mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-21 13:33:47 +08:00
Deployed 689529956d with MkDocs version: 1.6.1
This commit is contained in:
nayan
@@ -0,0 +1,181 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta http-equiv="X-UA-Compatible" content="IE=edge" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><link rel="canonical" href="https://docs.comma.ai/concepts/glossary/" />
|
||||
<link rel="shortcut icon" href="../../img/favicon.ico" />
|
||||
<title>Glossary - openpilot docs</title>
|
||||
<link rel="stylesheet" href="../../css/theme.css" />
|
||||
<link rel="stylesheet" href="../../css/theme_extra.css" />
|
||||
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/styles/github.min.css" />
|
||||
<link href="../../css/tooltip.css" rel="stylesheet" />
|
||||
|
||||
<script>
|
||||
// Current page data
|
||||
var mkdocs_page_name = "Glossary";
|
||||
var mkdocs_page_input_path = "concepts/glossary.md";
|
||||
var mkdocs_page_url = "/concepts/glossary/";
|
||||
</script>
|
||||
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/highlight.min.js"></script>
|
||||
<script>hljs.highlightAll();</script>
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav" role="document">
|
||||
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side stickynav">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search">
|
||||
<a href="../.." class="icon icon-home"> openpilot docs
|
||||
</a><div role="search">
|
||||
<form id ="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" title="Type search term here" />
|
||||
</form>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption"><span class="caption-text">Getting Started</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../getting-started/what-is-openpilot/">What is openpilot?</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">How-to</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../how-to/turn-the-speed-blue/">Turn the speed blue</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../how-to/connect-to-comma/">Connect to a comma 3X</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Concepts</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="../logs/">Logs</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../safety/">Safety</a>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal current" href="#">Glossary</a>
|
||||
<ul class="current">
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Car Porting</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/what-is-a-car-port/">What is a car port?</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/brand-port/">Porting a car brand</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/model-port/">Porting a car model</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Contributing</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../contributing/roadmap/">Roadmap</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contributing Guide →</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Links</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="" href="https://blog.comma.ai">Blog →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://comma.ai/bounties">Bounties →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://github.com/commaai">GitHub →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://discord.comma.ai">Discord →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://x.com/comma_ai">X →</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
|
||||
<nav class="wy-nav-top" role="navigation" aria-label="Mobile navigation menu">
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../..">openpilot docs</a>
|
||||
|
||||
</nav>
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content"><div role="navigation" aria-label="breadcrumbs navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../.." class="icon icon-home" aria-label="Docs"></a></li>
|
||||
<li class="breadcrumb-item">Concepts</li>
|
||||
<li class="breadcrumb-item active">Glossary</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/commaai/openpilot/edit/master/docs/concepts/glossary.md" class="icon icon-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div class="section" itemprop="articleBody">
|
||||
|
||||
<h1 id="openpilot-glossary">openpilot glossary</h1>
|
||||
<ul>
|
||||
<li><strong>onroad</strong>: openpilot's system state while ignition is on</li>
|
||||
<li><strong>offroad</strong>: openpilot's system state while ignition is off</li>
|
||||
<li><strong>route</strong>: a route is a recording of an onroad session</li>
|
||||
<li><strong>segment</strong>: routes are split into one minute chunks called segments.</li>
|
||||
<li><strong>comma connect</strong>: the web viewer for all your routes; check it out at <a href="https://connect.comma.ai">connect.comma.ai</a>.</li>
|
||||
<li><strong>panda</strong>: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the <a href="https://github.com/commaai/panda">panda repo</a>.</li>
|
||||
<li><strong>comma 3X</strong>: the latest hardware by comma.ai for running openpilot. more info at <a href="https://comma.ai/shop">comma.ai/shop</a>.</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div><footer>
|
||||
<div class="rst-footer-buttons" role="navigation" aria-label="Footer Navigation">
|
||||
<a href="../safety/" class="btn btn-neutral float-left" title="Safety"><span class="icon icon-circle-arrow-left"></span> Previous</a>
|
||||
<a href="../../car-porting/what-is-a-car-port/" class="btn btn-neutral float-right" title="What is a car port?">Next <span class="icon icon-circle-arrow-right"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<!-- Copyright etc -->
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.mkdocs.org/">MkDocs</a> using a <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
</footer>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</section>
|
||||
|
||||
</div>
|
||||
|
||||
<div class="rst-versions" role="note" aria-label="Versions">
|
||||
<span class="rst-current-version" data-toggle="rst-current-version">
|
||||
|
||||
<span>
|
||||
<a href="https://github.com/commaai/openpilot/" class="fa fa-github" style="color: #fcfcfc"> GitHub</a>
|
||||
</span>
|
||||
|
||||
|
||||
<span><a href="../safety/" style="color: #fcfcfc">« Previous</a></span>
|
||||
|
||||
|
||||
<span><a href="../../car-porting/what-is-a-car-port/" style="color: #fcfcfc">Next »</a></span>
|
||||
|
||||
</span>
|
||||
</div>
|
||||
<script src="../../js/jquery-3.6.0.min.js"></script>
|
||||
<script>var base_url = "../..";</script>
|
||||
<script src="../../js/theme_extra.js"></script>
|
||||
<script src="../../js/theme.js"></script>
|
||||
<script src="../../search/main.js"></script>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,194 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta http-equiv="X-UA-Compatible" content="IE=edge" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><link rel="canonical" href="https://docs.comma.ai/concepts/logs/" />
|
||||
<link rel="shortcut icon" href="../../img/favicon.ico" />
|
||||
<title>Logs - openpilot docs</title>
|
||||
<link rel="stylesheet" href="../../css/theme.css" />
|
||||
<link rel="stylesheet" href="../../css/theme_extra.css" />
|
||||
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/styles/github.min.css" />
|
||||
<link href="../../css/tooltip.css" rel="stylesheet" />
|
||||
|
||||
<script>
|
||||
// Current page data
|
||||
var mkdocs_page_name = "Logs";
|
||||
var mkdocs_page_input_path = "concepts/logs.md";
|
||||
var mkdocs_page_url = "/concepts/logs/";
|
||||
</script>
|
||||
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/highlight.min.js"></script>
|
||||
<script>hljs.highlightAll();</script>
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav" role="document">
|
||||
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side stickynav">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search">
|
||||
<a href="../.." class="icon icon-home"> openpilot docs
|
||||
</a><div role="search">
|
||||
<form id ="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" title="Type search term here" />
|
||||
</form>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption"><span class="caption-text">Getting Started</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../getting-started/what-is-openpilot/">What is openpilot?</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">How-to</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../how-to/turn-the-speed-blue/">Turn the speed blue</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../how-to/connect-to-comma/">Connect to a comma 3X</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Concepts</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1 current"><a class="reference internal current" href="#">Logs</a>
|
||||
<ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="#rlogbz2">rlog.bz2</a>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#fedcamerahevc">{f,e,d}camera.hevc</a>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#qlogbz2-qcamerats">qlog.bz2 & qcamera.ts</a>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../safety/">Safety</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../glossary/">Glossary</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Car Porting</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/what-is-a-car-port/">What is a car port?</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/brand-port/">Porting a car brand</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/model-port/">Porting a car model</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Contributing</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../contributing/roadmap/">Roadmap</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contributing Guide →</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Links</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="" href="https://blog.comma.ai">Blog →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://comma.ai/bounties">Bounties →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://github.com/commaai">GitHub →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://discord.comma.ai">Discord →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://x.com/comma_ai">X →</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
|
||||
<nav class="wy-nav-top" role="navigation" aria-label="Mobile navigation menu">
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../..">openpilot docs</a>
|
||||
|
||||
</nav>
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content"><div role="navigation" aria-label="breadcrumbs navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../.." class="icon icon-home" aria-label="Docs"></a></li>
|
||||
<li class="breadcrumb-item">Concepts</li>
|
||||
<li class="breadcrumb-item active">Logs</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/commaai/openpilot/edit/master/docs/concepts/logs.md" class="icon icon-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div class="section" itemprop="articleBody">
|
||||
|
||||
<h1 id="logging">Logging</h1>
|
||||
<p>openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.</p>
|
||||
<p>Check out our <a href="https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py">Python library</a> for reading openpilot logs. Also checkout our <a href="https://github.com/commaai/openpilot/tree/master/tools">tools</a> to replay and view your data. These are the same tools we use to debug and develop openpilot.</p>
|
||||
<p>For each segment, openpilot records the following log types:</p>
|
||||
<h2 id="rlogbz2">rlog.bz2</h2>
|
||||
<p>rlogs contain all the messages passed amongst openpilot's processes. See <a href="https://github.com/commaai/cereal/blob/master/services.py">cereal/services.py</a> for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.</p>
|
||||
<h2 id="fedcamerahevc">{f,e,d}camera.hevc</h2>
|
||||
<p>Each camera stream is H.265 encoded and written to its respective file.</p>
|
||||
<ul>
|
||||
<li><code>fcamera.hevc</code> is the road camera</li>
|
||||
<li><code>ecamera.hevc</code> is the wide road camera</li>
|
||||
<li><code>dcamera.hevc</code> is the driver camera</li>
|
||||
</ul>
|
||||
<h2 id="qlogbz2-qcamerats">qlog.bz2 & qcamera.ts</h2>
|
||||
<p>qlogs are a decimated subset of the rlogs. Check out <a href="https://github.com/commaai/cereal/blob/master/services.py">cereal/services.py</a> for the decimation.</p>
|
||||
<p>qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in <a href="https://connect.comma.ai/">comma connect</a> is from the qcameras.</p>
|
||||
<p>qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.</p>
|
||||
|
||||
</div>
|
||||
</div><footer>
|
||||
<div class="rst-footer-buttons" role="navigation" aria-label="Footer Navigation">
|
||||
<a href="../../how-to/connect-to-comma/" class="btn btn-neutral float-left" title="Connect to a comma 3X"><span class="icon icon-circle-arrow-left"></span> Previous</a>
|
||||
<a href="../safety/" class="btn btn-neutral float-right" title="Safety">Next <span class="icon icon-circle-arrow-right"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<!-- Copyright etc -->
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.mkdocs.org/">MkDocs</a> using a <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
</footer>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</section>
|
||||
|
||||
</div>
|
||||
|
||||
<div class="rst-versions" role="note" aria-label="Versions">
|
||||
<span class="rst-current-version" data-toggle="rst-current-version">
|
||||
|
||||
<span>
|
||||
<a href="https://github.com/commaai/openpilot/" class="fa fa-github" style="color: #fcfcfc"> GitHub</a>
|
||||
</span>
|
||||
|
||||
|
||||
<span><a href="../../how-to/connect-to-comma/" style="color: #fcfcfc">« Previous</a></span>
|
||||
|
||||
|
||||
<span><a href="../safety/" style="color: #fcfcfc">Next »</a></span>
|
||||
|
||||
</span>
|
||||
</div>
|
||||
<script src="../../js/jquery-3.6.0.min.js"></script>
|
||||
<script>var base_url = "../..";</script>
|
||||
<script src="../../js/theme_extra.js"></script>
|
||||
<script src="../../js/theme.js"></script>
|
||||
<script src="../../search/main.js"></script>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,210 @@
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="en" >
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta http-equiv="X-UA-Compatible" content="IE=edge" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><link rel="canonical" href="https://docs.comma.ai/concepts/safety/" />
|
||||
<link rel="shortcut icon" href="../../img/favicon.ico" />
|
||||
<title>Safety - openpilot docs</title>
|
||||
<link rel="stylesheet" href="../../css/theme.css" />
|
||||
<link rel="stylesheet" href="../../css/theme_extra.css" />
|
||||
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/styles/github.min.css" />
|
||||
<link href="../../css/tooltip.css" rel="stylesheet" />
|
||||
|
||||
<script>
|
||||
// Current page data
|
||||
var mkdocs_page_name = "Safety";
|
||||
var mkdocs_page_input_path = "concepts/safety.md";
|
||||
var mkdocs_page_url = "/concepts/safety/";
|
||||
</script>
|
||||
|
||||
<!--[if lt IE 9]>
|
||||
<script src="../../js/html5shiv.min.js"></script>
|
||||
<![endif]-->
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.8.0/highlight.min.js"></script>
|
||||
<script>hljs.highlightAll();</script>
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav" role="document">
|
||||
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side stickynav">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search">
|
||||
<a href="../.." class="icon icon-home"> openpilot docs
|
||||
</a><div role="search">
|
||||
<form id ="rtd-search-form" class="wy-form" action="../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="Search docs" aria-label="Search docs" title="Type search term here" />
|
||||
</form>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
|
||||
<p class="caption"><span class="caption-text">Getting Started</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../getting-started/what-is-openpilot/">What is openpilot?</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">How-to</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../how-to/turn-the-speed-blue/">Turn the speed blue</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../how-to/connect-to-comma/">Connect to a comma 3X</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Concepts</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="../logs/">Logs</a>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal current" href="#">Safety</a>
|
||||
<ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="#forks-of-openpilot">Forks of openpilot</a>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../glossary/">Glossary</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Car Porting</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/what-is-a-car-port/">What is a car port?</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/brand-port/">Porting a car brand</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../car-porting/model-port/">Porting a car model</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Contributing</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../contributing/roadmap/">Roadmap</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contributing Guide →</a>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">Links</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="" href="https://blog.comma.ai">Blog →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://comma.ai/bounties">Bounties →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://github.com/commaai">GitHub →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://discord.comma.ai">Discord →</a>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="" href="https://x.com/comma_ai">X →</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
|
||||
<nav class="wy-nav-top" role="navigation" aria-label="Mobile navigation menu">
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../..">openpilot docs</a>
|
||||
|
||||
</nav>
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content"><div role="navigation" aria-label="breadcrumbs navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../.." class="icon icon-home" aria-label="Docs"></a></li>
|
||||
<li class="breadcrumb-item">Concepts</li>
|
||||
<li class="breadcrumb-item active">Safety</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="https://github.com/commaai/openpilot/edit/master/docs/concepts/safety.md" class="icon icon-github"> Edit on GitHub</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div class="section" itemprop="articleBody">
|
||||
|
||||
<h1 id="safety">Safety</h1>
|
||||
<p>openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.</p>
|
||||
<p>In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.</p>
|
||||
<p>However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, <strong>driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely</strong> and openpilot is provided with no warranty of fitness for any purpose.</p>
|
||||
<p>openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from <a href="https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf">pertinent documents</a>
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like <a href="https://www.misra.org.uk/what-is-misra/">MISRA C : 2012</a>)
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop, and in-vehicle tests before each software release.</p>
|
||||
<p>Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.</p>
|
||||
<ol>
|
||||
<li>The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on the brake pedal or by pressing the cancel button.</li>
|
||||
<li>The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits[^1].</li>
|
||||
</ol>
|
||||
<p>For additional safety implementation details, refer to <a href="https://github.com/commaai/panda#safety-model">panda safety model</a>. For vehicle specific implementation of the safety concept, refer to <a href="https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety">opendbc/safety/safety</a>.</p>
|
||||
<p>[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.</p>
|
||||
<hr />
|
||||
<h3 id="forks-of-openpilot">Forks of openpilot</h3>
|
||||
<ul>
|
||||
<li>Do not disable or nerf <a href="https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring">driver monitoring</a></li>
|
||||
<li>Do not disable or nerf <a href="https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py">excessive actuation checks</a></li>
|
||||
<li>If your fork modifies any of the code in <code>opendbc/safety/</code>:</li>
|
||||
<li>your fork cannot use the openpilot trademark</li>
|
||||
<li>your fork must preserve the full <a href="https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests">safety test suite</a> and all tests must pass, including any new coverage required by the fork's changes</li>
|
||||
</ul>
|
||||
<p>Failure to comply with these standards will get you and your users banned from comma.ai servers.</p>
|
||||
<p><strong>comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.</strong></p>
|
||||
|
||||
</div>
|
||||
</div><footer>
|
||||
<div class="rst-footer-buttons" role="navigation" aria-label="Footer Navigation">
|
||||
<a href="../logs/" class="btn btn-neutral float-left" title="Logs"><span class="icon icon-circle-arrow-left"></span> Previous</a>
|
||||
<a href="../glossary/" class="btn btn-neutral float-right" title="Glossary">Next <span class="icon icon-circle-arrow-right"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<!-- Copyright etc -->
|
||||
</div>
|
||||
|
||||
Built with <a href="https://www.mkdocs.org/">MkDocs</a> using a <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
</footer>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</section>
|
||||
|
||||
</div>
|
||||
|
||||
<div class="rst-versions" role="note" aria-label="Versions">
|
||||
<span class="rst-current-version" data-toggle="rst-current-version">
|
||||
|
||||
<span>
|
||||
<a href="https://github.com/commaai/openpilot/" class="fa fa-github" style="color: #fcfcfc"> GitHub</a>
|
||||
</span>
|
||||
|
||||
|
||||
<span><a href="../logs/" style="color: #fcfcfc">« Previous</a></span>
|
||||
|
||||
|
||||
<span><a href="../glossary/" style="color: #fcfcfc">Next »</a></span>
|
||||
|
||||
</span>
|
||||
</div>
|
||||
<script src="../../js/jquery-3.6.0.min.js"></script>
|
||||
<script>var base_url = "../..";</script>
|
||||
<script src="../../js/theme_extra.js"></script>
|
||||
<script src="../../js/theme.js"></script>
|
||||
<script src="../../search/main.js"></script>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
Reference in New Issue
Block a user