mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-16 15:12:27 +08:00
Merge branch 'dev-pub/master' into dev-priv/master
This commit is contained in:
Jason Wen
Vendored
+3
-2
@@ -90,7 +90,8 @@ pipeline {
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh "git config --global --add safe.directory ${WORKSPACE}"
|
||||
sh "git config --global --add safe.directory '*'"
|
||||
sh "git submodule update --init --recursive"
|
||||
sh "git lfs pull"
|
||||
lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
|
||||
sh "${WORKSPACE}/tools/sim/build_container.sh"
|
||||
@@ -189,7 +190,7 @@ pipeline {
|
||||
steps {
|
||||
phone_steps("tici-common", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
@@ -6,6 +6,7 @@ Version 0.9.1 (2022-12-XX)
|
||||
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
|
||||
* Genesis GV60 2023 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson 2022-23 support
|
||||
* Kia Sorento 2022-23 support thanks to sunnyhaibin!
|
||||
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
|
||||
Version 0.9.0 (2022-11-21)
|
||||
|
||||
+1
-1
Submodule cereal updated: f200875ca3...6654e94f0b
+228
-227
@@ -4,239 +4,240 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
|
||||
|
||||
# 222 Supported Cars
|
||||
# 223 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
|
||||
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai B|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai I|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai D|
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
|
||||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
|
||||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B|
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B|
|
||||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM||
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA||
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F||
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F||
|
||||
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C||
|
||||
|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
|
||||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L||
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|<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|[](##)|[](##)|GM|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|<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)|[](##)|[](##)|Honda Bosch A|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B||
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B||
|
||||
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C||
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C||
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|Hyundai C||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai B||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G||
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai I|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai D||
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L||
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
|
||||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|<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|[](##)|[](##)|FCA|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P||
|
||||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P||
|
||||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F||
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[](##)|[](##)|Hyundai C||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|<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|[](##)|[](##)|Hyundai E|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai K||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A||
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N||
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B||
|
||||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A||
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A||
|
||||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram||
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|<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|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B||
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|<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|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A||
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)||
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)||
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533||
|
||||
|
||||
<a id="footnotes"></a>
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
|
||||
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<svg viewBox="500.972 178.81 20 14.375" width="20" height="14.375" xmlns="http://www.w3.org/2000/svg" xmlns:bx="https://boxy-svg.com">
|
||||
<defs>
|
||||
<clipPath id="clip0_1674_1768">
|
||||
<rect width="20" height="20" fill="white"/>
|
||||
</clipPath>
|
||||
</defs>
|
||||
<g clip-path="url(#clip0_1674_1768)" transform="matrix(1, 0, 0, 1, 500.971771, 175.81041)">
|
||||
<path fill-rule="evenodd" clip-rule="evenodd" d="M19.582 5.2447C19.352 4.3611 18.6743 3.66531 17.8138 3.42916C16.2542 3 10 3 10 3C10 3 3.7458 3 2.18614 3.42916C1.32557 3.66531 0.647841 4.3611 0.417841 5.2447C0 6.84612 0 10.1875 0 10.1875C0 10.1875 0 13.5288 0.417841 15.1303C0.647841 16.0139 1.32557 16.7097 2.18614 16.946C3.7458 17.375 10 17.375 10 17.375C10 17.375 16.2542 17.375 17.8138 16.946C18.6743 16.7097 19.352 16.0139 19.582 15.1303C20 13.5288 20 10.1875 20 10.1875C20 10.1875 20 6.84612 19.582 5.2447ZM8.12509 13.6255V7.37549L13.1251 10.5006L8.12509 13.6255Z" fill="#FF0000"/>
|
||||
</g>
|
||||
<path d="M 425.503 122.113 L 428.63 127.117 L 422.376 127.117 L 425.503 122.113 Z" style="stroke: rgb(0, 0, 0); stroke-width: 0px; fill: rgb(255, 255, 255);" transform="matrix(0, 1, -1, 0, 636.212463, -239.192383)" bx:shape="triangle 422.376 122.113 6.254 5.004 0.5 0 1@278e08c4"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 1.2 KiB |
+1
-1
Submodule opendbc updated: 4a7ad636ff...e8ce453227
+1
-1
Submodule panda updated: 345147fe2b...0b3b906036
Generated
+28
-1
@@ -80,6 +80,14 @@ develop = ["imgaug (>=0.4.0)", "pytest"]
|
||||
imgaug = ["imgaug (>=0.4.0)"]
|
||||
tests = ["pytest"]
|
||||
|
||||
[[package]]
|
||||
name = "antlr4-python3-runtime"
|
||||
version = "4.9.3"
|
||||
description = "ANTLR 4.9.3 runtime for Python 3.7"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = "*"
|
||||
|
||||
[[package]]
|
||||
name = "anyio"
|
||||
version = "3.6.2"
|
||||
@@ -2431,6 +2439,18 @@ rsa = ["cryptography (>=3.0.0)"]
|
||||
signals = ["blinker (>=1.4.0)"]
|
||||
signedtoken = ["cryptography (>=3.0.0)", "pyjwt (>=2.0.0,<3)"]
|
||||
|
||||
[[package]]
|
||||
name = "omegaconf"
|
||||
version = "2.3.0"
|
||||
description = "A flexible configuration library"
|
||||
category = "dev"
|
||||
optional = false
|
||||
python-versions = ">=3.6"
|
||||
|
||||
[package.dependencies]
|
||||
antlr4-python3-runtime = ">=4.9.0,<4.10.0"
|
||||
PyYAML = ">=5.1.0"
|
||||
|
||||
[[package]]
|
||||
name = "onnx"
|
||||
version = "1.12.0"
|
||||
@@ -4444,7 +4464,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
|
||||
[metadata]
|
||||
lock-version = "1.1"
|
||||
python-versions = "~3.8"
|
||||
content-hash = "2ab9d6aee6cc2c7bb5ba9763a54779ef9535cb752ec0038736a442992a04d459"
|
||||
content-hash = "3c2597d2199a29ef79dd4d5fbc5e2350d86c82a3fe6716d13b93ebc268053eb9"
|
||||
|
||||
[metadata.files]
|
||||
adal = [
|
||||
@@ -4557,6 +4577,9 @@ albumentations = [
|
||||
{file = "albumentations-1.3.0-py3-none-any.whl", hash = "sha256:294165d87d03bc8323e484927f0a5c1a3c64b0e7b9c32a979582a6c93c363bdf"},
|
||||
{file = "albumentations-1.3.0.tar.gz", hash = "sha256:be1af36832c8893314f2a5550e8ac19801e04770734c1b70fa3c996b41f37bed"},
|
||||
]
|
||||
antlr4-python3-runtime = [
|
||||
{file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
|
||||
]
|
||||
anyio = [
|
||||
{file = "anyio-3.6.2-py3-none-any.whl", hash = "sha256:fbbe32bd270d2a2ef3ed1c5d45041250284e31fc0a4df4a5a6071842051a51e3"},
|
||||
{file = "anyio-3.6.2.tar.gz", hash = "sha256:25ea0d673ae30af41a0c442f81cf3b38c7e79fdc7b60335a4c14e05eb0947421"},
|
||||
@@ -6426,6 +6449,10 @@ oauthlib = [
|
||||
{file = "oauthlib-3.2.2-py3-none-any.whl", hash = "sha256:8139f29aac13e25d502680e9e19963e83f16838d48a0d71c287fe40e7067fbca"},
|
||||
{file = "oauthlib-3.2.2.tar.gz", hash = "sha256:9859c40929662bec5d64f34d01c99e093149682a3f38915dc0655d5a633dd918"},
|
||||
]
|
||||
omegaconf = [
|
||||
{file = "omegaconf-2.3.0-py3-none-any.whl", hash = "sha256:7b4df175cdb08ba400f45cae3bdcae7ba8365db4d165fc65fd04b050ab63b46b"},
|
||||
{file = "omegaconf-2.3.0.tar.gz", hash = "sha256:d5d4b6d29955cc50ad50c46dc269bcd92c6e00f5f90d23ab5fee7bfca4ba4cc7"},
|
||||
]
|
||||
onnx = [
|
||||
{file = "onnx-1.12.0-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:bdbd2578424c70836f4d0f9dda16c21868ddb07cc8192f9e8a176908b43d694b"},
|
||||
{file = "onnx-1.12.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:213e73610173f6b2e99f99a4b0636f80b379c417312079d603806e48ada4ca8b"},
|
||||
|
||||
@@ -171,6 +171,7 @@ torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0
|
||||
triton = "^1.1.1"
|
||||
Werkzeug = "^2.1.2"
|
||||
zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
|
||||
omegaconf = "^2.3.0"
|
||||
|
||||
|
||||
[build-system]
|
||||
|
||||
@@ -0,0 +1,5 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg fill="red" width="72" height="80" viewBox="0 0 15 15" xmlns="http://www.w3.org/2000/svg" id="marker">
|
||||
<path stroke="darkred" stroke-width="0.5" d="M7.5 1C5.42312 1 3 2.2883 3 5.56759C3 7.79276 6.46156 12.7117 7.5 14C8.42309 12.7117 12 7.90993 12 5.56759C12 2.2883 9.57688 1 7.5 1Z"/>
|
||||
<circle cx="7.5" cy="5.5" r="2" fill="darkred"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 389 B |
@@ -1,5 +1,6 @@
|
||||
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
|
||||
{% set star_icon = '[](##)' -%}
|
||||
{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
|
||||
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
@@ -12,7 +13,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|{{Column | map(attribute='value') | join('|')}}|
|
||||
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
|
||||
{% for car_info in all_car_info %}
|
||||
|{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
|
||||
|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
|
||||
|
||||
{% endfor %}
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
|
||||
all_car_info: List[CarInfo] = []
|
||||
footnotes = get_all_footnotes()
|
||||
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
|
||||
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")])
|
||||
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False)
|
||||
|
||||
if CP.dashcamOnly or car_info is None:
|
||||
continue
|
||||
|
||||
@@ -21,6 +21,7 @@ class Column(Enum):
|
||||
STEERING_TORQUE = "Steering Torque"
|
||||
AUTO_RESUME = "Resume from stop"
|
||||
HARNESS = "Harness"
|
||||
VIDEO = "Video"
|
||||
|
||||
|
||||
class Star(Enum):
|
||||
@@ -159,6 +160,7 @@ class CarInfo:
|
||||
Column.STEERING_TORQUE: Star.EMPTY,
|
||||
Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
|
||||
Column.HARNESS: self.harness.value,
|
||||
Column.VIDEO: self.video_link if self.video_link is not None else "", # replaced with an image and link from template in get_column
|
||||
}
|
||||
|
||||
# Set steering torque star from max lateral acceleration
|
||||
@@ -202,12 +204,14 @@ class CarInfo:
|
||||
else:
|
||||
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
|
||||
|
||||
def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
|
||||
def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
|
||||
item: Union[str, Star] = self.row[column]
|
||||
if isinstance(item, Star):
|
||||
item = star_icon.format(item.value)
|
||||
elif column == Column.MODEL and len(self.years):
|
||||
item += f" {self.years}"
|
||||
elif column == Column.VIDEO and len(item) > 0:
|
||||
item = video_icon.format(item)
|
||||
|
||||
footnotes = get_footnotes(self.footnotes, column)
|
||||
if len(footnotes):
|
||||
|
||||
@@ -62,6 +62,7 @@ class Request:
|
||||
@dataclass
|
||||
class FwQueryConfig:
|
||||
requests: List[Request]
|
||||
# TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
|
||||
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
|
||||
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
|
||||
# Ecus added for data collection, not to be fingerprinted on
|
||||
|
||||
@@ -68,20 +68,20 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kpV = [2.0, 1.5]
|
||||
ret.longitudinalTuning.kiV = [0.72]
|
||||
ret.stopAccel = -2.0
|
||||
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5
|
||||
|
||||
if experimental_long:
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kpV = [2.0, 1.5]
|
||||
ret.longitudinalTuning.kiV = [0.72]
|
||||
ret.stopAccel = -2.0
|
||||
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
|
||||
@@ -3,7 +3,7 @@ import math
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.gm.values import DBC, CAR, CanBus
|
||||
from selfdrive.car.gm.values import DBC, CanBus
|
||||
from selfdrive.car.interfaces import RadarInterfaceBase
|
||||
|
||||
RADAR_HEADER_MSG = 1120
|
||||
@@ -16,9 +16,6 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
|
||||
|
||||
|
||||
def create_radar_can_parser(car_fingerprint):
|
||||
if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
|
||||
return None
|
||||
|
||||
# C1A-ARS3-A by Continental
|
||||
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
|
||||
signals = list(zip(['FLRRNumValidTargets',
|
||||
@@ -34,11 +31,12 @@ def create_radar_can_parser(car_fingerprint):
|
||||
|
||||
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
|
||||
self.rcp = create_radar_can_parser(CP.carFingerprint)
|
||||
self.rcp = None if CP.radarOffCan else create_radar_can_parser(CP.carFingerprint)
|
||||
|
||||
self.trigger_msg = LAST_RADAR_MSG
|
||||
self.updated_messages = set()
|
||||
|
||||
@@ -75,7 +75,7 @@ class CAR:
|
||||
|
||||
class Footnote(Enum):
|
||||
OBD_II = CarFootnote(
|
||||
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
|
||||
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
|
||||
'<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
|
||||
Column.MODEL)
|
||||
|
||||
|
||||
@@ -86,7 +86,7 @@ class CarState(CarStateBase):
|
||||
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
|
||||
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
|
||||
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
|
||||
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
|
||||
|
||||
# cruise state
|
||||
@@ -156,6 +156,9 @@ class CarState(CarStateBase):
|
||||
def update_canfd(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
|
||||
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
|
||||
if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
|
||||
@@ -197,14 +200,18 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
|
||||
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
|
||||
|
||||
ret.cruiseState.available = True
|
||||
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
# cruise state
|
||||
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
|
||||
ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
|
||||
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
|
||||
ret.cruiseState.standstill = False
|
||||
else:
|
||||
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
|
||||
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
|
||||
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
|
||||
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
|
||||
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
|
||||
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
|
||||
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
|
||||
|
||||
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
|
||||
@@ -435,6 +442,7 @@ class CarState(CarStateBase):
|
||||
|
||||
("DriverBraking", "TCS"),
|
||||
("ACCEnable", "TCS"),
|
||||
("ACC_REQ", "TCS"),
|
||||
|
||||
("COUNTER", cruise_btn_msg),
|
||||
("CRUISE_BUTTONS", cruise_btn_msg),
|
||||
|
||||
@@ -72,8 +72,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
|
||||
else:
|
||||
a_raw = accel
|
||||
a_val = clip(accel, accel_last - jn, accel_last + jn)
|
||||
if stopping:
|
||||
a_raw = 0
|
||||
|
||||
values = {
|
||||
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
|
||||
@@ -83,6 +81,7 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
|
||||
"aReqRaw": a_raw,
|
||||
"VSetDis": set_speed,
|
||||
"JerkLowerLimit": jerk if enabled else 1,
|
||||
"JerkUpperLimit": 3.0,
|
||||
|
||||
"ACC_ObjDist": 1,
|
||||
"ObjValid": 0,
|
||||
@@ -90,7 +89,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
|
||||
"SET_ME_2": 0x4,
|
||||
"SET_ME_3": 0x3,
|
||||
"SET_ME_TMP_64": 0x64,
|
||||
"NEW_SIGNAL_10": 4,
|
||||
"DISTANCE_SETTING": 4,
|
||||
}
|
||||
|
||||
|
||||
@@ -185,10 +185,13 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
|
||||
ret.wheelbase = 2.756
|
||||
ret.steerRatio = 13.6
|
||||
elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
|
||||
ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
|
||||
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
|
||||
ret.wheelbase = 2.81
|
||||
ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications
|
||||
ret.steerRatio = 13.5 # average of the platforms
|
||||
if candidate == CAR.KIA_SORENTO_4TH_GEN:
|
||||
ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
|
||||
else:
|
||||
ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
|
||||
|
||||
# Genesis
|
||||
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
|
||||
|
||||
@@ -105,6 +105,7 @@ class CAR:
|
||||
KIA_SELTOS = "KIA SELTOS 2021"
|
||||
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
|
||||
KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
|
||||
KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
|
||||
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
|
||||
KIA_STINGER = "KIA STINGER GT2 2018"
|
||||
@@ -122,9 +123,10 @@ class CAR:
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
# footnotes which mention "red panda" will be replaced with the CAN FD panda kit on the shop page
|
||||
CANFD = CarFootnote(
|
||||
"Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a>, additional <a href=\"https://comma.ai/shop/harness-box\" target=\"_blank\">harness box</a>, " +
|
||||
"additional <a href=\"https://comma.ai/shop/obd-c-cable\" target=\"_blank\">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.",
|
||||
"Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a> for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>. " +
|
||||
"All the hardware needed is sold in the <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD kit</a>.",
|
||||
Column.MODEL, shop_footnote=True)
|
||||
|
||||
|
||||
@@ -160,7 +162,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
|
||||
CAR.TUCSON: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
|
||||
@@ -210,7 +212,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
|
||||
],
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
|
||||
@@ -512,6 +515,7 @@ FW_VERSIONS = {
|
||||
b'HM6M1_0a0_G20',
|
||||
b'HM6M2_0a0_BD0',
|
||||
b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
|
||||
b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
|
||||
@@ -529,6 +533,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
|
||||
b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
|
||||
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
|
||||
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422',
|
||||
@@ -538,6 +543,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.03 99211-L0000 210603',
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.05 99211-L1000 201109',
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.06 99211-L1000 210325',
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
|
||||
@@ -548,6 +554,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
|
||||
b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
|
||||
b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
|
||||
b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5',
|
||||
b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE',
|
||||
b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5',
|
||||
@@ -794,6 +801,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ',
|
||||
b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ',
|
||||
b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ',
|
||||
b'\xf1\x00CK__ SCC F_CUP 1.00 1.02 96400-J5100 ',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -801,6 +809,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
|
||||
b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
|
||||
b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
|
||||
b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104',
|
||||
@@ -808,6 +817,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104',
|
||||
b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5420 4C4VL106',
|
||||
b'\xf1\x00CK MDPS R 1.00 1.07 57700-J5220 4C2VL107',
|
||||
b'\xf1\x00CK MDPS R 1.00 1.06 57700-J5220 4C2VL106',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822',
|
||||
@@ -815,6 +825,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
|
||||
b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
|
||||
b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
|
||||
b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
|
||||
@@ -1457,6 +1468,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027',
|
||||
b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328',
|
||||
b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630',
|
||||
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630',
|
||||
],
|
||||
},
|
||||
CAR.IONIQ_5: {
|
||||
@@ -1473,6 +1485,7 @@ FW_VERSIONS = {
|
||||
CAR.TUCSON_4TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
|
||||
@@ -1517,9 +1530,11 @@ FW_VERSIONS = {
|
||||
CAR.GENESIS_GV70_1ST_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204',
|
||||
b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.01 99211-AR200 220125',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ',
|
||||
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.00 99110-AR200 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: {
|
||||
@@ -1530,6 +1545,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO_4TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
CHECKSUM = {
|
||||
@@ -1547,10 +1570,10 @@ FEATURES = {
|
||||
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
|
||||
}
|
||||
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN}
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN}
|
||||
|
||||
# The radar does SCC on these cars when HDA I, rather than the camera
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
|
||||
|
||||
# The camera does SCC on these cars, rather than the radar
|
||||
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
|
||||
@@ -1615,4 +1638,5 @@ DBC = {
|
||||
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
}
|
||||
|
||||
@@ -88,13 +88,14 @@ class CarInterfaceBase(ABC):
|
||||
return ACCEL_MIN, ACCEL_MAX
|
||||
|
||||
@classmethod
|
||||
def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
|
||||
if fingerprint is None:
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
|
||||
if car_fw is None:
|
||||
car_fw = list()
|
||||
def get_non_essential_params(cls, candidate: str):
|
||||
"""
|
||||
Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
|
||||
"""
|
||||
return cls.get_params(candidate, gen_empty_fingerprint(), list(), False)
|
||||
|
||||
@classmethod
|
||||
def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
|
||||
ret = CarInterfaceBase.get_std_params(candidate)
|
||||
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
|
||||
|
||||
|
||||
@@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo):
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
|
||||
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
|
||||
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
|
||||
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"),
|
||||
CAR.LEAF_IC: None, # same platforms
|
||||
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
|
||||
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),
|
||||
|
||||
@@ -100,6 +100,7 @@ routes = [
|
||||
CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023
|
||||
CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
|
||||
CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
|
||||
CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
|
||||
CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
|
||||
CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
|
||||
CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2
|
||||
|
||||
@@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
|
||||
car_fw = []
|
||||
|
||||
car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
|
||||
car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False)
|
||||
car_interface = CarInterface(car_params, CarController, CarState)
|
||||
assert car_params
|
||||
assert car_interface
|
||||
@@ -35,6 +35,12 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
self.assertGreater(car_params.centerToFront, 0)
|
||||
self.assertGreater(car_params.maxLateralAccel, 0)
|
||||
|
||||
# Longitudinal sanity checks
|
||||
self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
|
||||
self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
|
||||
self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
|
||||
|
||||
# Lateral sanity checks
|
||||
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
|
||||
tune = car_params.lateralTuning
|
||||
if tune.which() == 'pid':
|
||||
|
||||
@@ -67,7 +67,7 @@ class TestFwFingerprint(unittest.TestCase):
|
||||
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
with self.subTest(car_model=car_model):
|
||||
CP = interfaces[car_model][0].get_params(car_model)
|
||||
CP = interfaces[car_model][0].get_non_essential_params(car_model)
|
||||
if CP.carName == 'subaru':
|
||||
for ecu in ecus.keys():
|
||||
self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
|
||||
|
||||
@@ -40,7 +40,7 @@ class TestLateralLimits(unittest.TestCase):
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
CarInterface, _, _ = interfaces[cls.car_model]
|
||||
CP = CarInterface.get_params(cls.car_model)
|
||||
CP = CarInterface.get_non_essential_params(cls.car_model)
|
||||
|
||||
if CP.dashcamOnly:
|
||||
raise unittest.SkipTest("Platform is behind dashcamOnly")
|
||||
|
||||
@@ -238,7 +238,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
# TODO: check rest of panda's carstate (steering, ACC main on, etc.)
|
||||
|
||||
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
|
||||
if self.CP.carName not in ("hyundai", "volkswagen", "body"):
|
||||
if self.CP.carName not in ("hyundai", "body"):
|
||||
# TODO: fix standstill mismatches for other makes
|
||||
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
|
||||
|
||||
|
||||
@@ -36,6 +36,7 @@ KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
|
||||
GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
|
||||
KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
|
||||
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
|
||||
KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
@@ -230,7 +230,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
# FIXME: On some models, abs can sometimes be missing
|
||||
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
|
||||
# On some models, the engine can show on two different addresses
|
||||
Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
|
||||
Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS, CAR.LEXUS_RC],
|
||||
}
|
||||
)
|
||||
|
||||
@@ -831,6 +831,7 @@ FW_VERSIONS = {
|
||||
b'\x01896630ZJ1000\x00\x00\x00\x00',
|
||||
b'\x01896630ZU8000\x00\x00\x00\x00',
|
||||
b'\x01896637621000\x00\x00\x00\x00',
|
||||
b'\x01896637623000\x00\x00\x00\x00',
|
||||
b'\x01896637624000\x00\x00\x00\x00',
|
||||
b'\x01896637626000\x00\x00\x00\x00',
|
||||
b'\x01896637639000\x00\x00\x00\x00',
|
||||
@@ -1737,22 +1738,29 @@ FW_VERSIONS = {
|
||||
],
|
||||
},
|
||||
CAR.LEXUS_RC: {
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x01896632478200\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'F152624150\x00\x00\x00\x00\x00\x00',
|
||||
b'F152624221\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.dsu, 0x791, None): [
|
||||
b'881512407000\x00\x00\x00\x00',
|
||||
b'881512409100\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B24081\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B24320\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'8821F4702300\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'8646F2401200\x00\x00\x00\x00',
|
||||
b'8646F2402200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
|
||||
@@ -44,7 +44,7 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = ret.vEgo < 0.1
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
|
||||
# Update steering angle, rate, yaw rate, and driver input torque. VW send
|
||||
# the sign/direction in a separate signal so they must be recombined.
|
||||
@@ -160,7 +160,7 @@ class CarState(CarStateBase):
|
||||
# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
|
||||
ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = ret.vEgo < 0.1
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
|
||||
# Update steering angle, rate, yaw rate, and driver input torque. VW send
|
||||
# the sign/direction in a separate signal so they must be recombined.
|
||||
|
||||
@@ -373,6 +373,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906056CR\xf1\x895813',
|
||||
b'\xf1\x8704L906056HE\xf1\x893758',
|
||||
b'\xf1\x8704L906056HN\xf1\x896590',
|
||||
b'\xf1\x8704L906056HT\xf1\x896591',
|
||||
b'\xf1\x870EA906016A \xf1\x898343',
|
||||
b'\xf1\x870EA906016E \xf1\x894219',
|
||||
b'\xf1\x870EA906016F \xf1\x894238',
|
||||
@@ -405,6 +406,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870CW300041H \xf1\x891010',
|
||||
b'\xf1\x870CW300042F \xf1\x891604',
|
||||
b'\xf1\x870CW300043B \xf1\x891601',
|
||||
b'\xf1\x870CW300043E \xf1\x891603',
|
||||
b'\xf1\x870CW300044S \xf1\x894530',
|
||||
b'\xf1\x870CW300044T \xf1\x895245',
|
||||
b'\xf1\x870CW300045 \xf1\x894531',
|
||||
@@ -442,6 +444,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
|
||||
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
|
||||
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
|
||||
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
|
||||
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
|
||||
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
|
||||
b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
|
||||
@@ -934,19 +937,23 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906026BP\xf1\x891198',
|
||||
b'\xf1\x8704L906026BP\xf1\x897608',
|
||||
b'\xf1\x8705E906018AS\xf1\x899596',
|
||||
b'\xf1\x878V0906264H \xf1\x890005',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870CW300041G \xf1\x891003',
|
||||
b'\xf1\x870CW300050J \xf1\x891908',
|
||||
b'\xf1\x870D9300042M \xf1\x895016',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
|
||||
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
|
||||
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
|
||||
b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
|
||||
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
|
||||
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521N05808A1',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
@@ -1023,6 +1030,7 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.SKODA_OCTAVIA_MK3: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8704C906025L \xf1\x896198',
|
||||
b'\xf1\x8704E906016ER\xf1\x895823',
|
||||
b'\xf1\x8704E906027HD\xf1\x893742',
|
||||
b'\xf1\x8704E906027MH\xf1\x894786',
|
||||
@@ -1034,6 +1042,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870CW300041L \xf1\x891601',
|
||||
b'\xf1\x870CW300041N \xf1\x891605',
|
||||
b'\xf1\x870CW300043B \xf1\x891601',
|
||||
b'\xf1\x870CW300043P \xf1\x891605',
|
||||
b'\xf1\x870D9300041C \xf1\x894936',
|
||||
b'\xf1\x870D9300041J \xf1\x894902',
|
||||
b'\xf1\x870D9300041P \xf1\x894507',
|
||||
@@ -1043,6 +1052,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
|
||||
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
|
||||
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
|
||||
b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
|
||||
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
|
||||
b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111101000011110006110411111111119111',
|
||||
],
|
||||
|
||||
@@ -17,7 +17,7 @@ from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
|
||||
from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
|
||||
from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
|
||||
from selfdrive.controls.lib.longcontrol import LongControl
|
||||
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
|
||||
@@ -103,7 +103,7 @@ class Controls:
|
||||
else:
|
||||
self.CI, self.CP = CI, CI.CP
|
||||
|
||||
self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
|
||||
self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar
|
||||
|
||||
# set alternative experiences from parameters
|
||||
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
|
||||
@@ -569,9 +569,11 @@ class Controls:
|
||||
|
||||
CC = car.CarControl.new_message()
|
||||
CC.enabled = self.enabled
|
||||
|
||||
# Check which actuators can be enabled
|
||||
standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
|
||||
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
|
||||
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
|
||||
(not standstill or self.joystick_mode)
|
||||
CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
|
||||
|
||||
actuators = CC.actuators
|
||||
|
||||
@@ -3,7 +3,7 @@ from abc import abstractmethod, ABC
|
||||
from common.numpy_fast import clip
|
||||
from common.realtime import DT_CTRL
|
||||
|
||||
MIN_STEER_SPEED = 0.3
|
||||
MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s
|
||||
|
||||
|
||||
class LatControl(ABC):
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import math
|
||||
|
||||
from cereal import log
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
|
||||
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
|
||||
|
||||
@@ -14,7 +14,7 @@ class LatControlAngle(LatControl):
|
||||
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
|
||||
angle_log = log.ControlsState.LateralAngleState.new_message()
|
||||
|
||||
if CS.vEgo < MIN_STEER_SPEED or not active:
|
||||
if not active:
|
||||
angle_log.active = False
|
||||
angle_steers_des = float(CS.steeringAngleDeg)
|
||||
else:
|
||||
|
||||
@@ -5,7 +5,7 @@ from cereal import log
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
|
||||
|
||||
class LatControlINDI(LatControl):
|
||||
@@ -82,7 +82,7 @@ class LatControlINDI(LatControl):
|
||||
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0)
|
||||
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
|
||||
|
||||
if CS.vEgo < MIN_STEER_SPEED or not active:
|
||||
if not active:
|
||||
indi_log.active = False
|
||||
self.steer_filter.x = 0.0
|
||||
output_steer = 0
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import math
|
||||
|
||||
from cereal import log
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
from selfdrive.controls.lib.pid import PIDController
|
||||
|
||||
|
||||
@@ -28,7 +28,7 @@ class LatControlPID(LatControl):
|
||||
|
||||
pid_log.steeringAngleDesiredDeg = angle_steers_des
|
||||
pid_log.angleError = error
|
||||
if CS.vEgo < MIN_STEER_SPEED or not active:
|
||||
if not active:
|
||||
output_steer = 0.0
|
||||
pid_log.active = False
|
||||
self.pid.reset()
|
||||
|
||||
@@ -2,7 +2,7 @@ import math
|
||||
|
||||
from cereal import log
|
||||
from common.numpy_fast import interp
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
|
||||
from selfdrive.controls.lib.latcontrol import LatControl
|
||||
from selfdrive.controls.lib.pid import PIDController
|
||||
from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
|
||||
@@ -39,7 +39,7 @@ class LatControlTorque(LatControl):
|
||||
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
|
||||
if CS.vEgo < MIN_STEER_SPEED or not active:
|
||||
if not active:
|
||||
output_torque = 0.0
|
||||
pid_log.active = False
|
||||
else:
|
||||
|
||||
@@ -30,10 +30,8 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
|
||||
long_control_state = LongCtrlState.off
|
||||
|
||||
else:
|
||||
if long_control_state == LongCtrlState.off:
|
||||
if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
|
||||
long_control_state = LongCtrlState.pid
|
||||
|
||||
elif long_control_state == LongCtrlState.pid:
|
||||
if stopping_condition:
|
||||
long_control_state = LongCtrlState.stopping
|
||||
|
||||
|
||||
@@ -306,7 +306,7 @@ class LongitudinalMpc:
|
||||
self.cruise_min_a = min_a
|
||||
self.max_a = max_a
|
||||
|
||||
def update(self, carstate, radarstate, v_cruise, x, v, a, j):
|
||||
def update(self, radarstate, v_cruise, x, v, a, j):
|
||||
v_ego = self.x0[1]
|
||||
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
|
||||
|
||||
|
||||
@@ -15,7 +15,6 @@ from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
|
||||
from system.swaglog import cloudlog
|
||||
|
||||
LON_MPC_STEP = 0.2 # first step is 0.2s
|
||||
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
|
||||
A_CRUISE_MIN = -1.2
|
||||
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
|
||||
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
|
||||
@@ -111,9 +110,7 @@ class LongitudinalPlanner:
|
||||
self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego
|
||||
|
||||
if force_slow_decel:
|
||||
# if required so, force a smooth deceleration
|
||||
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
|
||||
accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
|
||||
v_cruise = 0.0
|
||||
# clip limits, cannot init MPC outside of bounds
|
||||
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
|
||||
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
|
||||
@@ -122,7 +119,7 @@ class LongitudinalPlanner:
|
||||
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
|
||||
self.mpc.update(sm['carState'], sm['radarState'], v_cruise, x, v, a, j)
|
||||
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j)
|
||||
|
||||
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
|
||||
|
||||
@@ -20,7 +20,7 @@ class TestLatControl(unittest.TestCase):
|
||||
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
|
||||
def test_saturation(self, car_name, controller):
|
||||
CarInterface, CarController, CarState = interfaces[car_name]
|
||||
CP = CarInterface.get_params(car_name)
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
CI = CarInterface(CP, CarController, CarState)
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
|
||||
@@ -12,7 +12,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, creat
|
||||
|
||||
class TestVehicleModel(unittest.TestCase):
|
||||
def setUp(self):
|
||||
CP = CarInterface.get_params(CAR.CIVIC)
|
||||
CP = CarInterface.get_non_essential_params(CAR.CIVIC)
|
||||
self.VM = VehicleModel(CP)
|
||||
|
||||
def test_round_trip_yaw_rate(self):
|
||||
|
||||
@@ -31,7 +31,7 @@ class TestStateMachine(unittest.TestCase):
|
||||
|
||||
def setUp(self):
|
||||
CarInterface, CarController, CarState = interfaces["mock"]
|
||||
CP = CarInterface.get_params("mock")
|
||||
CP = CarInterface.get_non_essential_params("mock")
|
||||
CI = CarInterface(CP, CarController, CarState)
|
||||
|
||||
self.controlsd = Controls(CI=CI)
|
||||
|
||||
@@ -51,7 +51,7 @@ def cycle_alerts(duration=200, is_metric=False):
|
||||
cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
|
||||
|
||||
CS = car.CarState.new_message()
|
||||
CP = CarInterface.get_params("HONDA CIVIC 2016")
|
||||
CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
|
||||
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
|
||||
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
|
||||
'managerState'] + cameras)
|
||||
|
||||
@@ -20,7 +20,7 @@ T_SIM = 5 * 60 # s
|
||||
DT = 0.01
|
||||
|
||||
|
||||
CP = CarInterface.get_params(CAR.CIVIC)
|
||||
CP = CarInterface.get_non_essential_params(CAR.CIVIC)
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
x, y = 0, 0 # m, m
|
||||
|
||||
@@ -19,6 +19,7 @@ class Maneuver:
|
||||
self.ensure_start = kwargs.get("ensure_start", False)
|
||||
self.enabled = kwargs.get("enabled", True)
|
||||
self.e2e = kwargs.get("e2e", False)
|
||||
self.force_decel = kwargs.get("force_decel", False)
|
||||
|
||||
self.duration = duration
|
||||
self.title = title
|
||||
@@ -32,6 +33,7 @@ class Maneuver:
|
||||
only_lead2=self.only_lead2,
|
||||
only_radar=self.only_radar,
|
||||
e2e=self.e2e,
|
||||
force_decel=self.force_decel,
|
||||
)
|
||||
|
||||
valid = True
|
||||
@@ -60,6 +62,10 @@ class Maneuver:
|
||||
if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
|
||||
print('LongitudinalPlanner not starting!')
|
||||
valid = False
|
||||
if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
|
||||
print('Not stopping with force decel')
|
||||
valid = False
|
||||
|
||||
|
||||
print("maneuver end", valid)
|
||||
return valid, np.array(logs)
|
||||
|
||||
@@ -15,7 +15,7 @@ class Plant:
|
||||
messaging_initialized = False
|
||||
|
||||
def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
|
||||
enabled=True, only_lead2=False, only_radar=False, e2e=False):
|
||||
enabled=True, only_lead2=False, only_radar=False, e2e=False, force_decel=False):
|
||||
self.rate = 1. / DT_MDL
|
||||
|
||||
if not Plant.messaging_initialized:
|
||||
@@ -39,6 +39,7 @@ class Plant:
|
||||
self.only_lead2 = only_lead2
|
||||
self.only_radar = only_radar
|
||||
self.e2e = e2e
|
||||
self.force_decel = force_decel
|
||||
|
||||
self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
|
||||
self.ts = 1. / self.rate
|
||||
@@ -48,7 +49,7 @@ class Plant:
|
||||
from selfdrive.car.honda.values import CAR
|
||||
from selfdrive.car.honda.interface import CarInterface
|
||||
|
||||
self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed)
|
||||
self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
|
||||
|
||||
@property
|
||||
def current_time(self):
|
||||
@@ -111,6 +112,7 @@ class Plant:
|
||||
control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
|
||||
control.controlsState.vCruise = float(v_cruise * 3.6)
|
||||
control.controlsState.experimentalMode = self.e2e
|
||||
control.controlsState.forceDecel = self.force_decel
|
||||
car_state.carState.vEgo = float(self.speed)
|
||||
car_state.carState.standstill = self.speed < 0.01
|
||||
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import itertools
|
||||
import os
|
||||
from parameterized import parameterized
|
||||
from parameterized import parameterized_class
|
||||
import unittest
|
||||
|
||||
from common.params import Params
|
||||
@@ -9,8 +10,8 @@ from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
|
||||
|
||||
|
||||
# TODO: make new FCW tests
|
||||
def create_maneuvers(e2e):
|
||||
return [
|
||||
def create_maneuvers(kwargs):
|
||||
maneuvers = [
|
||||
Maneuver(
|
||||
'approach stopped car at 25m/s, initial distance: 120m',
|
||||
duration=20.,
|
||||
@@ -19,7 +20,7 @@ def create_maneuvers(e2e):
|
||||
initial_distance_lead=120.,
|
||||
speed_lead_values=[30., 0.],
|
||||
breakpoints=[0., 1.],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
'approach stopped car at 20m/s, initial distance 90m',
|
||||
@@ -29,7 +30,7 @@ def create_maneuvers(e2e):
|
||||
initial_distance_lead=90.,
|
||||
speed_lead_values=[20., 0.],
|
||||
breakpoints=[0., 1.],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
|
||||
@@ -39,7 +40,7 @@ def create_maneuvers(e2e):
|
||||
initial_distance_lead=35.,
|
||||
speed_lead_values=[20., 20., 0.],
|
||||
breakpoints=[0., 15., 35.0],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
|
||||
@@ -49,7 +50,7 @@ def create_maneuvers(e2e):
|
||||
initial_distance_lead=35.,
|
||||
speed_lead_values=[20., 20., 0.],
|
||||
breakpoints=[0., 15., 25.0],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
|
||||
@@ -59,7 +60,7 @@ def create_maneuvers(e2e):
|
||||
initial_distance_lead=35.,
|
||||
speed_lead_values=[20., 20., 0.],
|
||||
breakpoints=[0., 15., 21.66],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
'steady state following a car at 20m/s, then lead decel to 0mph at 3+m/s^2',
|
||||
@@ -71,7 +72,7 @@ def create_maneuvers(e2e):
|
||||
prob_lead_values=[0., 1., 1.],
|
||||
cruise_values=[20., 20., 20.],
|
||||
breakpoints=[2., 2.01, 8.8],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"approach stopped car at 20m/s, with prob_lead_values",
|
||||
@@ -83,7 +84,7 @@ def create_maneuvers(e2e):
|
||||
prob_lead_values=[0.0, 0., 1.],
|
||||
cruise_values=[20., 20., 20.],
|
||||
breakpoints=[0.0, 2., 2.01],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"approach slower cut-in car at 20m/s",
|
||||
@@ -94,7 +95,7 @@ def create_maneuvers(e2e):
|
||||
speed_lead_values=[15., 15.],
|
||||
breakpoints=[1., 11.],
|
||||
only_lead2=True,
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"stay stopped behind radar override lead",
|
||||
@@ -106,7 +107,7 @@ def create_maneuvers(e2e):
|
||||
prob_lead_values=[0., 0.],
|
||||
breakpoints=[1., 11.],
|
||||
only_radar=True,
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
Maneuver(
|
||||
"NaN recovery",
|
||||
@@ -117,10 +118,20 @@ def create_maneuvers(e2e):
|
||||
speed_lead_values=[0., 0., 0.0],
|
||||
breakpoints=[1., 1.01, 11.],
|
||||
cruise_values=[float("nan"), 15., 15.],
|
||||
e2e=e2e,
|
||||
**kwargs,
|
||||
),
|
||||
# controls relies on planner commanding to move for stock-ACC resume spamming
|
||||
Maneuver(
|
||||
'cruising at 25 m/s while disabled',
|
||||
duration=20.,
|
||||
initial_speed=25.,
|
||||
lead_relevancy=False,
|
||||
enabled=False,
|
||||
**kwargs,
|
||||
),
|
||||
]
|
||||
if not kwargs['force_decel']:
|
||||
# controls relies on planner commanding to move for stock-ACC resume spamming
|
||||
maneuvers.append(Maneuver(
|
||||
"resume from a stop",
|
||||
duration=20.,
|
||||
initial_speed=0.,
|
||||
@@ -129,20 +140,16 @@ def create_maneuvers(e2e):
|
||||
speed_lead_values=[0., 0., 2.],
|
||||
breakpoints=[1., 10., 15.],
|
||||
ensure_start=True,
|
||||
e2e=e2e,
|
||||
),
|
||||
Maneuver(
|
||||
'cruising at 25 m/s while disabled',
|
||||
duration=20.,
|
||||
initial_speed=25.,
|
||||
lead_relevancy=False,
|
||||
enabled=False,
|
||||
e2e=e2e,
|
||||
),
|
||||
]
|
||||
**kwargs,
|
||||
))
|
||||
return maneuvers
|
||||
|
||||
|
||||
@parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2))
|
||||
class LongitudinalControl(unittest.TestCase):
|
||||
e2e: bool
|
||||
force_decel: bool
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
os.environ['SIMULATION'] = "1"
|
||||
@@ -154,11 +161,12 @@ class LongitudinalControl(unittest.TestCase):
|
||||
params.put_bool("Passive", bool(os.getenv("PASSIVE")))
|
||||
params.put_bool("OpenpilotEnabledToggle", True)
|
||||
|
||||
@parameterized.expand([(man,) for e2e in [True, False] for man in create_maneuvers(e2e)])
|
||||
def test_maneuver(self, maneuver):
|
||||
print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
|
||||
valid, _ = maneuver.evaluate()
|
||||
self.assertTrue(valid, msg=maneuver.title)
|
||||
def test_maneuver(self):
|
||||
for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}):
|
||||
with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):
|
||||
print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
|
||||
valid, _ = maneuver.evaluate()
|
||||
self.assertTrue(valid)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -223,7 +223,7 @@ if __name__ == "__main__":
|
||||
try:
|
||||
expected_msgs = 2*MAX_FRAMES
|
||||
if not NO_NAV:
|
||||
expected_msgs += NAV_FRAMES*2
|
||||
expected_msgs += NAV_FRAMES*3
|
||||
cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs]
|
||||
|
||||
ignore = [
|
||||
|
||||
@@ -180,7 +180,7 @@ def fingerprint(msgs, fsm, can_sock, fingerprint):
|
||||
def get_car_params(msgs, fsm, can_sock, fingerprint):
|
||||
if fingerprint:
|
||||
CarInterface, _, _ = interfaces[fingerprint]
|
||||
CP = CarInterface.get_params(fingerprint)
|
||||
CP = CarInterface.get_non_essential_params(fingerprint)
|
||||
else:
|
||||
can = FakeSocket(wait=False)
|
||||
sendcan = FakeSocket(wait=False)
|
||||
|
||||
@@ -1 +1 @@
|
||||
557ffbf5a1c9cafba1ff8d6f3e2642df98b2d6e6
|
||||
ff0348b1957c8f992125df77a36b3c0553a26e6a
|
||||
|
||||
@@ -56,7 +56,7 @@ cd $SOURCE_DIR
|
||||
|
||||
rm -f .git/index.lock
|
||||
git reset --hard
|
||||
git fetch --verbose origin $GIT_COMMIT
|
||||
git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
|
||||
find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
|
||||
git reset --hard $GIT_COMMIT
|
||||
git checkout $GIT_COMMIT
|
||||
@@ -69,6 +69,7 @@ git lfs pull
|
||||
(ulimit -n 65535 && git lfs prune)
|
||||
|
||||
echo "git checkout done, t=$SECONDS"
|
||||
du -hs $SOURCE_DIR $SOURCE_DIR/.git
|
||||
|
||||
rsync -a --delete $SOURCE_DIR $TEST_DIR
|
||||
|
||||
|
||||
@@ -47,7 +47,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings),
|
||||
map_eta->setVisible(false);
|
||||
|
||||
auto last_gps_position = coordinate_from_param("LastGPSPosition");
|
||||
if (last_gps_position) {
|
||||
if (last_gps_position.has_value()) {
|
||||
last_position = *last_gps_position;
|
||||
}
|
||||
|
||||
@@ -82,6 +82,7 @@ void MapWindow::initLayers() {
|
||||
m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
|
||||
m_map->setPaintProperty("navLayer", "line-width", 7.5);
|
||||
m_map->setLayoutProperty("navLayer", "line-cap", "round");
|
||||
m_map->addAnnotationIcon("default_marker", QImage("../assets/navigation/default_marker.svg"));
|
||||
}
|
||||
if (!m_map->layerExists("carPosLayer")) {
|
||||
qDebug() << "Initializing carPosLayer";
|
||||
@@ -220,7 +221,6 @@ void MapWindow::updateState(const UIState &s) {
|
||||
emit instructionsChanged(i);
|
||||
}
|
||||
} else {
|
||||
m_map->setPitch(MIN_PITCH);
|
||||
clearRoute();
|
||||
}
|
||||
}
|
||||
@@ -237,6 +237,7 @@ void MapWindow::updateState(const UIState &s) {
|
||||
m_map->setLayoutProperty("navLayer", "visibility", "visible");
|
||||
|
||||
route_rcv_frame = sm.rcv_frame("navRoute");
|
||||
updateDestinationMarker();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -274,6 +275,7 @@ void MapWindow::clearRoute() {
|
||||
if (!m_map.isNull()) {
|
||||
m_map->setLayoutProperty("navLayer", "visibility", "none");
|
||||
m_map->setPitch(MIN_PITCH);
|
||||
updateDestinationMarker();
|
||||
}
|
||||
|
||||
map_instructions->hideIfNoError();
|
||||
@@ -361,6 +363,19 @@ void MapWindow::offroadTransition(bool offroad) {
|
||||
last_bearing = {};
|
||||
}
|
||||
|
||||
void MapWindow::updateDestinationMarker() {
|
||||
if (marker_id != -1) {
|
||||
m_map->removeAnnotation(marker_id);
|
||||
marker_id = -1;
|
||||
}
|
||||
|
||||
auto nav_dest = coordinate_from_param("NavDestination");
|
||||
if (nav_dest.has_value()) {
|
||||
auto ano = QMapbox::SymbolAnnotation {*nav_dest, "default_marker"};
|
||||
marker_id = m_map->addAnnotation(QVariant::fromValue<QMapbox::SymbolAnnotation>(ano));
|
||||
}
|
||||
}
|
||||
|
||||
MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
|
||||
is_rhd = Params().getBool("IsRhdDetected");
|
||||
QHBoxLayout *main_layout = new QHBoxLayout(this);
|
||||
|
||||
@@ -79,6 +79,7 @@ private:
|
||||
|
||||
QMapboxGLSettings m_settings;
|
||||
QScopedPointer<QMapboxGL> m_map;
|
||||
QMapbox::AnnotationID marker_id = -1;
|
||||
|
||||
void initLayers();
|
||||
|
||||
@@ -111,6 +112,7 @@ private:
|
||||
MapETA* map_eta;
|
||||
|
||||
void clearRoute();
|
||||
void updateDestinationMarker();
|
||||
uint64_t route_rcv_frame = 0;
|
||||
|
||||
private slots:
|
||||
|
||||
@@ -91,6 +91,11 @@ void CANMessages::seekTo(double ts) {
|
||||
emit updated();
|
||||
}
|
||||
|
||||
void CANMessages::pause(bool pause) {
|
||||
replay->pause(pause);
|
||||
emit (pause ? paused() : resume());
|
||||
}
|
||||
|
||||
void CANMessages::settingChanged() {
|
||||
replay->setSegmentCacheLimit(settings.cached_segment_limit);
|
||||
}
|
||||
|
||||
@@ -38,10 +38,12 @@ public:
|
||||
inline const std::vector<Event *> *events() const { return replay->events(); }
|
||||
inline void setSpeed(float speed) { replay->setSpeed(speed); }
|
||||
inline bool isPaused() const { return replay->isPaused(); }
|
||||
inline void pause(bool pause) { replay->pause(pause); }
|
||||
void pause(bool pause);
|
||||
inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return replay->getTimeline(); }
|
||||
|
||||
signals:
|
||||
void paused();
|
||||
void resume();
|
||||
void seekedTo(double sec);
|
||||
void streamStarted();
|
||||
void eventsMerged();
|
||||
|
||||
@@ -47,6 +47,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
|
||||
QApplication::style()->standardPalette().color(QPalette::Background).value();
|
||||
updateToolBar();
|
||||
|
||||
align_charts_timer = new QTimer(this);
|
||||
align_charts_timer->setSingleShot(true);
|
||||
align_charts_timer->callOnTimeout(this, &ChartsWidget::alignCharts);
|
||||
|
||||
QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
|
||||
QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged);
|
||||
QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState);
|
||||
@@ -159,7 +163,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo
|
||||
QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset);
|
||||
QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
|
||||
QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
|
||||
QObject::connect(chart, &ChartView::axisYUpdated, this, &ChartsWidget::alignCharts);
|
||||
QObject::connect(chart, &ChartView::axisYUpdated, [this]() { align_charts_timer->start(100); });
|
||||
charts_layout->insertWidget(0, chart);
|
||||
charts.push_back(chart);
|
||||
}
|
||||
@@ -453,7 +457,7 @@ void ChartView::updateAxisY() {
|
||||
double range = max_y - min_y;
|
||||
applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05);
|
||||
}
|
||||
QTimer::singleShot(0, this, &ChartView::axisYUpdated);
|
||||
emit axisYUpdated();
|
||||
}
|
||||
|
||||
void ChartView::applyNiceNumbers(qreal min, qreal max) {
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
#include <QLabel>
|
||||
#include <QListWidget>
|
||||
#include <QGraphicsProxyWidget>
|
||||
#include <QTimer>
|
||||
#include <QVBoxLayout>
|
||||
#include <QtCharts/QChartView>
|
||||
#include <QtCharts/QLineSeries>
|
||||
@@ -111,6 +112,7 @@ private:
|
||||
QAction *dock_btn;
|
||||
QAction *reset_zoom_btn;
|
||||
QAction *remove_all_btn;
|
||||
QTimer *align_charts_timer;
|
||||
QVBoxLayout *charts_layout;
|
||||
QList<ChartView *> charts;
|
||||
uint32_t max_chart_range = 0;
|
||||
|
||||
@@ -281,5 +281,6 @@ void MainWindow::setOption() {
|
||||
|
||||
void MainWindow::findSimilarBits() {
|
||||
FindSimilarBitsDlg dlg(this);
|
||||
QObject::connect(&dlg, &FindSimilarBitsDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
|
||||
dlg.exec();
|
||||
}
|
||||
|
||||
@@ -39,6 +39,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
|
||||
QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
|
||||
QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
|
||||
QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
|
||||
QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(current_msg_id); });
|
||||
QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) {
|
||||
if (current.isValid() && current.row() < model->msgs.size()) {
|
||||
if (model->msgs[current.row()] != current_msg_id) {
|
||||
@@ -47,10 +48,12 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
|
||||
}
|
||||
}
|
||||
});
|
||||
QObject::connect(model, &MessageListModel::modelReset, [this]() {
|
||||
if (int row = model->msgs.indexOf(current_msg_id); row != -1)
|
||||
table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
|
||||
});
|
||||
}
|
||||
|
||||
void MessagesWidget::selectMessage(const QString &msg_id) {
|
||||
if (int row = model->msgs.indexOf(msg_id); row != -1) {
|
||||
table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
|
||||
}
|
||||
}
|
||||
|
||||
// MessageListModel
|
||||
@@ -80,11 +83,11 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
|
||||
|
||||
void MessageListModel::setFilterString(const QString &string) {
|
||||
filter_str = string;
|
||||
bool search_id = filter_str.contains(':');
|
||||
msgs.clear();
|
||||
for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
|
||||
if ((search_id ? it.key() : msgName(it.key())).contains(filter_str, Qt::CaseInsensitive))
|
||||
if (it.key().contains(filter_str, Qt::CaseInsensitive) || msgName(it.key()).contains(filter_str, Qt::CaseInsensitive)) {
|
||||
msgs.push_back(it.key());
|
||||
}
|
||||
}
|
||||
sortMessages();
|
||||
}
|
||||
|
||||
@@ -31,6 +31,8 @@ class MessagesWidget : public QWidget {
|
||||
|
||||
public:
|
||||
MessagesWidget(QWidget *parent);
|
||||
void selectMessage(const QString &message_id);
|
||||
|
||||
signals:
|
||||
void msgSelectionChanged(const QString &message_id);
|
||||
|
||||
|
||||
@@ -25,14 +25,28 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent) {
|
||||
}
|
||||
bus_combo->model()->sort(0);
|
||||
bus_combo->setCurrentIndex(0);
|
||||
|
||||
msg_cb = new QComboBox(this);
|
||||
for (auto &[address, msg] : dbc()->messages()) {
|
||||
msg_cb->addItem(msg.name, address);
|
||||
}
|
||||
msg_cb->model()->sort(0);
|
||||
msg_cb->setCurrentIndex(0);
|
||||
|
||||
byte_idx_sb = new QSpinBox(this);
|
||||
byte_idx_sb->setRange(0, 63);
|
||||
|
||||
bit_idx_sb = new QSpinBox(this);
|
||||
bit_idx_sb->setRange(0, 7);
|
||||
|
||||
form_layout->addWidget(new QLabel("Bus"));
|
||||
form_layout->addWidget(bus_combo);
|
||||
form_layout->addWidget(msg_cb);
|
||||
form_layout->addWidget(new QLabel("Byte Index"));
|
||||
form_layout->addWidget(byte_idx_sb);
|
||||
form_layout->addWidget(new QLabel("Bit Index"));
|
||||
form_layout->addWidget(bit_idx_sb);
|
||||
|
||||
bit_combo = new QComboBox(this);
|
||||
bit_combo->addItems({"0", "1"});
|
||||
bit_combo->setCurrentIndex(1);
|
||||
form_layout->addWidget(new QLabel("Bit"));
|
||||
form_layout->addWidget(bit_combo);
|
||||
|
||||
min_msgs = new QLineEdit(this);
|
||||
min_msgs->setValidator(new QIntValidator(this));
|
||||
@@ -45,21 +59,29 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent) {
|
||||
main_layout->addLayout(form_layout);
|
||||
|
||||
table = new QTableWidget(this);
|
||||
table->setSelectionBehavior(QAbstractItemView::SelectRows);
|
||||
table->setSelectionMode(QAbstractItemView::SingleSelection);
|
||||
table->setEditTriggers(QAbstractItemView::NoEditTriggers);
|
||||
table->horizontalHeader()->setStretchLastSection(true);
|
||||
main_layout->addWidget(table);
|
||||
|
||||
setMinimumSize({700, 500});
|
||||
QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);
|
||||
QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
|
||||
if (index.isValid()) {
|
||||
emit openMessage(bus_combo->currentText() + ":" + table->item(index.row(), 0)->text());
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
void FindSimilarBitsDlg::find() {
|
||||
search_btn->setEnabled(false);
|
||||
table->clear();
|
||||
auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), bit_combo->currentIndex(), min_msgs->text().toInt());
|
||||
uint32_t selected_address = msg_cb->currentData().toUInt();
|
||||
auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt());
|
||||
table->setRowCount(msg_mismatched.size());
|
||||
table->setColumnCount(6);
|
||||
table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total", "perc%"});
|
||||
table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"});
|
||||
for (int i = 0; i < msg_mismatched.size(); ++i) {
|
||||
auto &m = msg_mismatched[i];
|
||||
table->setItem(i, 0, new QTableWidgetItem(QString("%1").arg(m.address, 1, 16)));
|
||||
@@ -72,18 +94,24 @@ void FindSimilarBitsDlg::find() {
|
||||
search_btn->setEnabled(true);
|
||||
}
|
||||
|
||||
QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, int bit_to_find, int min_msgs_cnt) {
|
||||
QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) {
|
||||
QHash<uint32_t, QVector<uint32_t>> mismatches;
|
||||
QHash<uint32_t, uint32_t> msg_count;
|
||||
auto events = can->events();
|
||||
int bit_to_find = -1;
|
||||
for (auto e : *events) {
|
||||
if (e->which == cereal::Event::Which::CAN) {
|
||||
for (const auto &c : e->event.getCan()) {
|
||||
if (c.getSrc() == bus) {
|
||||
uint32_t address = c.getAddress();
|
||||
++msg_count[address];
|
||||
auto &mismatched = mismatches[address];
|
||||
const auto dat = c.getDat();
|
||||
uint32_t address = c.getAddress();
|
||||
if (address == selected_address && dat.size() > byte_idx) {
|
||||
bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0;
|
||||
}
|
||||
++msg_count[address];
|
||||
if (bit_to_find == -1) continue;
|
||||
|
||||
auto &mismatched = mismatches[address];
|
||||
if (mismatched.size() < dat.size() * 8) {
|
||||
mismatched.resize(dat.size() * 8);
|
||||
}
|
||||
@@ -104,12 +132,12 @@ QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_
|
||||
if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
|
||||
auto &mismatched = it.value();
|
||||
for (int i = 0; i < mismatched.size(); ++i) {
|
||||
if (uint32_t perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
|
||||
if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
|
||||
result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
std::sort(result.begin(), result.end(), [](auto &l, auto &r) { return l.perc > r.perc; });
|
||||
std::sort(result.begin(), result.end(), [](auto &l, auto &r) { return l.perc < r.perc; });
|
||||
return result;
|
||||
}
|
||||
|
||||
@@ -3,21 +3,29 @@
|
||||
#include <QComboBox>
|
||||
#include <QDialog>
|
||||
#include <QLineEdit>
|
||||
#include <QSpinBox>
|
||||
#include <QTableWidget>
|
||||
|
||||
class FindSimilarBitsDlg : public QDialog {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
FindSimilarBitsDlg(QWidget *parent);
|
||||
|
||||
signals:
|
||||
void openMessage(const QString &msg_id);
|
||||
|
||||
private:
|
||||
struct mismatched_struct {
|
||||
uint32_t address, byte_idx, bit_idx, mismatches, total, perc;
|
||||
uint32_t address, byte_idx, bit_idx, mismatches, total;
|
||||
float perc;
|
||||
};
|
||||
QList<mismatched_struct> calcBits(uint8_t bus, int bit_to_find, int min_msgs_cnt);
|
||||
QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt);
|
||||
void find();
|
||||
|
||||
QTableWidget *table;
|
||||
QComboBox *bus_combo, *bit_combo;
|
||||
QComboBox *bus_combo, *msg_cb;
|
||||
QSpinBox *byte_idx_sb, *bit_idx_sb;
|
||||
QPushButton *search_btn;
|
||||
QLineEdit *min_msgs;
|
||||
};
|
||||
|
||||
@@ -63,22 +63,19 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
|
||||
}
|
||||
main_layout->addLayout(control_layout);
|
||||
|
||||
QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
|
||||
QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
|
||||
QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
|
||||
QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); });
|
||||
QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); });
|
||||
QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
|
||||
QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
|
||||
QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
|
||||
QObject::connect(can, &CANMessages::paused, [this]() { play_btn->setText("▶"); });
|
||||
QObject::connect(can, &CANMessages::resume, [this]() { play_btn->setText("⏸"); });
|
||||
QObject::connect(can, &CANMessages::streamStarted, [this]() {
|
||||
end_time_label->setText(formatTime(can->totalSeconds()));
|
||||
slider->setRange(0, can->totalSeconds() * 1000);
|
||||
});
|
||||
}
|
||||
|
||||
void VideoWidget::pause(bool pause) {
|
||||
play_btn->setText(!pause ? "⏸" : "▶");
|
||||
can->pause(pause);
|
||||
}
|
||||
|
||||
void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
|
||||
if (!is_zoomed) {
|
||||
min = 0;
|
||||
|
||||
@@ -44,7 +44,6 @@ public:
|
||||
|
||||
protected:
|
||||
void updateState();
|
||||
void pause(bool pause);
|
||||
|
||||
CameraWidget *cam_widget;
|
||||
QLabel *end_time_label;
|
||||
|
||||
+1
-6
@@ -52,14 +52,9 @@ brew "zeromq"
|
||||
brew "protobuf"
|
||||
brew "protobuf-c"
|
||||
brew "swig"
|
||||
cask "gcc-arm-embedded"
|
||||
EOS
|
||||
|
||||
# Install gcc-arm-embedded 10.3-2021.10. 11.x is broken on M1 Macs with Xcode 13.3~
|
||||
brew uninstall gcc-arm-embedded || true
|
||||
curl -L https://github.com/Homebrew/homebrew-cask/raw/d407663b8017a0a062c7fc0b929faf2e16abd1ff/Casks/gcc-arm-embedded.rb > /tmp/gcc-arm-embedded.rb
|
||||
brew install --cask /tmp/gcc-arm-embedded.rb
|
||||
rm /tmp/gcc-arm-embedded.rb
|
||||
|
||||
echo "[ ] finished brew install t=$SECONDS"
|
||||
|
||||
BREW_PREFIX=$(brew --prefix)
|
||||
|
||||
@@ -56,7 +56,7 @@ void CameraServer::cameraThread(Camera &cam) {
|
||||
.timestamp_eof = eidx.getTimestampEof(),
|
||||
};
|
||||
yuv->set_frame_id(eidx.getFrameId());
|
||||
vipc_server_->send(yuv, &extra, false);
|
||||
vipc_server_->send(yuv, &extra);
|
||||
} else {
|
||||
rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId());
|
||||
}
|
||||
|
||||
@@ -50,14 +50,6 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold
|
||||
if (color != Color::Default) wattroff(w, COLOR_PAIR(color));
|
||||
}
|
||||
|
||||
std::string format_seconds(int s) {
|
||||
int total_minutes = s / 60;
|
||||
int seconds = s % 60;
|
||||
int hours = total_minutes / 60;
|
||||
int minutes = total_minutes % 60;
|
||||
return util::string_format("%02d:%02d:%02d", hours, minutes, seconds);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) {
|
||||
@@ -177,8 +169,8 @@ void ConsoleUI::updateStatus() {
|
||||
}
|
||||
auto [status_str, status_color] = status_text[status];
|
||||
write_item(0, 0, "STATUS: ", status_str, " ", false, status_color);
|
||||
std::string suffix = " / " + format_seconds(replay->totalSeconds());
|
||||
write_item(0, 25, "TIME: ", format_seconds(replay->currentSeconds()), suffix, true);
|
||||
std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
|
||||
write_item(0, 25, "TIME: ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true);
|
||||
|
||||
auto p = sm["liveParameters"].getLiveParameters();
|
||||
write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " ");
|
||||
|
||||
@@ -64,6 +64,7 @@ public:
|
||||
inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
|
||||
inline const Route* route() const { return route_.get(); }
|
||||
inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
|
||||
inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
|
||||
inline uint64_t routeStartTime() const { return route_start_ts_; }
|
||||
inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
|
||||
inline int totalSeconds() const { return segments_.size() * 60; }
|
||||
|
||||
@@ -19,18 +19,19 @@ Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir
|
||||
}
|
||||
|
||||
RouteIdentifier Route::parseRoute(const QString &str) {
|
||||
QRegExp rx(R"(^([a-z0-9]{16})([|_/])(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
|
||||
QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
|
||||
if (rx.indexIn(str) == -1) return {};
|
||||
|
||||
const QStringList list = rx.capturedTexts();
|
||||
return {list[1], list[3], list[5].toInt(), list[1] + "|" + list[3]};
|
||||
return {.dongle_id = list[1], .timestamp = list[3], .segment_id = list[5].toInt(), .str = list[1] + "|" + list[3]};
|
||||
}
|
||||
|
||||
bool Route::load() {
|
||||
if (route_.str.isEmpty()) {
|
||||
if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
|
||||
rInfo("invalid route format");
|
||||
return false;
|
||||
}
|
||||
date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss");
|
||||
return data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
|
||||
}
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#pragma once
|
||||
|
||||
#include <QDateTime>
|
||||
#include <QFutureSynchronizer>
|
||||
|
||||
#include "tools/replay/framereader.h"
|
||||
@@ -27,6 +28,7 @@ public:
|
||||
Route(const QString &route, const QString &data_dir = {});
|
||||
bool load();
|
||||
inline const QString &name() const { return route_.str; }
|
||||
inline const QDateTime datetime() const { return date_time_; }
|
||||
inline const QString &dir() const { return data_dir_; }
|
||||
inline const RouteIdentifier &identifier() const { return route_; }
|
||||
inline const std::map<int, SegmentFile> &segments() const { return segments_; }
|
||||
@@ -41,6 +43,7 @@ protected:
|
||||
RouteIdentifier route_ = {};
|
||||
QString data_dir_;
|
||||
std::map<int, SegmentFile> segments_;
|
||||
QDateTime date_time_;
|
||||
};
|
||||
|
||||
class Segment : public QObject {
|
||||
|
||||
Reference in New Issue
Block a user