a80ce3cdbb
* add cluster alpha * add dep * add dep * fix usb timeout * fix usb timeout * Improve error handling in USB frame transmission Refactor error handling and input draining in USB frame methods. * Refactor JPEG rendering logic in main.py Refactor JPEG rendering to improve readability and add logging. * Refactor _send_frame_no_ack method Refactor _send_frame_no_ack method for better readability and structure. * Update main.py * Update main.py * Update cluster_usb_display.py * Increase NUM_READERS from 25 to 40 * Add center_clock_text attribute to cluster model * Add replace import from dataclasses * Update main.py * Implement center clock drawing in cluster renderer Added a new method to draw the center clock on the cluster UI. * Update cluster_renderer.py * Simplify input draining condition in USB frame method Refactor input draining logic to improve readability. * Update main.py * Update cluster_renderer.py * Update main.py * Update cluster_usb_display.py * Implement performance profiling in cluster rendering Added profiling for rendering performance metrics in the cluster renderer. * Update cluster_renderer.py * Update cluster_renderer.py * Update cluster_renderer.py * Update main.py * Add CLUSTER_PROFILE_RGBA option to README Added environment variable for RGBA profile to cluster_run.py command. * fix replay * fix replay * add log * add log * add log * fix * fix * fix * fix * fix * fix * performance * performance * performance * performance * performance * performance * performance * performance * performance * performance * performance * process * process * process * process * remove dummy * fix ui * fix ui * fix ui * fix usb event monitor * fix usb event monitor * fix ui * fix ui * fix ui apply font * fix ui apply font * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix radar point * fix ui * fix ui * fix ui * fix ui * fix ui * fix ui * dark mode * dark mode * dark mode * cleanup * add bsd * bsd * lca * lca * lca * lca * lca * lca * lca * lca * move speed limit * profiler * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * perfomance * fps * perfomance * params * monit * add git info
⚠️ 법적 안내 / Legal Notice
🚫 대한민국 자동차관리법 개정안에 따라, 본 소프트웨어를 실제 차량에 장착하거나 주행에 사용하는 것은 법률에 위배될 수 있습니다.
이 저장소에 있는 모든 소프트웨어는 연구, 실험, 시뮬레이션 목적으로만 제공됩니다.
개발자는 본 소프트웨어의 실제 사용으로 인해 발생하는 모든 법적 책임을 지지 않습니다.
In accordance with the amended Korean Motor Vehicle Management Act (effective August 14, 2025),
modifying or installing software that affects the safe operation of a vehicle is prohibited.
This software is provided for research and educational use only.
The developer does not take any responsibility for real-world installation or usage.
Carrotpilot에서 사용하는 차량(현대,기아)에 따라 Harness가 다릅니다..
- CAN통신차량: Comma 정품 Harness, Camera에 연결
- CANFD-일반차량: Comma정품 Harness, Camera에 연결
- CANFD-HDA2(ADAS Module 장착)차량: 사제 Harness, ADAS Module에 연결
- 모든차량이 지원되는것이 아니니 반드시 확인바랍니다.
In CarrotPilot, the harness used varies depending on the vehicle(HKG):
- CAN vehicles Use the official Comma harness, connected to the camera.
- CAN FD (standard) vehicles Use the official Comma harness, connected to the camera.
- CAN FD vehicles with HDA2 (ADAS module equipped) Use an aftermarket harness, connected to the ADAS module.
- Please note that not all vehicles are supported.
carrotpilot
Manual
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 300+ supported cars.
Docs · Roadmap · Contribute · Community · Try it on a comma 3X
Quick start: bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma 3X, available at comma.ai/shop.
- Software: The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 275+ supported cars.
- Car Harness: You will also need a car harness to connect your comma 3X to your car.
We have detailed instructions for how to install the harness and device in a car. Note that it's possible to run openpilot on other hardware, although it's not plug-and-play.
Branches
Running master and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
| comma four branch | comma 3X branch | URL | description |
|---|---|---|---|
release-mici |
release-tizi |
openpilot.comma.ai | This is openpilot's release branch. |
release-mici-staging |
release-tizi-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
nightly-dev |
nightly-dev |
installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Check out the contributing docs
- Check out the openpilot tools
- Code documentation lives at https://docs.comma.ai
- Information about running openpilot lives on the community wiki
Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
Safety and Testing
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software-in-the-loop tests that run on every commit.
- The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
- panda has software-in-the-loop safety tests.
- Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware-in-the-loop tests.
- We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
MIT Licensed
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
User Data and comma Account
By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.