|
||||
vcruise.tracked_model_length = 60.0
|
||||
vcruise.force_stop_distance_cap = 90.0
|
||||
planner.model_length = 40.0
|
||||
vcruise.tracked_model_length = 10.0
|
||||
sm = make_sm(standstill=False)
|
||||
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
|
||||
|
||||
result = update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
|
||||
|
||||
assert vcruise.tracked_model_length == pytest.approx(90.0)
|
||||
assert vcruise.tracked_model_length == pytest.approx(40.0)
|
||||
assert result > 5.0
|
||||
|
||||
|
||||
def test_force_stop_does_not_reanchor_inside_reanchor_floor():
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 90.0
|
||||
vcruise.tracked_model_length = 25.0
|
||||
sm = make_sm(standstill=False)
|
||||
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
|
||||
|
||||
update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
|
||||
|
||||
assert vcruise.tracked_model_length < 25.0
|
||||
|
||||
|
||||
def test_force_stop_reanchor_bounded_by_distance_driven():
|
||||
# The line can't recede: a ballooning horizon may not push the stop past where it was at
|
||||
# commit minus the distance driven since.
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 200.0
|
||||
vcruise.tracked_model_length = 60.0
|
||||
vcruise.force_stop_distance_cap = 70.0
|
||||
sm = make_sm(standstill=False)
|
||||
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
|
||||
|
||||
update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=10.0)
|
||||
|
||||
assert vcruise.tracked_model_length <= 70.0 + FORCE_STOP_CAP_SLACK_M
|
||||
assert vcruise.tracked_model_length < 100.0 # nowhere near the 200 m the horizon claimed
|
||||
|
||||
|
||||
def test_force_stop_cap_slack_tapers_near_the_line():
|
||||
# Slack protects against an under-read at commit; held near the line it would just aim the
|
||||
# solver that far past the stop bar.
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 200.0
|
||||
vcruise.tracked_model_length = 60.0
|
||||
vcruise.force_stop_distance_cap = 12.0
|
||||
sm = make_sm(standstill=False)
|
||||
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
|
||||
|
||||
update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=5.0)
|
||||
|
||||
assert vcruise.tracked_model_length < 12.0 + FORCE_STOP_CAP_SLACK_M / 2.0
|
||||
|
||||
|
||||
def test_force_stop_does_not_reanchor_committed_model_stop():
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 40.0
|
||||
@@ -1090,16 +801,16 @@ def test_standstill_light_hold_expires_and_does_not_rearm_from_stopped_model():
|
||||
assert update_vcruise(vcruise, sm, toggles, now=0.0) == pytest.approx(0.0)
|
||||
assert vcruise.standstill_force_stop_reason == "light"
|
||||
|
||||
assert update_vcruise(vcruise, sm, toggles, now=STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME - 0.1) == pytest.approx(0.0)
|
||||
assert update_vcruise(vcruise, sm, toggles, now=4.9) == pytest.approx(0.0)
|
||||
assert vcruise.forcing_stop
|
||||
|
||||
assert update_vcruise(vcruise, sm, toggles, now=STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME + 0.1) == pytest.approx(20.0)
|
||||
assert update_vcruise(vcruise, sm, toggles, now=5.1) == pytest.approx(20.0)
|
||||
assert not vcruise.forcing_stop
|
||||
assert not vcruise.standstill_force_stop_hold
|
||||
|
||||
# The red-light model remains stopped, but Force Stop must stay released so
|
||||
# Experimental Mode can own the red-to-green departure.
|
||||
assert update_vcruise(vcruise, sm, toggles, now=STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME + 0.2) == pytest.approx(20.0)
|
||||
assert update_vcruise(vcruise, sm, toggles, now=5.2) == pytest.approx(20.0)
|
||||
assert not vcruise.forcing_stop
|
||||
|
||||
|
||||
|
||||
@@ -1,34 +1,13 @@
|
||||
import math
|
||||
import types
|
||||
|
||||
from cereal import car
|
||||
|
||||
import pytest
|
||||
|
||||
from openpilot.selfdrive.controls.controlsd import (TWITCH_GUARD_FLOOR, TWITCH_GUARD_MAX_SPEED,
|
||||
get_control_lateral_smooth_seconds,
|
||||
limit_curvature_to_plan, turn_lead_allowed)
|
||||
from openpilot.selfdrive.controls.controlsd import get_control_lateral_smooth_seconds, turn_lead_allowed
|
||||
|
||||
|
||||
LateralControlMode = car.CarControl.Actuators.LateralControlMode
|
||||
|
||||
|
||||
def _plan(xs, ys):
|
||||
return types.SimpleNamespace(position=types.SimpleNamespace(x=xs, y=ys))
|
||||
|
||||
|
||||
def _arc_plan(radius, n=200):
|
||||
# constant-radius arc, ~1 rad of heading — long enough to clear the reach gate
|
||||
return _plan([radius * math.sin(i / n) for i in range(n)],
|
||||
[radius * (1.0 - math.cos(i / n)) for i in range(n)])
|
||||
|
||||
|
||||
STRAIGHT_PLAN = _plan([i * 0.5 for i in range(200)], [0.0] * 200) # 100 m dead straight
|
||||
STANDSTILL_STUB_PLAN = _plan([0.0, 0.3], [0.0, 0.0])
|
||||
TURN_PLAN = _arc_plan(30.0) # 0.033 1/m (~81 deg of wheel), 25 m of reach
|
||||
GENTLE_BEND_PLAN = _arc_plan(143.0) # 0.007 1/m, barely bending
|
||||
|
||||
|
||||
def test_turn_lead_is_suppressed_only_during_applied_angle_control():
|
||||
assert not turn_lead_allowed("rivian", LateralControlMode.angle)
|
||||
assert turn_lead_allowed("rivian", LateralControlMode.torque)
|
||||
@@ -49,46 +28,3 @@ def test_non_rivian_control_smoothing_matches_starpilot(v_ego):
|
||||
])
|
||||
def test_rivian_control_smoothing_remains_speed_scheduled(v_ego, expected):
|
||||
assert get_control_lateral_smooth_seconds("rivian", v_ego, 0.4) == pytest.approx(expected)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("curvature", [0.0155, -0.0155])
|
||||
def test_twitch_against_a_straight_plan_is_clamped_to_the_floor(curvature):
|
||||
guarded = limit_curvature_to_plan(STRAIGHT_PLAN, curvature, 1.2)
|
||||
assert abs(guarded) == pytest.approx(TWITCH_GUARD_FLOOR)
|
||||
assert math.copysign(1.0, guarded) == math.copysign(1.0, curvature)
|
||||
|
||||
|
||||
def test_command_already_below_the_floor_is_untouched():
|
||||
assert limit_curvature_to_plan(STRAIGHT_PLAN, 0.0015, 1.2) == pytest.approx(0.0015)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("v_ego", [TWITCH_GUARD_MAX_SPEED, 6.0, 30.0])
|
||||
def test_guard_is_inactive_above_its_speed_band(v_ego):
|
||||
assert limit_curvature_to_plan(STRAIGHT_PLAN, 0.0155, v_ego) == pytest.approx(0.0155)
|
||||
|
||||
|
||||
def test_guard_fades_out_across_the_speed_band():
|
||||
full = limit_curvature_to_plan(STRAIGHT_PLAN, 0.0155, 1.2)
|
||||
half = limit_curvature_to_plan(STRAIGHT_PLAN, 0.0155, 3.5)
|
||||
assert full < half < 0.0155
|
||||
|
||||
|
||||
# turning authority must never be reduced: a real turn's action agrees with its own plan
|
||||
@pytest.mark.parametrize("ratio", [0.8, 1.0, 2.0, 3.0])
|
||||
def test_real_turns_tracking_their_own_plan_are_untouched(ratio):
|
||||
action = (1.0 / 30.0) * ratio
|
||||
assert limit_curvature_to_plan(TURN_PLAN, action, 1.2) == pytest.approx(action)
|
||||
|
||||
|
||||
def test_a_barely_bending_plan_does_not_license_a_large_command():
|
||||
guarded = limit_curvature_to_plan(GENTLE_BEND_PLAN, 0.0155, 1.2)
|
||||
assert TWITCH_GUARD_FLOOR < guarded < 0.008
|
||||
|
||||
|
||||
@pytest.mark.parametrize("plan", [STANDSTILL_STUB_PLAN, _plan([], [])])
|
||||
def test_guard_stands_down_when_the_plan_is_too_short_to_judge(plan):
|
||||
assert limit_curvature_to_plan(plan, 0.0155, 0.4) == pytest.approx(0.0155)
|
||||
|
||||
|
||||
def test_zero_command_stays_zero():
|
||||
assert limit_curvature_to_plan(STRAIGHT_PLAN, 0.0, 1.2) == 0.0
|
||||
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_8582732006986044846) {
|
||||
out_8582732006986044846[0] = delta_x[0] + nom_x[0];
|
||||
out_8582732006986044846[1] = delta_x[1] + nom_x[1];
|
||||
out_8582732006986044846[2] = delta_x[2] + nom_x[2];
|
||||
out_8582732006986044846[3] = delta_x[3] + nom_x[3];
|
||||
out_8582732006986044846[4] = delta_x[4] + nom_x[4];
|
||||
out_8582732006986044846[5] = delta_x[5] + nom_x[5];
|
||||
out_8582732006986044846[6] = delta_x[6] + nom_x[6];
|
||||
out_8582732006986044846[7] = delta_x[7] + nom_x[7];
|
||||
out_8582732006986044846[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) {
|
||||
out_555027713999943867[0] = delta_x[0] + nom_x[0];
|
||||
out_555027713999943867[1] = delta_x[1] + nom_x[1];
|
||||
out_555027713999943867[2] = delta_x[2] + nom_x[2];
|
||||
out_555027713999943867[3] = delta_x[3] + nom_x[3];
|
||||
out_555027713999943867[4] = delta_x[4] + nom_x[4];
|
||||
out_555027713999943867[5] = delta_x[5] + nom_x[5];
|
||||
out_555027713999943867[6] = delta_x[6] + nom_x[6];
|
||||
out_555027713999943867[7] = delta_x[7] + nom_x[7];
|
||||
out_555027713999943867[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_8739532987512141139) {
|
||||
out_8739532987512141139[0] = -nom_x[0] + true_x[0];
|
||||
out_8739532987512141139[1] = -nom_x[1] + true_x[1];
|
||||
out_8739532987512141139[2] = -nom_x[2] + true_x[2];
|
||||
out_8739532987512141139[3] = -nom_x[3] + true_x[3];
|
||||
out_8739532987512141139[4] = -nom_x[4] + true_x[4];
|
||||
out_8739532987512141139[5] = -nom_x[5] + true_x[5];
|
||||
out_8739532987512141139[6] = -nom_x[6] + true_x[6];
|
||||
out_8739532987512141139[7] = -nom_x[7] + true_x[7];
|
||||
out_8739532987512141139[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) {
|
||||
out_7816877518147233589[0] = -nom_x[0] + true_x[0];
|
||||
out_7816877518147233589[1] = -nom_x[1] + true_x[1];
|
||||
out_7816877518147233589[2] = -nom_x[2] + true_x[2];
|
||||
out_7816877518147233589[3] = -nom_x[3] + true_x[3];
|
||||
out_7816877518147233589[4] = -nom_x[4] + true_x[4];
|
||||
out_7816877518147233589[5] = -nom_x[5] + true_x[5];
|
||||
out_7816877518147233589[6] = -nom_x[6] + true_x[6];
|
||||
out_7816877518147233589[7] = -nom_x[7] + true_x[7];
|
||||
out_7816877518147233589[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_6103396635768963277) {
|
||||
out_6103396635768963277[0] = 1.0;
|
||||
out_6103396635768963277[1] = 0.0;
|
||||
out_6103396635768963277[2] = 0.0;
|
||||
out_6103396635768963277[3] = 0.0;
|
||||
out_6103396635768963277[4] = 0.0;
|
||||
out_6103396635768963277[5] = 0.0;
|
||||
out_6103396635768963277[6] = 0.0;
|
||||
out_6103396635768963277[7] = 0.0;
|
||||
out_6103396635768963277[8] = 0.0;
|
||||
out_6103396635768963277[9] = 0.0;
|
||||
out_6103396635768963277[10] = 1.0;
|
||||
out_6103396635768963277[11] = 0.0;
|
||||
out_6103396635768963277[12] = 0.0;
|
||||
out_6103396635768963277[13] = 0.0;
|
||||
out_6103396635768963277[14] = 0.0;
|
||||
out_6103396635768963277[15] = 0.0;
|
||||
out_6103396635768963277[16] = 0.0;
|
||||
out_6103396635768963277[17] = 0.0;
|
||||
out_6103396635768963277[18] = 0.0;
|
||||
out_6103396635768963277[19] = 0.0;
|
||||
out_6103396635768963277[20] = 1.0;
|
||||
out_6103396635768963277[21] = 0.0;
|
||||
out_6103396635768963277[22] = 0.0;
|
||||
out_6103396635768963277[23] = 0.0;
|
||||
out_6103396635768963277[24] = 0.0;
|
||||
out_6103396635768963277[25] = 0.0;
|
||||
out_6103396635768963277[26] = 0.0;
|
||||
out_6103396635768963277[27] = 0.0;
|
||||
out_6103396635768963277[28] = 0.0;
|
||||
out_6103396635768963277[29] = 0.0;
|
||||
out_6103396635768963277[30] = 1.0;
|
||||
out_6103396635768963277[31] = 0.0;
|
||||
out_6103396635768963277[32] = 0.0;
|
||||
out_6103396635768963277[33] = 0.0;
|
||||
out_6103396635768963277[34] = 0.0;
|
||||
out_6103396635768963277[35] = 0.0;
|
||||
out_6103396635768963277[36] = 0.0;
|
||||
out_6103396635768963277[37] = 0.0;
|
||||
out_6103396635768963277[38] = 0.0;
|
||||
out_6103396635768963277[39] = 0.0;
|
||||
out_6103396635768963277[40] = 1.0;
|
||||
out_6103396635768963277[41] = 0.0;
|
||||
out_6103396635768963277[42] = 0.0;
|
||||
out_6103396635768963277[43] = 0.0;
|
||||
out_6103396635768963277[44] = 0.0;
|
||||
out_6103396635768963277[45] = 0.0;
|
||||
out_6103396635768963277[46] = 0.0;
|
||||
out_6103396635768963277[47] = 0.0;
|
||||
out_6103396635768963277[48] = 0.0;
|
||||
out_6103396635768963277[49] = 0.0;
|
||||
out_6103396635768963277[50] = 1.0;
|
||||
out_6103396635768963277[51] = 0.0;
|
||||
out_6103396635768963277[52] = 0.0;
|
||||
out_6103396635768963277[53] = 0.0;
|
||||
out_6103396635768963277[54] = 0.0;
|
||||
out_6103396635768963277[55] = 0.0;
|
||||
out_6103396635768963277[56] = 0.0;
|
||||
out_6103396635768963277[57] = 0.0;
|
||||
out_6103396635768963277[58] = 0.0;
|
||||
out_6103396635768963277[59] = 0.0;
|
||||
out_6103396635768963277[60] = 1.0;
|
||||
out_6103396635768963277[61] = 0.0;
|
||||
out_6103396635768963277[62] = 0.0;
|
||||
out_6103396635768963277[63] = 0.0;
|
||||
out_6103396635768963277[64] = 0.0;
|
||||
out_6103396635768963277[65] = 0.0;
|
||||
out_6103396635768963277[66] = 0.0;
|
||||
out_6103396635768963277[67] = 0.0;
|
||||
out_6103396635768963277[68] = 0.0;
|
||||
out_6103396635768963277[69] = 0.0;
|
||||
out_6103396635768963277[70] = 1.0;
|
||||
out_6103396635768963277[71] = 0.0;
|
||||
out_6103396635768963277[72] = 0.0;
|
||||
out_6103396635768963277[73] = 0.0;
|
||||
out_6103396635768963277[74] = 0.0;
|
||||
out_6103396635768963277[75] = 0.0;
|
||||
out_6103396635768963277[76] = 0.0;
|
||||
out_6103396635768963277[77] = 0.0;
|
||||
out_6103396635768963277[78] = 0.0;
|
||||
out_6103396635768963277[79] = 0.0;
|
||||
out_6103396635768963277[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4533074481319696241) {
|
||||
out_4533074481319696241[0] = 1.0;
|
||||
out_4533074481319696241[1] = 0.0;
|
||||
out_4533074481319696241[2] = 0.0;
|
||||
out_4533074481319696241[3] = 0.0;
|
||||
out_4533074481319696241[4] = 0.0;
|
||||
out_4533074481319696241[5] = 0.0;
|
||||
out_4533074481319696241[6] = 0.0;
|
||||
out_4533074481319696241[7] = 0.0;
|
||||
out_4533074481319696241[8] = 0.0;
|
||||
out_4533074481319696241[9] = 0.0;
|
||||
out_4533074481319696241[10] = 1.0;
|
||||
out_4533074481319696241[11] = 0.0;
|
||||
out_4533074481319696241[12] = 0.0;
|
||||
out_4533074481319696241[13] = 0.0;
|
||||
out_4533074481319696241[14] = 0.0;
|
||||
out_4533074481319696241[15] = 0.0;
|
||||
out_4533074481319696241[16] = 0.0;
|
||||
out_4533074481319696241[17] = 0.0;
|
||||
out_4533074481319696241[18] = 0.0;
|
||||
out_4533074481319696241[19] = 0.0;
|
||||
out_4533074481319696241[20] = 1.0;
|
||||
out_4533074481319696241[21] = 0.0;
|
||||
out_4533074481319696241[22] = 0.0;
|
||||
out_4533074481319696241[23] = 0.0;
|
||||
out_4533074481319696241[24] = 0.0;
|
||||
out_4533074481319696241[25] = 0.0;
|
||||
out_4533074481319696241[26] = 0.0;
|
||||
out_4533074481319696241[27] = 0.0;
|
||||
out_4533074481319696241[28] = 0.0;
|
||||
out_4533074481319696241[29] = 0.0;
|
||||
out_4533074481319696241[30] = 1.0;
|
||||
out_4533074481319696241[31] = 0.0;
|
||||
out_4533074481319696241[32] = 0.0;
|
||||
out_4533074481319696241[33] = 0.0;
|
||||
out_4533074481319696241[34] = 0.0;
|
||||
out_4533074481319696241[35] = 0.0;
|
||||
out_4533074481319696241[36] = 0.0;
|
||||
out_4533074481319696241[37] = 0.0;
|
||||
out_4533074481319696241[38] = 0.0;
|
||||
out_4533074481319696241[39] = 0.0;
|
||||
out_4533074481319696241[40] = 1.0;
|
||||
out_4533074481319696241[41] = 0.0;
|
||||
out_4533074481319696241[42] = 0.0;
|
||||
out_4533074481319696241[43] = 0.0;
|
||||
out_4533074481319696241[44] = 0.0;
|
||||
out_4533074481319696241[45] = 0.0;
|
||||
out_4533074481319696241[46] = 0.0;
|
||||
out_4533074481319696241[47] = 0.0;
|
||||
out_4533074481319696241[48] = 0.0;
|
||||
out_4533074481319696241[49] = 0.0;
|
||||
out_4533074481319696241[50] = 1.0;
|
||||
out_4533074481319696241[51] = 0.0;
|
||||
out_4533074481319696241[52] = 0.0;
|
||||
out_4533074481319696241[53] = 0.0;
|
||||
out_4533074481319696241[54] = 0.0;
|
||||
out_4533074481319696241[55] = 0.0;
|
||||
out_4533074481319696241[56] = 0.0;
|
||||
out_4533074481319696241[57] = 0.0;
|
||||
out_4533074481319696241[58] = 0.0;
|
||||
out_4533074481319696241[59] = 0.0;
|
||||
out_4533074481319696241[60] = 1.0;
|
||||
out_4533074481319696241[61] = 0.0;
|
||||
out_4533074481319696241[62] = 0.0;
|
||||
out_4533074481319696241[63] = 0.0;
|
||||
out_4533074481319696241[64] = 0.0;
|
||||
out_4533074481319696241[65] = 0.0;
|
||||
out_4533074481319696241[66] = 0.0;
|
||||
out_4533074481319696241[67] = 0.0;
|
||||
out_4533074481319696241[68] = 0.0;
|
||||
out_4533074481319696241[69] = 0.0;
|
||||
out_4533074481319696241[70] = 1.0;
|
||||
out_4533074481319696241[71] = 0.0;
|
||||
out_4533074481319696241[72] = 0.0;
|
||||
out_4533074481319696241[73] = 0.0;
|
||||
out_4533074481319696241[74] = 0.0;
|
||||
out_4533074481319696241[75] = 0.0;
|
||||
out_4533074481319696241[76] = 0.0;
|
||||
out_4533074481319696241[77] = 0.0;
|
||||
out_4533074481319696241[78] = 0.0;
|
||||
out_4533074481319696241[79] = 0.0;
|
||||
out_4533074481319696241[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_1718122372243364932) {
|
||||
out_1718122372243364932[0] = state[0];
|
||||
out_1718122372243364932[1] = state[1];
|
||||
out_1718122372243364932[2] = state[2];
|
||||
out_1718122372243364932[3] = state[3];
|
||||
out_1718122372243364932[4] = state[4];
|
||||
out_1718122372243364932[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_1718122372243364932[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_1718122372243364932[7] = state[7];
|
||||
out_1718122372243364932[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5039337670867030572) {
|
||||
out_5039337670867030572[0] = state[0];
|
||||
out_5039337670867030572[1] = state[1];
|
||||
out_5039337670867030572[2] = state[2];
|
||||
out_5039337670867030572[3] = state[3];
|
||||
out_5039337670867030572[4] = state[4];
|
||||
out_5039337670867030572[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_5039337670867030572[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_5039337670867030572[7] = state[7];
|
||||
out_5039337670867030572[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_3952025267043728807) {
|
||||
out_3952025267043728807[0] = 1;
|
||||
out_3952025267043728807[1] = 0;
|
||||
out_3952025267043728807[2] = 0;
|
||||
out_3952025267043728807[3] = 0;
|
||||
out_3952025267043728807[4] = 0;
|
||||
out_3952025267043728807[5] = 0;
|
||||
out_3952025267043728807[6] = 0;
|
||||
out_3952025267043728807[7] = 0;
|
||||
out_3952025267043728807[8] = 0;
|
||||
out_3952025267043728807[9] = 0;
|
||||
out_3952025267043728807[10] = 1;
|
||||
out_3952025267043728807[11] = 0;
|
||||
out_3952025267043728807[12] = 0;
|
||||
out_3952025267043728807[13] = 0;
|
||||
out_3952025267043728807[14] = 0;
|
||||
out_3952025267043728807[15] = 0;
|
||||
out_3952025267043728807[16] = 0;
|
||||
out_3952025267043728807[17] = 0;
|
||||
out_3952025267043728807[18] = 0;
|
||||
out_3952025267043728807[19] = 0;
|
||||
out_3952025267043728807[20] = 1;
|
||||
out_3952025267043728807[21] = 0;
|
||||
out_3952025267043728807[22] = 0;
|
||||
out_3952025267043728807[23] = 0;
|
||||
out_3952025267043728807[24] = 0;
|
||||
out_3952025267043728807[25] = 0;
|
||||
out_3952025267043728807[26] = 0;
|
||||
out_3952025267043728807[27] = 0;
|
||||
out_3952025267043728807[28] = 0;
|
||||
out_3952025267043728807[29] = 0;
|
||||
out_3952025267043728807[30] = 1;
|
||||
out_3952025267043728807[31] = 0;
|
||||
out_3952025267043728807[32] = 0;
|
||||
out_3952025267043728807[33] = 0;
|
||||
out_3952025267043728807[34] = 0;
|
||||
out_3952025267043728807[35] = 0;
|
||||
out_3952025267043728807[36] = 0;
|
||||
out_3952025267043728807[37] = 0;
|
||||
out_3952025267043728807[38] = 0;
|
||||
out_3952025267043728807[39] = 0;
|
||||
out_3952025267043728807[40] = 1;
|
||||
out_3952025267043728807[41] = 0;
|
||||
out_3952025267043728807[42] = 0;
|
||||
out_3952025267043728807[43] = 0;
|
||||
out_3952025267043728807[44] = 0;
|
||||
out_3952025267043728807[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_3952025267043728807[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_3952025267043728807[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3952025267043728807[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3952025267043728807[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_3952025267043728807[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_3952025267043728807[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_3952025267043728807[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_3952025267043728807[53] = -9.8100000000000005*dt;
|
||||
out_3952025267043728807[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_3952025267043728807[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_3952025267043728807[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3952025267043728807[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3952025267043728807[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_3952025267043728807[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_3952025267043728807[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_3952025267043728807[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_3952025267043728807[62] = 0;
|
||||
out_3952025267043728807[63] = 0;
|
||||
out_3952025267043728807[64] = 0;
|
||||
out_3952025267043728807[65] = 0;
|
||||
out_3952025267043728807[66] = 0;
|
||||
out_3952025267043728807[67] = 0;
|
||||
out_3952025267043728807[68] = 0;
|
||||
out_3952025267043728807[69] = 0;
|
||||
out_3952025267043728807[70] = 1;
|
||||
out_3952025267043728807[71] = 0;
|
||||
out_3952025267043728807[72] = 0;
|
||||
out_3952025267043728807[73] = 0;
|
||||
out_3952025267043728807[74] = 0;
|
||||
out_3952025267043728807[75] = 0;
|
||||
out_3952025267043728807[76] = 0;
|
||||
out_3952025267043728807[77] = 0;
|
||||
out_3952025267043728807[78] = 0;
|
||||
out_3952025267043728807[79] = 0;
|
||||
out_3952025267043728807[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5181832378332727216) {
|
||||
out_5181832378332727216[0] = 1;
|
||||
out_5181832378332727216[1] = 0;
|
||||
out_5181832378332727216[2] = 0;
|
||||
out_5181832378332727216[3] = 0;
|
||||
out_5181832378332727216[4] = 0;
|
||||
out_5181832378332727216[5] = 0;
|
||||
out_5181832378332727216[6] = 0;
|
||||
out_5181832378332727216[7] = 0;
|
||||
out_5181832378332727216[8] = 0;
|
||||
out_5181832378332727216[9] = 0;
|
||||
out_5181832378332727216[10] = 1;
|
||||
out_5181832378332727216[11] = 0;
|
||||
out_5181832378332727216[12] = 0;
|
||||
out_5181832378332727216[13] = 0;
|
||||
out_5181832378332727216[14] = 0;
|
||||
out_5181832378332727216[15] = 0;
|
||||
out_5181832378332727216[16] = 0;
|
||||
out_5181832378332727216[17] = 0;
|
||||
out_5181832378332727216[18] = 0;
|
||||
out_5181832378332727216[19] = 0;
|
||||
out_5181832378332727216[20] = 1;
|
||||
out_5181832378332727216[21] = 0;
|
||||
out_5181832378332727216[22] = 0;
|
||||
out_5181832378332727216[23] = 0;
|
||||
out_5181832378332727216[24] = 0;
|
||||
out_5181832378332727216[25] = 0;
|
||||
out_5181832378332727216[26] = 0;
|
||||
out_5181832378332727216[27] = 0;
|
||||
out_5181832378332727216[28] = 0;
|
||||
out_5181832378332727216[29] = 0;
|
||||
out_5181832378332727216[30] = 1;
|
||||
out_5181832378332727216[31] = 0;
|
||||
out_5181832378332727216[32] = 0;
|
||||
out_5181832378332727216[33] = 0;
|
||||
out_5181832378332727216[34] = 0;
|
||||
out_5181832378332727216[35] = 0;
|
||||
out_5181832378332727216[36] = 0;
|
||||
out_5181832378332727216[37] = 0;
|
||||
out_5181832378332727216[38] = 0;
|
||||
out_5181832378332727216[39] = 0;
|
||||
out_5181832378332727216[40] = 1;
|
||||
out_5181832378332727216[41] = 0;
|
||||
out_5181832378332727216[42] = 0;
|
||||
out_5181832378332727216[43] = 0;
|
||||
out_5181832378332727216[44] = 0;
|
||||
out_5181832378332727216[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_5181832378332727216[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5181832378332727216[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_5181832378332727216[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5181832378332727216[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5181832378332727216[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[53] = -9.8100000000000005*dt;
|
||||
out_5181832378332727216[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_5181832378332727216[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5181832378332727216[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_5181832378332727216[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5181832378332727216[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_5181832378332727216[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[62] = 0;
|
||||
out_5181832378332727216[63] = 0;
|
||||
out_5181832378332727216[64] = 0;
|
||||
out_5181832378332727216[65] = 0;
|
||||
out_5181832378332727216[66] = 0;
|
||||
out_5181832378332727216[67] = 0;
|
||||
out_5181832378332727216[68] = 0;
|
||||
out_5181832378332727216[69] = 0;
|
||||
out_5181832378332727216[70] = 1;
|
||||
out_5181832378332727216[71] = 0;
|
||||
out_5181832378332727216[72] = 0;
|
||||
out_5181832378332727216[73] = 0;
|
||||
out_5181832378332727216[74] = 0;
|
||||
out_5181832378332727216[75] = 0;
|
||||
out_5181832378332727216[76] = 0;
|
||||
out_5181832378332727216[77] = 0;
|
||||
out_5181832378332727216[78] = 0;
|
||||
out_5181832378332727216[79] = 0;
|
||||
out_5181832378332727216[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_7141069195581345731) {
|
||||
out_7141069195581345731[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_9064502358369772671) {
|
||||
out_9064502358369772671[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_3089791590143273960) {
|
||||
out_3089791590143273960[0] = 0;
|
||||
out_3089791590143273960[1] = 0;
|
||||
out_3089791590143273960[2] = 0;
|
||||
out_3089791590143273960[3] = 0;
|
||||
out_3089791590143273960[4] = 0;
|
||||
out_3089791590143273960[5] = 0;
|
||||
out_3089791590143273960[6] = 1;
|
||||
out_3089791590143273960[7] = 0;
|
||||
out_3089791590143273960[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_9009977767205190535) {
|
||||
out_9009977767205190535[0] = 0;
|
||||
out_9009977767205190535[1] = 0;
|
||||
out_9009977767205190535[2] = 0;
|
||||
out_9009977767205190535[3] = 0;
|
||||
out_9009977767205190535[4] = 0;
|
||||
out_9009977767205190535[5] = 0;
|
||||
out_9009977767205190535[6] = 1;
|
||||
out_9009977767205190535[7] = 0;
|
||||
out_9009977767205190535[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_7882213092182597875) {
|
||||
out_7882213092182597875[0] = state[4];
|
||||
out_7882213092182597875[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4315668618686905201) {
|
||||
out_4315668618686905201[0] = state[4];
|
||||
out_4315668618686905201[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_5262441189148773526) {
|
||||
out_5262441189148773526[0] = 0;
|
||||
out_5262441189148773526[1] = 0;
|
||||
out_5262441189148773526[2] = 0;
|
||||
out_5262441189148773526[3] = 0;
|
||||
out_5262441189148773526[4] = 1;
|
||||
out_5262441189148773526[5] = 0;
|
||||
out_5262441189148773526[6] = 0;
|
||||
out_5262441189148773526[7] = 0;
|
||||
out_5262441189148773526[8] = 0;
|
||||
out_5262441189148773526[9] = 0;
|
||||
out_5262441189148773526[10] = 0;
|
||||
out_5262441189148773526[11] = 0;
|
||||
out_5262441189148773526[12] = 0;
|
||||
out_5262441189148773526[13] = 0;
|
||||
out_5262441189148773526[14] = 1;
|
||||
out_5262441189148773526[15] = 0;
|
||||
out_5262441189148773526[16] = 0;
|
||||
out_5262441189148773526[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4579303311377586733) {
|
||||
out_4579303311377586733[0] = 0;
|
||||
out_4579303311377586733[1] = 0;
|
||||
out_4579303311377586733[2] = 0;
|
||||
out_4579303311377586733[3] = 0;
|
||||
out_4579303311377586733[4] = 1;
|
||||
out_4579303311377586733[5] = 0;
|
||||
out_4579303311377586733[6] = 0;
|
||||
out_4579303311377586733[7] = 0;
|
||||
out_4579303311377586733[8] = 0;
|
||||
out_4579303311377586733[9] = 0;
|
||||
out_4579303311377586733[10] = 0;
|
||||
out_4579303311377586733[11] = 0;
|
||||
out_4579303311377586733[12] = 0;
|
||||
out_4579303311377586733[13] = 0;
|
||||
out_4579303311377586733[14] = 1;
|
||||
out_4579303311377586733[15] = 0;
|
||||
out_4579303311377586733[16] = 0;
|
||||
out_4579303311377586733[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_8844017396137502869) {
|
||||
out_8844017396137502869[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8507922675073509890) {
|
||||
out_8507922675073509890[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_571458631636025333) {
|
||||
out_571458631636025333[0] = 0;
|
||||
out_571458631636025333[1] = 0;
|
||||
out_571458631636025333[2] = 0;
|
||||
out_571458631636025333[3] = 0;
|
||||
out_571458631636025333[4] = 1;
|
||||
out_571458631636025333[5] = 0;
|
||||
out_571458631636025333[6] = 0;
|
||||
out_571458631636025333[7] = 0;
|
||||
out_571458631636025333[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2093287425713573780) {
|
||||
out_2093287425713573780[0] = 0;
|
||||
out_2093287425713573780[1] = 0;
|
||||
out_2093287425713573780[2] = 0;
|
||||
out_2093287425713573780[3] = 0;
|
||||
out_2093287425713573780[4] = 1;
|
||||
out_2093287425713573780[5] = 0;
|
||||
out_2093287425713573780[6] = 0;
|
||||
out_2093287425713573780[7] = 0;
|
||||
out_2093287425713573780[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_47707931871505729) {
|
||||
out_47707931871505729[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4180836484642303770) {
|
||||
out_4180836484642303770[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_214734379617526641) {
|
||||
out_214734379617526641[0] = 0;
|
||||
out_214734379617526641[1] = 0;
|
||||
out_214734379617526641[2] = 0;
|
||||
out_214734379617526641[3] = 0;
|
||||
out_214734379617526641[4] = 0;
|
||||
out_214734379617526641[5] = 0;
|
||||
out_214734379617526641[6] = 0;
|
||||
out_214734379617526641[7] = 1;
|
||||
out_214734379617526641[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_5695262987630304857) {
|
||||
out_5695262987630304857[0] = 0;
|
||||
out_5695262987630304857[1] = 0;
|
||||
out_5695262987630304857[2] = 0;
|
||||
out_5695262987630304857[3] = 0;
|
||||
out_5695262987630304857[4] = 0;
|
||||
out_5695262987630304857[5] = 0;
|
||||
out_5695262987630304857[6] = 0;
|
||||
out_5695262987630304857[7] = 1;
|
||||
out_5695262987630304857[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_3085677766224822857) {
|
||||
out_3085677766224822857[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4062829090708927026) {
|
||||
out_4062829090708927026[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_2746221943436450244) {
|
||||
out_2746221943436450244[0] = 0;
|
||||
out_2746221943436450244[1] = 0;
|
||||
out_2746221943436450244[2] = 0;
|
||||
out_2746221943436450244[3] = 1;
|
||||
out_2746221943436450244[4] = 0;
|
||||
out_2746221943436450244[5] = 0;
|
||||
out_2746221943436450244[6] = 0;
|
||||
out_2746221943436450244[7] = 0;
|
||||
out_2746221943436450244[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4268050737513998691) {
|
||||
out_4268050737513998691[0] = 0;
|
||||
out_4268050737513998691[1] = 0;
|
||||
out_4268050737513998691[2] = 0;
|
||||
out_4268050737513998691[3] = 1;
|
||||
out_4268050737513998691[4] = 0;
|
||||
out_4268050737513998691[5] = 0;
|
||||
out_4268050737513998691[6] = 0;
|
||||
out_4268050737513998691[7] = 0;
|
||||
out_4268050737513998691[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_6605119900545468463) {
|
||||
out_6605119900545468463[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7564412822171847455) {
|
||||
out_7564412822171847455[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_61227287321633149) {
|
||||
out_61227287321633149[0] = 0;
|
||||
out_61227287321633149[1] = 1;
|
||||
out_61227287321633149[2] = 0;
|
||||
out_61227287321633149[3] = 0;
|
||||
out_61227287321633149[4] = 0;
|
||||
out_61227287321633149[5] = 0;
|
||||
out_61227287321633149[6] = 0;
|
||||
out_61227287321633149[7] = 0;
|
||||
out_61227287321633149[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5981413464383549724) {
|
||||
out_5981413464383549724[0] = 0;
|
||||
out_5981413464383549724[1] = 1;
|
||||
out_5981413464383549724[2] = 0;
|
||||
out_5981413464383549724[3] = 0;
|
||||
out_5981413464383549724[4] = 0;
|
||||
out_5981413464383549724[5] = 0;
|
||||
out_5981413464383549724[6] = 0;
|
||||
out_5981413464383549724[7] = 0;
|
||||
out_5981413464383549724[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_8962024790070879613) {
|
||||
out_8962024790070879613[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1579900780372029809) {
|
||||
out_1579900780372029809[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_5143626304391163723) {
|
||||
out_5143626304391163723[0] = 1;
|
||||
out_5143626304391163723[1] = 0;
|
||||
out_5143626304391163723[2] = 0;
|
||||
out_5143626304391163723[3] = 0;
|
||||
out_5143626304391163723[4] = 0;
|
||||
out_5143626304391163723[5] = 0;
|
||||
out_5143626304391163723[6] = 0;
|
||||
out_5143626304391163723[7] = 0;
|
||||
out_5143626304391163723[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7382931592256471318) {
|
||||
out_7382931592256471318[0] = 1;
|
||||
out_7382931592256471318[1] = 0;
|
||||
out_7382931592256471318[2] = 0;
|
||||
out_7382931592256471318[3] = 0;
|
||||
out_7382931592256471318[4] = 0;
|
||||
out_7382931592256471318[5] = 0;
|
||||
out_7382931592256471318[6] = 0;
|
||||
out_7382931592256471318[7] = 0;
|
||||
out_7382931592256471318[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_6721943511569860764) {
|
||||
out_6721943511569860764[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6613551970606485049) {
|
||||
out_6613551970606485049[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_411473722615824835) {
|
||||
out_411473722615824835[0] = 0;
|
||||
out_411473722615824835[1] = 0;
|
||||
out_411473722615824835[2] = 0;
|
||||
out_411473722615824835[3] = 0;
|
||||
out_411473722615824835[4] = 0;
|
||||
out_411473722615824835[5] = 0;
|
||||
out_411473722615824835[6] = 0;
|
||||
out_411473722615824835[7] = 0;
|
||||
out_411473722615824835[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8979331805328230107) {
|
||||
out_8979331805328230107[0] = 0;
|
||||
out_8979331805328230107[1] = 0;
|
||||
out_8979331805328230107[2] = 0;
|
||||
out_8979331805328230107[3] = 0;
|
||||
out_8979331805328230107[4] = 0;
|
||||
out_8979331805328230107[5] = 0;
|
||||
out_8979331805328230107[6] = 0;
|
||||
out_8979331805328230107[7] = 0;
|
||||
out_8979331805328230107[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8582732006986044846) {
|
||||
err_fun(nom_x, delta_x, out_8582732006986044846);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) {
|
||||
err_fun(nom_x, delta_x, out_555027713999943867);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8739532987512141139) {
|
||||
inv_err_fun(nom_x, true_x, out_8739532987512141139);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) {
|
||||
inv_err_fun(nom_x, true_x, out_7816877518147233589);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_6103396635768963277) {
|
||||
H_mod_fun(state, out_6103396635768963277);
|
||||
void car_H_mod_fun(double *state, double *out_4533074481319696241) {
|
||||
H_mod_fun(state, out_4533074481319696241);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_1718122372243364932) {
|
||||
f_fun(state, dt, out_1718122372243364932);
|
||||
void car_f_fun(double *state, double dt, double *out_5039337670867030572) {
|
||||
f_fun(state, dt, out_5039337670867030572);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_3952025267043728807) {
|
||||
F_fun(state, dt, out_3952025267043728807);
|
||||
void car_F_fun(double *state, double dt, double *out_5181832378332727216) {
|
||||
F_fun(state, dt, out_5181832378332727216);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_7141069195581345731) {
|
||||
h_25(state, unused, out_7141069195581345731);
|
||||
void car_h_25(double *state, double *unused, double *out_9064502358369772671) {
|
||||
h_25(state, unused, out_9064502358369772671);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_3089791590143273960) {
|
||||
H_25(state, unused, out_3089791590143273960);
|
||||
void car_H_25(double *state, double *unused, double *out_9009977767205190535) {
|
||||
H_25(state, unused, out_9009977767205190535);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_7882213092182597875) {
|
||||
h_24(state, unused, out_7882213092182597875);
|
||||
void car_h_24(double *state, double *unused, double *out_4315668618686905201) {
|
||||
h_24(state, unused, out_4315668618686905201);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_5262441189148773526) {
|
||||
H_24(state, unused, out_5262441189148773526);
|
||||
void car_H_24(double *state, double *unused, double *out_4579303311377586733) {
|
||||
H_24(state, unused, out_4579303311377586733);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_8844017396137502869) {
|
||||
h_30(state, unused, out_8844017396137502869);
|
||||
void car_h_30(double *state, double *unused, double *out_8507922675073509890) {
|
||||
h_30(state, unused, out_8507922675073509890);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_571458631636025333) {
|
||||
H_30(state, unused, out_571458631636025333);
|
||||
void car_H_30(double *state, double *unused, double *out_2093287425713573780) {
|
||||
H_30(state, unused, out_2093287425713573780);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_47707931871505729) {
|
||||
h_26(state, unused, out_47707931871505729);
|
||||
void car_h_26(double *state, double *unused, double *out_4180836484642303770) {
|
||||
h_26(state, unused, out_4180836484642303770);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_214734379617526641) {
|
||||
H_26(state, unused, out_214734379617526641);
|
||||
void car_H_26(double *state, double *unused, double *out_5695262987630304857) {
|
||||
H_26(state, unused, out_5695262987630304857);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_3085677766224822857) {
|
||||
h_27(state, unused, out_3085677766224822857);
|
||||
void car_h_27(double *state, double *unused, double *out_4062829090708927026) {
|
||||
h_27(state, unused, out_4062829090708927026);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_2746221943436450244) {
|
||||
H_27(state, unused, out_2746221943436450244);
|
||||
void car_H_27(double *state, double *unused, double *out_4268050737513998691) {
|
||||
H_27(state, unused, out_4268050737513998691);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_6605119900545468463) {
|
||||
h_29(state, unused, out_6605119900545468463);
|
||||
void car_h_29(double *state, double *unused, double *out_7564412822171847455) {
|
||||
h_29(state, unused, out_7564412822171847455);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_61227287321633149) {
|
||||
H_29(state, unused, out_61227287321633149);
|
||||
void car_H_29(double *state, double *unused, double *out_5981413464383549724) {
|
||||
H_29(state, unused, out_5981413464383549724);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_8962024790070879613) {
|
||||
h_28(state, unused, out_8962024790070879613);
|
||||
void car_h_28(double *state, double *unused, double *out_1579900780372029809) {
|
||||
h_28(state, unused, out_1579900780372029809);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_5143626304391163723) {
|
||||
H_28(state, unused, out_5143626304391163723);
|
||||
void car_H_28(double *state, double *unused, double *out_7382931592256471318) {
|
||||
H_28(state, unused, out_7382931592256471318);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_6721943511569860764) {
|
||||
h_31(state, unused, out_6721943511569860764);
|
||||
void car_h_31(double *state, double *unused, double *out_6613551970606485049) {
|
||||
h_31(state, unused, out_6613551970606485049);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_411473722615824835) {
|
||||
H_31(state, unused, out_411473722615824835);
|
||||
void car_H_31(double *state, double *unused, double *out_8979331805328230107) {
|
||||
H_31(state, unused, out_8979331805328230107);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_8582732006986044846);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8739532987512141139);
|
||||
void car_H_mod_fun(double *state, double *out_6103396635768963277);
|
||||
void car_f_fun(double *state, double dt, double *out_1718122372243364932);
|
||||
void car_F_fun(double *state, double dt, double *out_3952025267043728807);
|
||||
void car_h_25(double *state, double *unused, double *out_7141069195581345731);
|
||||
void car_H_25(double *state, double *unused, double *out_3089791590143273960);
|
||||
void car_h_24(double *state, double *unused, double *out_7882213092182597875);
|
||||
void car_H_24(double *state, double *unused, double *out_5262441189148773526);
|
||||
void car_h_30(double *state, double *unused, double *out_8844017396137502869);
|
||||
void car_H_30(double *state, double *unused, double *out_571458631636025333);
|
||||
void car_h_26(double *state, double *unused, double *out_47707931871505729);
|
||||
void car_H_26(double *state, double *unused, double *out_214734379617526641);
|
||||
void car_h_27(double *state, double *unused, double *out_3085677766224822857);
|
||||
void car_H_27(double *state, double *unused, double *out_2746221943436450244);
|
||||
void car_h_29(double *state, double *unused, double *out_6605119900545468463);
|
||||
void car_H_29(double *state, double *unused, double *out_61227287321633149);
|
||||
void car_h_28(double *state, double *unused, double *out_8962024790070879613);
|
||||
void car_H_28(double *state, double *unused, double *out_5143626304391163723);
|
||||
void car_h_31(double *state, double *unused, double *out_6721943511569860764);
|
||||
void car_H_31(double *state, double *unused, double *out_411473722615824835);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589);
|
||||
void car_H_mod_fun(double *state, double *out_4533074481319696241);
|
||||
void car_f_fun(double *state, double dt, double *out_5039337670867030572);
|
||||
void car_F_fun(double *state, double dt, double *out_5181832378332727216);
|
||||
void car_h_25(double *state, double *unused, double *out_9064502358369772671);
|
||||
void car_H_25(double *state, double *unused, double *out_9009977767205190535);
|
||||
void car_h_24(double *state, double *unused, double *out_4315668618686905201);
|
||||
void car_H_24(double *state, double *unused, double *out_4579303311377586733);
|
||||
void car_h_30(double *state, double *unused, double *out_8507922675073509890);
|
||||
void car_H_30(double *state, double *unused, double *out_2093287425713573780);
|
||||
void car_h_26(double *state, double *unused, double *out_4180836484642303770);
|
||||
void car_H_26(double *state, double *unused, double *out_5695262987630304857);
|
||||
void car_h_27(double *state, double *unused, double *out_4062829090708927026);
|
||||
void car_H_27(double *state, double *unused, double *out_4268050737513998691);
|
||||
void car_h_29(double *state, double *unused, double *out_7564412822171847455);
|
||||
void car_H_29(double *state, double *unused, double *out_5981413464383549724);
|
||||
void car_h_28(double *state, double *unused, double *out_1579900780372029809);
|
||||
void car_H_28(double *state, double *unused, double *out_7382931592256471318);
|
||||
void car_h_31(double *state, double *unused, double *out_6613551970606485049);
|
||||
void car_H_31(double *state, double *unused, double *out_8979331805328230107);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user