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deep-rl
...
master-dev
| Author | SHA1 | Date | |
|---|---|---|---|
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066ba92e77 | ||
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dfb21bd53e |
@@ -12,11 +12,11 @@ on:
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required: false
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type: string
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recompiled_dir:
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description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
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description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
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required: true
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type: string
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json_version:
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description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
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description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
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required: true
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type: string
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artifact_suffix:
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@@ -63,11 +63,12 @@ on:
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default: 'None'
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options:
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- None
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- Master Models
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- Release Models
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- 2025 World Models
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- 2026 World Models
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- Simple Plan Models
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- Space Lab Models
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- TR Models
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- DTR Models
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- Custom Merge Models
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- FOF series models
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- Other
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custom_model_folder:
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description: 'Custom model folder name (if "Other" selected)'
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29
.github/workflows/sunnypilot-build-model.yaml
vendored
29
.github/workflows/sunnypilot-build-model.yaml
vendored
@@ -30,11 +30,6 @@ on:
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required: false
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type: string
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default: ''
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target_hardware:
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description: 'Hardware target to compile for (qcom or usbgpu)'
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required: false
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type: string
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default: 'qcom'
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workflow_dispatch:
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inputs:
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upstream_branch:
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@@ -51,14 +46,6 @@ on:
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required: false
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type: boolean
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default: true
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target_hardware:
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description: 'Hardware target to compile for'
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required: true
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type: choice
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options:
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- qcom
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- usbgpu
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default: 'qcom'
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run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
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@@ -182,17 +169,7 @@ jobs:
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COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
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MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
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CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
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if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
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echo "USBGPU build"
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export USBGPU=1
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TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
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OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
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else
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echo "QCOM build"
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TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
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OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
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fi
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TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
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# Generate metadata for all ONNX files
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find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
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@@ -226,13 +203,13 @@ jobs:
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fi
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if [ -n "$MODEL_TYPE" ]; then
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echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
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echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
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env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
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--model-type $MODEL_TYPE \
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--model-size $MODEL_SIZE \
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--camera-resolutions $CAMERA_RES \
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$ONNX_ARGS \
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--output "$OUTPUT_PKL"
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--output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
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fi
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- name: Validate Model Outputs
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@@ -137,16 +137,10 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
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eta @2 :UInt32;
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}
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struct Chunk {
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fileName @0 :Text;
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sha256 @1 :Text;
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}
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struct Artifact {
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fileName @0 :Text;
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downloadUri @1 :DownloadUri;
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downloadProgress @2 :DownloadProgress;
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chunks @3 :List(Chunk);
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}
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struct Model {
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236
docs/CARS.md
236
docs/CARS.md
@@ -4,24 +4,24 @@
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|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 340 Supported Cars
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# 341 Supported Cars
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||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
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@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
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|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
@@ -279,8 +280,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -312,60 +313,61 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</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>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</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>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Submodule opendbc_repo updated: 10e654bf21...4ec5a35e29
@@ -53,7 +53,7 @@ def validate_model_outputs(metadata_paths: list[Path]) -> None:
|
||||
print(f"Optional output keys detected: {detected_optional}")
|
||||
|
||||
|
||||
def create_short_name(full_name: str) -> str:
|
||||
def create_short_name(full_name):
|
||||
# Remove parentheses and extract alphanumeric words
|
||||
clean_name = re.sub(r'\([^)]*\)', '', full_name)
|
||||
words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
|
||||
@@ -121,7 +121,7 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
|
||||
return old_pkl.rename(new_pkl)
|
||||
|
||||
|
||||
def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path) -> dict | None:
|
||||
def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
|
||||
base = model_path.stem
|
||||
metadata_file = output_dir / f"{base}_metadata.pkl"
|
||||
|
||||
@@ -134,7 +134,7 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str, drivi
|
||||
|
||||
if not metadata_file.exists():
|
||||
print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
|
||||
return None
|
||||
return
|
||||
|
||||
tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
|
||||
|
||||
@@ -143,33 +143,15 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str, drivi
|
||||
|
||||
model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
|
||||
|
||||
chunks_config = []
|
||||
manifest_file = Path(f"{driving_pkl}.chunkmanifest")
|
||||
if manifest_file.exists():
|
||||
num_chunks = int(manifest_file.read_text().strip())
|
||||
for i in range(num_chunks):
|
||||
chunk_path = Path(f"{driving_pkl}.chunk{i + 1:02d}of{num_chunks:02d}")
|
||||
if chunk_path.exists():
|
||||
chunk_hash = hashlib.sha256(chunk_path.read_bytes()).hexdigest()
|
||||
chunks_config.append({
|
||||
"file_name": chunk_path.name,
|
||||
"sha256": chunk_hash
|
||||
})
|
||||
|
||||
artifact_data = {
|
||||
"file_name": driving_pkl.name,
|
||||
"download_uri": {
|
||||
"url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
|
||||
"sha256": tinygrad_hash
|
||||
}
|
||||
}
|
||||
|
||||
if chunks_config:
|
||||
artifact_data["chunks"] = chunks_config
|
||||
|
||||
return {
|
||||
"type": model_type,
|
||||
"artifact": artifact_data,
|
||||
"artifact": {
|
||||
"file_name": driving_pkl.name,
|
||||
"download_uri": {
|
||||
"url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
|
||||
"sha256": tinygrad_hash
|
||||
}
|
||||
},
|
||||
"metadata": {
|
||||
"file_name": metadata_file.name,
|
||||
"download_uri": {
|
||||
@@ -180,8 +162,8 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str, drivi
|
||||
}
|
||||
|
||||
|
||||
def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown") -> None:
|
||||
bundle_json = {
|
||||
def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
|
||||
metadata_json = {
|
||||
"short_name": short_name,
|
||||
"display_name": custom_name or upstream_branch,
|
||||
"is_20hz": is_20hz,
|
||||
@@ -197,10 +179,6 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
|
||||
}
|
||||
|
||||
# Write metadata to output_dir
|
||||
metadata_json = {
|
||||
"bundles": [bundle_json]
|
||||
}
|
||||
|
||||
with open(output_dir / "metadata.json", "w") as f:
|
||||
json.dump(metadata_json, f, indent=2)
|
||||
|
||||
|
||||
@@ -10,291 +10,471 @@ import argparse
|
||||
import os
|
||||
import pickle
|
||||
import time
|
||||
from collections import defaultdict
|
||||
from functools import partial
|
||||
from collections import defaultdict
|
||||
|
||||
import numpy as np
|
||||
os.environ['GMMU'] = '0'
|
||||
|
||||
def _patch_tinygrad_fetch_fw():
|
||||
import hashlib
|
||||
import pathlib
|
||||
import zstandard
|
||||
from tinygrad import helpers
|
||||
_orig_fetch_fw = helpers.fetch_fw
|
||||
def fetch_fw(path, name, sha256):
|
||||
p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
|
||||
if p.is_file():
|
||||
blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
|
||||
if hashlib.sha256(blob).hexdigest() == sha256:
|
||||
return blob
|
||||
return _orig_fetch_fw(path, name, sha256)
|
||||
helpers.fetch_fw = fetch_fw
|
||||
_patch_tinygrad_fetch_fw()
|
||||
|
||||
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
|
||||
from tinygrad import dtypes
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
from openpilot.selfdrive.modeld.compile_modeld import (
|
||||
NV12Frame, make_frame_prepare,
|
||||
shift_and_sample, sample_skip, sample_desire,
|
||||
)
|
||||
|
||||
MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
|
||||
|
||||
|
||||
def _detect_desire_key(shapes: dict) -> str | None:
|
||||
return next((key for key in shapes if key.startswith('desire')), None)
|
||||
def _detect_desire_key(policy_input_shapes):
|
||||
for k in policy_input_shapes:
|
||||
if k.startswith('desire'):
|
||||
return k
|
||||
return None
|
||||
|
||||
|
||||
def _detect_vision_keys(shapes: dict) -> tuple[str | None, str | None]:
|
||||
img_keys = sorted(key for key in shapes if 'img' in key)
|
||||
return (
|
||||
next((key for key in img_keys if 'big' not in key), None),
|
||||
next((key for key in img_keys if 'big' in key), None)
|
||||
)
|
||||
def _detect_vision_keys(vision_input_shapes):
|
||||
img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
|
||||
road_key = next((k for k in img_keys if 'big' not in k), None)
|
||||
wide_key = next((k for k in img_keys if 'big' in k), None)
|
||||
if road_key is None or wide_key is None:
|
||||
raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
|
||||
return road_key, wide_key
|
||||
|
||||
|
||||
def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> int:
|
||||
features_buffer = policy_input_shapes.get('features_buffer')
|
||||
return 1 if not features_buffer or features_buffer[1] >= 99 else 4
|
||||
def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
|
||||
road_key, _ = _detect_vision_keys(vision_input_shapes)
|
||||
img = vision_input_shapes[road_key]
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
fb = policy_input_shapes['features_buffer']
|
||||
desire_key = _detect_desire_key(policy_input_shapes)
|
||||
dp = policy_input_shapes[desire_key]
|
||||
tc = policy_input_shapes.get('traffic_convention', (1, 2))
|
||||
|
||||
def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
road_key, _ = _detect_vision_keys(input_shapes)
|
||||
if not road_key:
|
||||
raise ValueError("Vision road key missing from input shapes.")
|
||||
|
||||
img_shape = input_shapes[road_key]
|
||||
n_frames = img_shape[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
|
||||
|
||||
desire_key = _detect_desire_key(input_shapes)
|
||||
if not desire_key:
|
||||
raise ValueError("Desire key missing from input shapes.")
|
||||
|
||||
desire_shape = input_shapes[desire_key]
|
||||
features_buffer = input_shapes.get('features_buffer')
|
||||
|
||||
npy_arrays = {
|
||||
'desire': np.zeros(desire_shape[2], dtype=np.float32),
|
||||
npy = {
|
||||
'desire': np.zeros(dp[2], dtype=np.float32),
|
||||
'traffic_convention': np.zeros(tc, dtype=np.float32),
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32)
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
|
||||
npy_arrays[key] = np.zeros(shape, dtype=np.float32)
|
||||
handled = {'features_buffer', desire_key, 'traffic_convention'}
|
||||
for key, shape in policy_input_shapes.items():
|
||||
if key in handled:
|
||||
continue
|
||||
npy[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
queues = {
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
|
||||
}
|
||||
|
||||
if features_buffer:
|
||||
queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
|
||||
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
|
||||
return queues, npy_arrays
|
||||
return input_queues, npy
|
||||
|
||||
|
||||
def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device)
|
||||
|
||||
|
||||
def make_supercombo_input_queues(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy(input_shapes, frame_skip, device)
|
||||
|
||||
|
||||
def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
|
||||
features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
|
||||
frame_prepare = make_frame_prepare(nv12, *model_size)
|
||||
def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
desire_key = _detect_desire_key(input_shapes)
|
||||
road_key, wide_key = _detect_vision_keys(input_shapes)
|
||||
def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
|
||||
npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
|
||||
desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
|
||||
extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
|
||||
Tensor.realize(*npy_tensors, *extra_device.values())
|
||||
tfm, big_tfm, desire, traffic_convention = npy_tensors
|
||||
|
||||
if not desire_key or not road_key or not wide_key:
|
||||
raise ValueError("Missing required vision or desire keys in input shapes.")
|
||||
|
||||
extra_keys = [key for key in input_shapes if key not in (desire_key, 'features_buffer', 'traffic_convention') and 'img' not in key]
|
||||
|
||||
def runner(img_q, big_img_q, feat_q, frame, big_frame, tfm, big_tfm, **kwargs):
|
||||
desire_q = kwargs['desire_q']
|
||||
desire = kwargs['desire']
|
||||
traffic_convention = kwargs.get('traffic_convention')
|
||||
|
||||
npys = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT), desire.to(Device.DEFAULT)]
|
||||
if traffic_convention is not None:
|
||||
npys.append(traffic_convention.to(Device.DEFAULT))
|
||||
|
||||
extra_tensors = {key: kwargs[key].to(Device.DEFAULT) for key in extra_keys if key in kwargs}
|
||||
Tensor.realize(*npys, *extra_tensors.values())
|
||||
|
||||
tfm_dev, big_tfm_dev, desire_dev = npys[:3]
|
||||
traffic_conv_dev = npys[3] if traffic_convention is not None else None
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn)
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
|
||||
inputs = {desire_key: desire_buf, **extra_tensors}
|
||||
vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
|
||||
|
||||
if traffic_conv_dev is not None:
|
||||
inputs['traffic_convention'] = traffic_conv_dev
|
||||
new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
|
||||
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
if vision_runner:
|
||||
vision_out = next(iter(vision_runner({road_key: img, wide_key: big_img}).values()))
|
||||
vision_out_cast = vision_out.cast('float32')
|
||||
new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
|
||||
inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
|
||||
policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32') for pol_runner in policy_runners]
|
||||
return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
|
||||
inputs.update({road_key: img, wide_key: big_img, 'features_buffer': sample_skip_fn(feat_q)})
|
||||
policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32')
|
||||
new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
|
||||
shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
|
||||
return policy_out
|
||||
inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
|
||||
policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
|
||||
|
||||
return runner
|
||||
return vision_out, policy_out
|
||||
return run_policy
|
||||
|
||||
|
||||
def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
|
||||
print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runner, vision_metadata, policy_metadata):
|
||||
print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
|
||||
vision_features_slice = vision_metadata['output_slices']['hidden_state']
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
policy_input_shapes = policy_metadata['input_shapes']
|
||||
desire_key = _detect_desire_key(policy_input_shapes)
|
||||
extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
|
||||
vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
|
||||
|
||||
feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
|
||||
if not feat_meta:
|
||||
raise ValueError("Could not find vision, model, or policy metadata.")
|
||||
_run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only)
|
||||
run_policy_jit = TinyJit(_run, prune=True)
|
||||
|
||||
features_slice = feat_meta['output_slices']['hidden_state']
|
||||
WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
|
||||
SEED = 42
|
||||
|
||||
run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
|
||||
run_jit = TinyJit(run_func, prune=True)
|
||||
queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT)
|
||||
def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
|
||||
np.random.seed(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
testing = test_val is not None or test_buffers is not None
|
||||
n_runs = 1 if testing else 3
|
||||
|
||||
for i in range(n_runs):
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**input_queues, frame=frame, big_frame=big_frame)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
if i == 0:
|
||||
val = [np.copy(v.numpy()) for v in outs]
|
||||
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
|
||||
|
||||
if test_val is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
|
||||
assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
if test_buffers is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
|
||||
assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
return fn, val, buffers
|
||||
|
||||
print('capture + replay')
|
||||
run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
|
||||
|
||||
print('pickle round trip')
|
||||
run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
|
||||
random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
|
||||
return run_policy_jit
|
||||
|
||||
|
||||
def derive_frame_skip(vision_input_shapes, policy_input_shapes):
|
||||
fb = policy_input_shapes.get('features_buffer')
|
||||
if fb is None:
|
||||
return 1
|
||||
fb_history = fb[1]
|
||||
if fb_history >= 99:
|
||||
return 1
|
||||
return 4
|
||||
|
||||
|
||||
def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
|
||||
if img_shape is None:
|
||||
raise ValueError("No img input found in model shapes")
|
||||
|
||||
n_frames = img_shape[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
|
||||
|
||||
numpy_keys = {}
|
||||
queue_keys = {}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
if 'img' in key:
|
||||
continue
|
||||
if len(shape) == 3 and shape[1] > 1:
|
||||
if key.startswith('desire'):
|
||||
numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
queue_keys[f'{key}_q'] = Tensor(
|
||||
np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
elif key == 'features_buffer':
|
||||
queue_keys['feat_q'] = Tensor(
|
||||
np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
else:
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
elif len(shape) == 2:
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
if 'traffic_convention' not in numpy_keys:
|
||||
tc_shape = input_shapes.get('traffic_convention', (1, 2))
|
||||
numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
|
||||
numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**queue_keys,
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
|
||||
}
|
||||
return input_queues, numpy_keys
|
||||
|
||||
|
||||
def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
|
||||
features_slice, frame_skip, input_shapes, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
desire_key = _detect_desire_key(input_shapes)
|
||||
if desire_key is None:
|
||||
raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
|
||||
road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
|
||||
extra_policy_keys = [k for k in input_shapes
|
||||
if k not in (desire_key, 'features_buffer', 'traffic_convention')
|
||||
and 'img' not in k]
|
||||
|
||||
def run_supercombo(img_q, big_img_q, feat_q, desire_q,
|
||||
frame, big_frame, **kwargs):
|
||||
desire = kwargs.get(desire_key)
|
||||
traffic_convention = kwargs.get('traffic_convention')
|
||||
tfm = kwargs['tfm']
|
||||
big_tfm = kwargs['big_tfm']
|
||||
|
||||
tfm = tfm.to(Device.DEFAULT)
|
||||
big_tfm = big_tfm.to(Device.DEFAULT)
|
||||
desire = desire.to(Device.DEFAULT)
|
||||
traffic_convention = traffic_convention.to(Device.DEFAULT)
|
||||
Tensor.realize(tfm, big_tfm, desire, traffic_convention)
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
feat_buf = sample_skip_fn(feat_q)
|
||||
|
||||
inputs = {road_img_key: img, wide_img_key: big_img,
|
||||
desire_key: desire_buf, 'features_buffer': feat_buf,
|
||||
'traffic_convention': traffic_convention}
|
||||
for k in extra_policy_keys:
|
||||
if k in kwargs:
|
||||
inputs[k] = kwargs[k].to(Device.DEFAULT)
|
||||
|
||||
model_out = next(iter(model_runner(inputs).values())).cast('float32')
|
||||
|
||||
new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
|
||||
shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
|
||||
return model_out
|
||||
|
||||
return run_supercombo
|
||||
|
||||
|
||||
def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
|
||||
traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
|
||||
npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
|
||||
desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
|
||||
extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
|
||||
Tensor.realize(*npy_tensors, *extra_device.values())
|
||||
tfm, big_tfm, desire, traffic_convention = npy_tensors
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
|
||||
|
||||
new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
|
||||
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
|
||||
|
||||
policy_outputs = []
|
||||
for runner in policy_runners:
|
||||
policy_out = next(iter(runner(inputs).values())).cast('float32')
|
||||
policy_outputs.append(policy_out)
|
||||
|
||||
return (vision_out, *policy_outputs)
|
||||
|
||||
return run_multi_policy
|
||||
|
||||
|
||||
def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
|
||||
for i in range(3):
|
||||
np.random.seed(42 + i)
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
|
||||
for arr in npy_arrays.values():
|
||||
arr[:] = np.random.randn(*arr.shape).astype(arr.dtype)
|
||||
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
start_time = time.perf_counter()
|
||||
run_jit(**queues, frame=frame, big_frame=big_frame)
|
||||
mid_time = time.perf_counter()
|
||||
st = time.perf_counter()
|
||||
run_jit(**input_queues, frame=frame, big_frame=big_frame)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
print(f" [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
|
||||
|
||||
return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
|
||||
et = time.perf_counter()
|
||||
print(f" [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
|
||||
return pickle.loads(pickle.dumps(run_jit))
|
||||
|
||||
|
||||
def _parse_size(size_str: str) -> tuple[int, int]:
|
||||
width, height = size_str.lower().split('x')
|
||||
return int(width), int(height)
|
||||
def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
model_runner, metadata):
|
||||
print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
features_slice = metadata['output_slices']['hidden_state']
|
||||
input_shapes = metadata['input_shapes']
|
||||
|
||||
_run = make_run_supercombo(model_runner, nv12, model_w, model_h,
|
||||
features_slice, frame_skip, input_shapes, prepare_only)
|
||||
run_jit = TinyJit(_run, prune=True)
|
||||
|
||||
input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
|
||||
|
||||
run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
|
||||
return run_jit
|
||||
|
||||
|
||||
def read_file_chunked_to_shm(path):
|
||||
if not path:
|
||||
return None
|
||||
import atexit
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
|
||||
atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
|
||||
with open(shm_path, 'wb') as f:
|
||||
f.write(read_file_chunked(path))
|
||||
return shm_path
|
||||
def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runners, vision_metadata, policy_metadata):
|
||||
print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
vision_features_slice = vision_metadata['output_slices']['hidden_state']
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
policy_input_shapes = policy_metadata['input_shapes']
|
||||
desire_key = _detect_desire_key(policy_input_shapes)
|
||||
extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
|
||||
vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
|
||||
|
||||
_run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only)
|
||||
run_jit = TinyJit(_run, prune=True)
|
||||
|
||||
input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
|
||||
|
||||
run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
|
||||
return run_jit
|
||||
|
||||
|
||||
def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
|
||||
vision_runner, policy_runners: list, metadata: dict) -> dict:
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
return {
|
||||
(cam_w, cam_h): {
|
||||
name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
|
||||
frame_skip, vision_runner, policy_runners, metadata)
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
for cam_w, cam_h in camera_resolutions
|
||||
}
|
||||
|
||||
|
||||
def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
|
||||
runners, keys = [], []
|
||||
for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
|
||||
if onnx_arg:
|
||||
runners.append(OnnxRunner(onnx_arg))
|
||||
keys.append(name)
|
||||
return runners, keys
|
||||
def _parse_size(s):
|
||||
w, h = s.lower().split('x')
|
||||
return int(w), int(h)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
|
||||
|
||||
parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
|
||||
parser.add_argument('--model-type', choices=MODEL_TYPES, required=True)
|
||||
parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
|
||||
parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
|
||||
parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
|
||||
parser.add_argument('--output', required=True)
|
||||
p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
|
||||
p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
|
||||
p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
|
||||
p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
|
||||
p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
|
||||
p.add_argument('--output', required=True)
|
||||
|
||||
parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
|
||||
parser.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
|
||||
parser.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
|
||||
parser.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
|
||||
parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
|
||||
p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
|
||||
p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
|
||||
p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
|
||||
p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
|
||||
p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
|
||||
|
||||
args = parser.parse_args()
|
||||
output_data = defaultdict(dict)
|
||||
|
||||
args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
|
||||
args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
|
||||
args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
|
||||
args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
|
||||
args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
|
||||
|
||||
vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
|
||||
args = p.parse_args()
|
||||
out = defaultdict(dict)
|
||||
|
||||
if args.model_type == 'vision_policy':
|
||||
assert vision_runner and args.policy_onnx
|
||||
policy_runners = [OnnxRunner(args.policy_onnx)]
|
||||
output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
|
||||
assert args.vision_onnx and args.policy_onnx
|
||||
vision_runner = OnnxRunner(args.vision_onnx)
|
||||
policy_runner = OnnxRunner(args.policy_onnx)
|
||||
out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
|
||||
out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
|
||||
|
||||
frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
|
||||
out['metadata']['policy']['input_shapes'])
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
model_w, model_h = args.model_size
|
||||
out[(cam_w, cam_h)] = {
|
||||
name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runner,
|
||||
out['metadata']['vision'], out['metadata']['policy'])
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
|
||||
elif args.model_type == 'supercombo':
|
||||
assert args.supercombo_onnx
|
||||
policy_runners = [OnnxRunner(args.supercombo_onnx)]
|
||||
output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
|
||||
model_runner = OnnxRunner(args.supercombo_onnx)
|
||||
out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
|
||||
|
||||
frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
model_w, model_h = args.model_size
|
||||
out[(cam_w, cam_h)] = {
|
||||
name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
|
||||
model_runner, out['metadata']['model'])
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
|
||||
elif args.model_type == 'vision_multi_policy':
|
||||
assert vision_runner
|
||||
policy_runners, policy_names = _load_policy_runners(args)
|
||||
output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
|
||||
for name in policy_names:
|
||||
runner_arg = getattr(args, f"{name}_onnx")
|
||||
output_data['metadata'][name] = make_metadata_dict(runner_arg)
|
||||
assert args.vision_onnx
|
||||
vision_runner = OnnxRunner(args.vision_onnx)
|
||||
out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
|
||||
|
||||
policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
|
||||
first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
|
||||
vision_meta = output_data['metadata'].get('vision', {})
|
||||
policy_runners = []
|
||||
policy_onnxes = []
|
||||
if args.policy_onnx:
|
||||
policy_onnxes.append(('policy', args.policy_onnx))
|
||||
if args.off_policy_onnx:
|
||||
policy_onnxes.append(('off_policy', args.off_policy_onnx))
|
||||
if args.on_policy_onnx:
|
||||
policy_onnxes.append(('on_policy', args.on_policy_onnx))
|
||||
|
||||
derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
|
||||
output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
|
||||
vision_runner, policy_runners, output_data['metadata']))
|
||||
for name, onnx_path in policy_onnxes:
|
||||
runner = OnnxRunner(onnx_path)
|
||||
policy_runners.append(runner)
|
||||
out['metadata'][name] = make_metadata_dict(onnx_path)
|
||||
|
||||
with open(args.output, "wb") as file:
|
||||
pickle.dump(output_data, file)
|
||||
first_policy_key = policy_onnxes[0][0]
|
||||
frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
|
||||
out['metadata'][first_policy_key]['input_shapes'])
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
model_w, model_h = args.model_size
|
||||
out[(cam_w, cam_h)] = {
|
||||
name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runners,
|
||||
out['metadata']['vision'], out['metadata'][first_policy_key])
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
|
||||
with open(args.output, "wb") as f:
|
||||
pickle.dump(out, f)
|
||||
pkl_size = os.path.getsize(args.output)
|
||||
print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
|
||||
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
chunk_targets = get_chunk_targets(args.output, pkl_size)
|
||||
chunk_file(args.output, chunk_targets)
|
||||
print(f"Chunked into {len(chunk_targets) - 1} file(s)")
|
||||
num_chunks = len(chunk_targets) - 1
|
||||
print(f"Chunked into {num_chunks} file(s)")
|
||||
|
||||
@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import os
|
||||
os.environ['GMMU'] = '0'
|
||||
from openpilot.system.hardware import TICI
|
||||
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
|
||||
USBGPU = "USBGPU" in os.environ
|
||||
@@ -110,8 +109,6 @@ class ModelState(ModelStateBase):
|
||||
jits = pickle.loads(read_file_chunked(pkl_path))
|
||||
|
||||
self.DEV = Device.DEFAULT
|
||||
self.WARP_DEV = 'CPU' if USBGPU else self.DEV
|
||||
self.QUEUE_DEV = self.DEV
|
||||
|
||||
metadata = jits['metadata']
|
||||
if 'model' in metadata:
|
||||
@@ -123,7 +120,7 @@ class ModelState(ModelStateBase):
|
||||
self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
|
||||
frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
|
||||
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.QUEUE_DEV)
|
||||
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
else:
|
||||
vision_metadata = metadata['vision']
|
||||
policy_keys = [k for k in metadata if k != 'vision']
|
||||
@@ -141,11 +138,7 @@ class ModelState(ModelStateBase):
|
||||
policy_input_shapes = first_policy_metadata['input_shapes']
|
||||
self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
|
||||
frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.QUEUE_DEV)
|
||||
|
||||
self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
|
||||
self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
|
||||
self._wide_key = next(key for key in self._vision_input_names if 'big' in key)
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
|
||||
@@ -167,11 +160,12 @@ class ModelState(ModelStateBase):
|
||||
|
||||
self._run_policy = jits[(cam_w, cam_h)]['run_policy']
|
||||
self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
|
||||
yuv_size = self.frame_buf_params[self._road_key][3]
|
||||
road_name = next(k for k in self._vision_input_names if 'big' not in k)
|
||||
yuv_size = self.frame_buf_params[road_name][3]
|
||||
self._warp_enqueue(
|
||||
**self.input_queues,
|
||||
frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
|
||||
big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
|
||||
frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize(),
|
||||
big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize())
|
||||
|
||||
|
||||
@property
|
||||
@@ -184,7 +178,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
@property
|
||||
def desire_key(self) -> str:
|
||||
return self._desire_key
|
||||
return next(k for k in self.numpy_inputs if k.startswith('desire'))
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
@@ -195,19 +189,19 @@ class ModelState(ModelStateBase):
|
||||
yuv_size = self.frame_buf_params[key][3]
|
||||
cache_key = (key, ptr)
|
||||
if cache_key not in self._blob_cache:
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
|
||||
self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
|
||||
self.full_frames[key] = self._blob_cache[cache_key]
|
||||
|
||||
desire_key = self.desire_key
|
||||
inputs[desire_key][0] = 0
|
||||
self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.prev_desire[:] = inputs[desire_key]
|
||||
for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
|
||||
for key in ('traffic_convention', 'lateral_control_params'):
|
||||
if key in self.numpy_inputs and key in inputs:
|
||||
self.numpy_inputs[key][:] = inputs[key]
|
||||
|
||||
road_key = self._road_key
|
||||
wide_key = self._wide_key
|
||||
road_key = next(n for n in bufs if 'big' not in n)
|
||||
wide_key = next(n for n in bufs if 'big' in n)
|
||||
self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
|
||||
@@ -246,20 +240,13 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
|
||||
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
|
||||
if 'action' not in model_output:
|
||||
plan = model_output['plan'][0]
|
||||
desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
|
||||
action_t=long_action_t)
|
||||
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
|
||||
|
||||
curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
|
||||
if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
|
||||
desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
|
||||
else:
|
||||
desired_accel = model_output['action'][0, 1]
|
||||
desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
|
||||
should_stop = (v_ego < 0.3 and desired_accel < 0.1)
|
||||
plan = model_output['plan'][0]
|
||||
desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
|
||||
action_t=long_action_t)
|
||||
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
|
||||
|
||||
curvature_plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0] if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan
|
||||
desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
|
||||
if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
|
||||
if v_ego > self.MIN_LAT_CONTROL_SPEED:
|
||||
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
|
||||
@@ -412,12 +399,6 @@ def main(demo=False):
|
||||
|
||||
bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
|
||||
transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
|
||||
|
||||
frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
|
||||
action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
|
||||
lat_action_t = lat_delay + frame_delay + action_delay
|
||||
long_action_t = long_delay + frame_delay + action_delay
|
||||
|
||||
inputs:dict[str, np.ndarray] = {
|
||||
model.desire_key: vec_desire,
|
||||
'traffic_convention': traffic_convention,
|
||||
@@ -426,9 +407,6 @@ def main(demo=False):
|
||||
if 'lateral_control_params' in model.numpy_inputs:
|
||||
inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
|
||||
if 'action_t' in model.numpy_inputs:
|
||||
inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
model_output = model.run(bufs, transforms, inputs, prepare_only)
|
||||
mt2 = time.perf_counter()
|
||||
@@ -440,7 +418,7 @@ def main(demo=False):
|
||||
posenet_send = messaging.new_message('cameraOdometry')
|
||||
mdv2sp_send = messaging.new_message('modelDataV2SP')
|
||||
|
||||
action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
|
||||
action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
|
||||
prev_action = action
|
||||
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
|
||||
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
|
||||
|
||||
@@ -134,8 +134,6 @@ class Parser:
|
||||
out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
|
||||
if 'sim_pose' in outs:
|
||||
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
|
||||
if 'action' in outs:
|
||||
self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
|
||||
|
||||
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
|
||||
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
|
||||
|
||||
103
sunnypilot/modeld_v2/tests/test_warp.py
Normal file
103
sunnypilot/modeld_v2/tests/test_warp.py
Normal file
@@ -0,0 +1,103 @@
|
||||
import os
|
||||
os.environ['DEV'] = 'CPU'
|
||||
import pytest
|
||||
import numpy as np
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
|
||||
|
||||
VISION_NAME_PAIRS = [ # needed to account for supercombos input_imgs
|
||||
('img', 'big_img'),
|
||||
('input_imgs', 'big_input_imgs'),
|
||||
]
|
||||
|
||||
|
||||
class MockVisionBuf:
|
||||
def __init__(self, w, h):
|
||||
self.width = w
|
||||
self.height = h
|
||||
_, _, _, yuv_size = get_nv12_info(w, h)
|
||||
self.data = np.zeros(yuv_size, dtype=np.uint8)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("buffer_length", [2, 5])
|
||||
def test_warp_initialization(buffer_length):
|
||||
warp = Warp(buffer_length)
|
||||
assert warp.buffer_length == buffer_length
|
||||
assert warp.img_buffer_shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("buffer_length", [2, 5])
|
||||
@pytest.mark.parametrize("cam_w, cam_h", CAMERA_CONFIGS)
|
||||
@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
|
||||
def test_warp_process(buffer_length, cam_w, cam_h, road, wide):
|
||||
warp = Warp(buffer_length)
|
||||
mock_buf = MockVisionBuf(cam_w, cam_h)
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
bufs = {road: mock_buf, wide: mock_buf}
|
||||
transforms = {road: transform, wide: transform}
|
||||
|
||||
out = warp.process(bufs, transforms)
|
||||
assert isinstance(out, dict)
|
||||
assert road in out and wide in out
|
||||
assert out[road].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
|
||||
assert out[wide].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
key = (cam_w, cam_h)
|
||||
assert key in warp.jit_cache
|
||||
|
||||
out2 = warp.process(bufs, transforms)
|
||||
assert out2[road].shape == out[road].shape
|
||||
|
||||
|
||||
@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
|
||||
def test_warp_buffer_shift(road, wide):
|
||||
warp = Warp(2)
|
||||
cam_w, cam_h = CAMERA_CONFIGS[1]
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
|
||||
buf1 = MockVisionBuf(cam_w, cam_h)
|
||||
buf1.data[0] = 255
|
||||
bufs1 = {road: buf1, wide: buf1}
|
||||
transforms = {road: transform, wide: transform}
|
||||
out1 = warp.process(bufs1, transforms)
|
||||
road1 = out1[road].numpy().copy()
|
||||
|
||||
buf2 = MockVisionBuf(cam_w, cam_h)
|
||||
buf2.data[0] = 128
|
||||
bufs2 = {road: buf2, wide: buf2}
|
||||
out2 = warp.process(bufs2, transforms)
|
||||
assert not np.array_equal(road1, out2[road].numpy())
|
||||
|
||||
|
||||
@pytest.mark.parametrize("buffer_length", [2, 5])
|
||||
@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
|
||||
def test_warp_buffer_accumulation(buffer_length, road, wide):
|
||||
warp = Warp(buffer_length)
|
||||
cam_w, cam_h = CAMERA_CONFIGS[0]
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
transforms = {road: transform, wide: transform}
|
||||
outputs = []
|
||||
|
||||
for i in range(buffer_length + 1):
|
||||
buf = MockVisionBuf(cam_w, cam_h)
|
||||
buf.data[:] = i * 10
|
||||
out = warp.process({road: buf, wide: buf}, transforms)
|
||||
outputs.append(out[road].numpy().copy())
|
||||
|
||||
assert warp.full_buffers['img'].shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
for i in range(1, len(outputs)):
|
||||
assert not np.array_equal(outputs[i - 1], outputs[i])
|
||||
|
||||
|
||||
def test_warp_different_cameras_same_instance():
|
||||
warp = Warp(2)
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
|
||||
buf1 = MockVisionBuf(*CAMERA_CONFIGS[0])
|
||||
warp.process({'img': buf1, 'big_img': buf1}, {'img': transform, 'big_img': transform})
|
||||
assert len(warp.jit_cache) == 1
|
||||
|
||||
buf2 = MockVisionBuf(*CAMERA_CONFIGS[1])
|
||||
warp.process({'img': buf2, 'big_img': buf2}, {'img': transform, 'big_img': transform})
|
||||
assert len(warp.jit_cache) == 2
|
||||
171
sunnypilot/modeld_v2/warp.py
Normal file
171
sunnypilot/modeld_v2/warp.py
Normal file
@@ -0,0 +1,171 @@
|
||||
import pickle
|
||||
import time
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.device import Device
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare as _make_frame_prepare
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height),
|
||||
(_os_fisheye.width, _os_fisheye.height),
|
||||
]
|
||||
|
||||
|
||||
def make_frame_prepare(cam_w, cam_h, model_w, model_h):
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
return _make_frame_prepare(nv12, model_w, model_h)
|
||||
|
||||
|
||||
def warp_pkl_path(w, h):
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR
|
||||
return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
|
||||
return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_pair, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
UPSTREAM_BUFFER_LENGTH = 5
|
||||
|
||||
|
||||
def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
|
||||
|
||||
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
for i in range(10):
|
||||
img_inputs = [full_buffer,
|
||||
Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
big_img_inputs = [big_full_buffer,
|
||||
Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
inputs = img_inputs + big_img_inputs
|
||||
Device.default.synchronize()
|
||||
|
||||
st = time.perf_counter()
|
||||
_ = update_img_jit(*inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(update_img_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
jit = pickle.load(open(pkl_path, "rb"))
|
||||
verify_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
verify_big_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
fresh_inputs = [
|
||||
Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
|
||||
Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
|
||||
Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
|
||||
Tensor.from_blob(verify_big_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
|
||||
]
|
||||
jit(*fresh_inputs)
|
||||
|
||||
|
||||
class Warp:
|
||||
def __init__(self, buffer_length=2):
|
||||
self.buffer_length = buffer_length
|
||||
self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
self.jit_cache = {}
|
||||
self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
|
||||
self._blob_cache: dict[int, Tensor] = {}
|
||||
self._nv12_cache: dict[tuple[int, int], int] = {}
|
||||
self.transforms_np = {k: np.zeros((3, 3), dtype=np.float32) for k in ['img', 'big_img']}
|
||||
self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
|
||||
|
||||
def process(self, bufs, transforms):
|
||||
if not bufs:
|
||||
return {}
|
||||
road = next(n for n in bufs if 'big' not in n)
|
||||
wide = next(n for n in bufs if 'big' in n)
|
||||
cam_w, cam_h = bufs[road].width, bufs[road].height
|
||||
key = (cam_w, cam_h)
|
||||
|
||||
if key not in self.jit_cache:
|
||||
v2_pkl = v2_warp_pkl_path(cam_w, cam_h, self.buffer_length)
|
||||
if v2_pkl.exists():
|
||||
with open(v2_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
elif self.buffer_length == UPSTREAM_BUFFER_LENGTH:
|
||||
upstream_pkl = warp_pkl_path(cam_w, cam_h)
|
||||
if upstream_pkl.exists():
|
||||
with open(upstream_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
if key not in self.jit_cache:
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
if key not in self._nv12_cache:
|
||||
self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
|
||||
yuv_size = self._nv12_cache[key]
|
||||
|
||||
road_ptr = bufs[road].data.ctypes.data
|
||||
wide_ptr = bufs[wide].data.ctypes.data
|
||||
if road_ptr not in self._blob_cache:
|
||||
self._blob_cache[road_ptr] = Tensor.from_blob(road_ptr, (yuv_size,), dtype='uint8')
|
||||
if wide_ptr not in self._blob_cache:
|
||||
self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
|
||||
road_blob = self._blob_cache[road_ptr]
|
||||
wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
|
||||
np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
|
||||
np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
|
||||
|
||||
Device.default.synchronize()
|
||||
res = self.jit_cache[key](
|
||||
self.full_buffers['img'], road_blob, self.transforms['img'],
|
||||
self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
|
||||
)
|
||||
out_road = res[0].realize()
|
||||
out_wide = res[1].realize()
|
||||
|
||||
return {road: out_road, wide: out_wide}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
for cam_w, cam_h in CAMERA_CONFIGS:
|
||||
for bl in [2, 5]:
|
||||
compile_v2_warp(cam_w, cam_h, bl)
|
||||
@@ -26,22 +26,11 @@ class ModelParser:
|
||||
download_uri.sha256 = download_uri_data.get("sha256")
|
||||
return download_uri
|
||||
|
||||
@staticmethod
|
||||
def _parse_chunk(chunk_data) -> custom.ModelManagerSP.Chunk:
|
||||
chunk = custom.ModelManagerSP.Chunk()
|
||||
chunk.fileName = chunk_data.get("file_name")
|
||||
chunk.sha256 = chunk_data.get("sha256")
|
||||
return chunk
|
||||
|
||||
@staticmethod
|
||||
def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
|
||||
artifact = custom.ModelManagerSP.Artifact()
|
||||
artifact.fileName = artifact_data.get("file_name")
|
||||
artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
|
||||
|
||||
if "chunks" in artifact_data:
|
||||
artifact.chunks = [ModelParser._parse_chunk(chunk_data) for chunk_data in artifact_data["chunks"]]
|
||||
|
||||
return artifact
|
||||
|
||||
@staticmethod
|
||||
@@ -127,7 +116,7 @@ class ModelCache:
|
||||
|
||||
class ModelFetcher:
|
||||
"""Handles fetching and caching of model data from remote source"""
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
|
||||
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v17.json"
|
||||
|
||||
def __init__(self, params: Params):
|
||||
self.params = params
|
||||
@@ -195,6 +184,4 @@ if __name__ == "__main__":
|
||||
# Print artifact details
|
||||
print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
|
||||
# Print metadata details
|
||||
if model.artifact.chunks:
|
||||
print(f"Contains {len(model.artifact.chunks)} chunks.")
|
||||
print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
|
||||
|
||||
@@ -89,16 +89,20 @@ class ModelManagerSP:
|
||||
del self._download_start_times[model.fileName]
|
||||
|
||||
async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
|
||||
from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
|
||||
|
||||
num_chunks = len(artifact.chunks)
|
||||
if num_chunks == 0:
|
||||
raise ValueError("No chunks defined in artifact")
|
||||
|
||||
from openpilot.common.file_chunker import get_manifest_path, get_chunk_name
|
||||
manifest_url = get_manifest_path(base_url)
|
||||
manifest_path = get_manifest_path(base_path)
|
||||
|
||||
async with aiohttp.ClientSession() as session:
|
||||
async with session.get(manifest_url) as resp:
|
||||
if resp.status == 404:
|
||||
raise FileNotFoundError
|
||||
resp.raise_for_status()
|
||||
num_chunks = int((await resp.read()).strip())
|
||||
|
||||
self._download_start_times[artifact.fileName] = time.monotonic()
|
||||
|
||||
for i, _ in enumerate(artifact.chunks):
|
||||
for i in range(num_chunks):
|
||||
chunk_url = get_chunk_name(base_url, i, num_chunks)
|
||||
chunk_path = get_chunk_name(base_path, i, num_chunks)
|
||||
chunk_downloaded = 0
|
||||
@@ -113,7 +117,7 @@ class ModelManagerSP:
|
||||
if self.params.get("ModelManager_DownloadIndex") is None:
|
||||
raise Exception("Download cancelled")
|
||||
intra = chunk_downloaded / max(chunk_size, 1)
|
||||
progress = min(99.0, ((i + intra) / num_chunks) * 100)
|
||||
progress = min(99, (i + intra) / num_chunks * 100)
|
||||
artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
|
||||
artifact.downloadProgress.progress = progress
|
||||
artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
|
||||
@@ -144,9 +148,9 @@ class ModelManagerSP:
|
||||
self._report_status()
|
||||
return
|
||||
|
||||
if len(artifact.chunks) > 0:
|
||||
try:
|
||||
await self._download_chunked(url, full_path, artifact)
|
||||
else:
|
||||
except (FileNotFoundError, aiohttp.ClientResponseError):
|
||||
await self._download_file(url, full_path, artifact)
|
||||
|
||||
if not await verify_file(full_path, expected_hash):
|
||||
@@ -166,16 +170,18 @@ class ModelManagerSP:
|
||||
artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
|
||||
artifact.downloadProgress.eta = 0
|
||||
self._sync_artifact_progress(artifact)
|
||||
if self.selected_bundle:
|
||||
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
|
||||
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
|
||||
self._report_status()
|
||||
self._download_start_times.pop(artifact.fileName, None)
|
||||
raise
|
||||
|
||||
async def _process_model(self, model, destination_path: str) -> None:
|
||||
"""Processes a single model download including verification"""
|
||||
await self._process_artifact(model.metadata, destination_path)
|
||||
await self._process_artifact(model.artifact, destination_path)
|
||||
model_artifact = model.artifact
|
||||
metadata_artifact = model.metadata
|
||||
|
||||
await self._process_artifact(metadata_artifact, destination_path)
|
||||
await self._process_artifact(model_artifact, destination_path)
|
||||
|
||||
def _report_status(self) -> None:
|
||||
"""Reports current status through messaging system"""
|
||||
@@ -216,8 +222,7 @@ class ModelManagerSP:
|
||||
self.selected_bundle = None
|
||||
|
||||
except Exception:
|
||||
if self.selected_bundle:
|
||||
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
|
||||
self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
|
||||
raise
|
||||
|
||||
finally:
|
||||
|
||||
28
sunnypilot/models/runners/helpers.py
Normal file
28
sunnypilot/models/runners/helpers.py
Normal file
@@ -0,0 +1,28 @@
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
|
||||
from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
|
||||
from openpilot.sunnypilot.models.runners.constants import ModelType
|
||||
|
||||
|
||||
def get_model_runner() -> ModelRunner:
|
||||
"""
|
||||
Factory function to create and return the appropriate ModelRunner instance.
|
||||
|
||||
Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
|
||||
models are detected in the active bundle.
|
||||
|
||||
:return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
|
||||
"""
|
||||
bundle = get_active_bundle()
|
||||
if bundle and bundle.models:
|
||||
model_types = {m.type.raw for m in bundle.models}
|
||||
# Check if the bundle uses separate vision and policy models (legacy or new split format)
|
||||
split_types = {ModelType.vision, ModelType.policy, ModelType.offPolicy, ModelType.onPolicy}
|
||||
if model_types & split_types:
|
||||
return TinygradSplitRunner()
|
||||
# Otherwise, assume a single model (likely supercombo)
|
||||
if bundle.models:
|
||||
return TinygradRunner(bundle.models[0].type.raw)
|
||||
|
||||
# Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
|
||||
return TinygradRunner(ModelType.supercombo)
|
||||
174
sunnypilot/models/runners/model_runner.py
Normal file
174
sunnypilot/models/runners/model_runner.py
Normal file
@@ -0,0 +1,174 @@
|
||||
from abc import abstractmethod, ABC
|
||||
|
||||
import numpy as np
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, Model, SliceDict, SEND_RAW_PRED
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
import pickle
|
||||
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
|
||||
|
||||
class ModelData:
|
||||
"""
|
||||
Stores metadata and configuration for a specific machine learning model.
|
||||
|
||||
This class loads model metadata (like input shapes and output slices)
|
||||
from a pickle file associated with a model instance.
|
||||
|
||||
:param model: The machine learning model object containing metadata.
|
||||
"""
|
||||
def __init__(self, model: Model):
|
||||
self.model = model
|
||||
self.metadata = model.metadata
|
||||
self.input_shapes: ShapeDict = {}
|
||||
self.output_slices: SliceDict = {}
|
||||
if self.metadata:
|
||||
self._load_metadata()
|
||||
|
||||
def _load_metadata(self) -> None:
|
||||
"""Loads input shapes and output slices from the model's metadata pickle file."""
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
|
||||
with open(metadata_path, 'rb') as f:
|
||||
model_metadata = pickle.load(f)
|
||||
self.input_shapes = model_metadata.get('input_shapes', {})
|
||||
self.output_slices = model_metadata.get('output_slices', {})
|
||||
|
||||
|
||||
class ModularRunner(ABC):
|
||||
"""
|
||||
Represents a modular runner for handling and slicing model outputs.
|
||||
|
||||
This abstract base class is designed to provide an interface for modular
|
||||
parsing and processing of model outputs. Classes inheriting from it must
|
||||
implement the specified abstract methods, defining how model outputs
|
||||
should be handled and stored. The primary goal is to enable structured
|
||||
parsing of outputs through a dictionary-based method mapping.
|
||||
|
||||
:ivar parser_method_dict: Mapping dictionary containing parser methods
|
||||
for handling specific types of outputs.
|
||||
:type parser_method_dict: dict
|
||||
"""
|
||||
|
||||
@property
|
||||
@abstractmethod
|
||||
def parser_method_dict(self) -> dict:
|
||||
pass
|
||||
|
||||
@parser_method_dict.setter
|
||||
@abstractmethod
|
||||
def parser_method_dict(self, value: dict) -> None:
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
pass
|
||||
|
||||
|
||||
class ModelRunner(ModularRunner):
|
||||
"""
|
||||
Abstract base class for managing and executing machine learning models.
|
||||
|
||||
Provides a common interface for loading models, preparing inputs, running
|
||||
inference, and slicing/parsing outputs based on model metadata. Derived
|
||||
classes implement the specifics of input preparation and model execution
|
||||
for different frameworks (e.g., Tinygrad, ONNX).
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
"""Initializes the model runner, loading the active model bundle."""
|
||||
self.is_20hz: bool | None = None
|
||||
self.is_20hz_3d: bool | None = None
|
||||
self.models: dict[int, ModelData] = {}
|
||||
self._model_data: ModelData | None = None # Active model data for current operation
|
||||
self._parser_method_dict: dict = {}
|
||||
self.inputs: dict = {}
|
||||
self._parser = None
|
||||
self._load_models()
|
||||
self._constants = None
|
||||
|
||||
@property
|
||||
def constants(self):
|
||||
return self._constants
|
||||
|
||||
@property
|
||||
def parser_method_dict(self) -> dict:
|
||||
"""Returns the dictionary mapping model types to their respective parsing methods."""
|
||||
return self._parser_method_dict
|
||||
|
||||
@parser_method_dict.setter
|
||||
def parser_method_dict(self, value: dict) -> None:
|
||||
"""Sets the dictionary mapping model types to their respective parsing methods."""
|
||||
self._parser_method_dict = value
|
||||
|
||||
def _load_models(self) -> None:
|
||||
"""Loads the active model bundle configuration and sets up ModelData."""
|
||||
bundle = get_active_bundle()
|
||||
if not bundle:
|
||||
raise ValueError("No active model bundle found, why are we being executed?")
|
||||
|
||||
self.models = {model.type.raw: ModelData(model) for model in bundle.models}
|
||||
self.is_20hz = bundle.is20hz
|
||||
self.is_20hz_3d = False
|
||||
|
||||
@property
|
||||
def input_shapes(self) -> ShapeDict:
|
||||
"""Returns the input shapes for the currently active model."""
|
||||
if self._model_data:
|
||||
return self._model_data.input_shapes
|
||||
raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
|
||||
|
||||
@property
|
||||
def output_slices(self) -> SliceDict:
|
||||
"""Returns the output slices for the currently active model."""
|
||||
if self._model_data:
|
||||
return self._model_data.output_slices
|
||||
raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
|
||||
|
||||
@property
|
||||
def vision_input_names(self) -> list[str]:
|
||||
"""Returns the list of vision input names from the input shapes."""
|
||||
if self._model_data:
|
||||
return list(self._model_data.input_shapes.keys())
|
||||
raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
|
||||
|
||||
@abstractmethod
|
||||
def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
|
||||
"""
|
||||
Abstract method to prepare inputs for model inference.
|
||||
|
||||
:param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
|
||||
:return: Dictionary of prepared inputs ready for the model.
|
||||
"""
|
||||
raise NotImplementedError
|
||||
|
||||
@abstractmethod
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""
|
||||
Abstract method to execute model inference with prepared inputs.
|
||||
|
||||
:return: Dictionary containing the model's raw output arrays.
|
||||
"""
|
||||
raise NotImplementedError
|
||||
|
||||
def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""
|
||||
Slices the raw model output array based on the output_slices metadata.
|
||||
|
||||
:param model_outputs: The raw numpy array output from the model.
|
||||
:return: A dictionary where keys are output names and values are sliced numpy arrays.
|
||||
"""
|
||||
if not self._model_data:
|
||||
raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
|
||||
sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
|
||||
if SEND_RAW_PRED:
|
||||
sliced_outputs['raw_pred'] = model_outputs.copy() # Optionally include the full raw output
|
||||
return sliced_outputs
|
||||
|
||||
def run_model(self) -> NumpyDict:
|
||||
"""
|
||||
Executes the model inference pipeline: runs the model and parses outputs.
|
||||
|
||||
:return: Dictionary containing the final parsed model outputs.
|
||||
"""
|
||||
return self._run_model() # Parsing is handled within specific runner implementations
|
||||
91
sunnypilot/models/runners/tinygrad/model_types.py
Normal file
91
sunnypilot/models/runners/tinygrad/model_types.py
Normal file
@@ -0,0 +1,91 @@
|
||||
import os
|
||||
from abc import ABC
|
||||
|
||||
import numpy as np
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
|
||||
from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
|
||||
from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
|
||||
|
||||
class OffPolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for off-policy models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._off_policy_parser = SplitParser()
|
||||
self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
|
||||
|
||||
def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses off-policy model outputs using SplitParser."""
|
||||
result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
|
||||
|
||||
class OnPolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for on-policy models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the on-policy part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._on_policy_parser = SplitParser()
|
||||
self.parser_method_dict[ModelType.onPolicy] = self._parse_on_policy_outputs
|
||||
|
||||
def _parse_on_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses on-policy model outputs using SplitParser."""
|
||||
result: NumpyDict = self._on_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
|
||||
|
||||
class PolicyTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for policy-only models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._policy_parser = SplitParser()
|
||||
self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
|
||||
|
||||
def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses policy model outputs using SplitParser."""
|
||||
result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
|
||||
class VisionTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for vision-only models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._vision_parser = SplitParser()
|
||||
self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
|
||||
|
||||
def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses vision model outputs using SplitParser."""
|
||||
result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
|
||||
class SupercomboTinygrad(ModularRunner, ABC):
|
||||
"""
|
||||
A TinygradRunner specialized for vision-only models.
|
||||
|
||||
Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
|
||||
"""
|
||||
def __init__(self):
|
||||
self._supercombo_parser = CombinedParser()
|
||||
self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
|
||||
|
||||
def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses vision model outputs using SplitParser."""
|
||||
result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
|
||||
return result
|
||||
179
sunnypilot/models/runners/tinygrad/tinygrad_runner.py
Normal file
179
sunnypilot/models/runners/tinygrad/tinygrad_runner.py
Normal file
@@ -0,0 +1,179 @@
|
||||
import pickle
|
||||
|
||||
import numpy as np
|
||||
from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
|
||||
from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
|
||||
from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad, OnPolicyTinygrad
|
||||
from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
|
||||
from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
|
||||
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
|
||||
class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad, OnPolicyTinygrad):
|
||||
"""
|
||||
A ModelRunner implementation for executing Tinygrad models.
|
||||
|
||||
Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
|
||||
Tensors (potentially using QCOM extensions on TICI), running inference,
|
||||
and parsing the outputs.
|
||||
|
||||
:param model_type: The type of model (e.g., supercombo) to load and run.
|
||||
"""
|
||||
def __init__(self, model_type: int = ModelType.supercombo):
|
||||
ModelRunner.__init__(self)
|
||||
SupercomboTinygrad.__init__(self)
|
||||
PolicyTinygrad.__init__(self)
|
||||
VisionTinygrad.__init__(self)
|
||||
OffPolicyTinygrad.__init__(self)
|
||||
OnPolicyTinygrad.__init__(self)
|
||||
self._constants = ModelConstants
|
||||
self._model_data = self.models.get(model_type)
|
||||
if not self._model_data or not self._model_data.model:
|
||||
raise ValueError(f"Model data for type {model_type} not available.")
|
||||
|
||||
artifact_filename = self._model_data.model.artifact.fileName
|
||||
assert artifact_filename.endswith('_tinygrad.pkl'), \
|
||||
f"Invalid model file {artifact_filename} for TinygradRunner"
|
||||
|
||||
model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
|
||||
with open(model_pkl_path, "rb") as f:
|
||||
try:
|
||||
# Load the compiled Tinygrad model runner function
|
||||
self.model_run = pickle.load(f)
|
||||
except FileNotFoundError as e:
|
||||
# Provide a helpful error message if the model was built for a different platform
|
||||
assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
|
||||
raise
|
||||
|
||||
# Map input names to their required dtype and device from the loaded model
|
||||
self.input_to_dtype = {}
|
||||
self.input_to_device = {}
|
||||
for idx, name in enumerate(self.model_run.captured.expected_names):
|
||||
info = self.model_run.captured.expected_input_info[idx]
|
||||
self.input_to_dtype[name] = info[2] # dtype
|
||||
self.input_to_device[name] = info[3] # device
|
||||
self._policy_cached = False
|
||||
|
||||
@property
|
||||
def vision_input_names(self) -> list[str]:
|
||||
"""Returns the list of vision input names from the input shapes."""
|
||||
return [name for name in self.input_shapes.keys() if 'img' in name]
|
||||
|
||||
|
||||
def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
|
||||
if not self._policy_cached:
|
||||
for key, value in numpy_inputs.items():
|
||||
self.inputs[key] = Tensor(value, device='NPY').realize()
|
||||
self._policy_cached = True
|
||||
|
||||
def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
|
||||
"""Prepares all vision and policy inputs for the model."""
|
||||
self.prepare_policy_inputs(numpy_inputs)
|
||||
for key in self.vision_input_names:
|
||||
if key in self.inputs:
|
||||
self.inputs[key] = self.inputs[key].cast(self.input_to_dtype[key])
|
||||
return self.inputs
|
||||
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""Runs the Tinygrad model inference and parses the outputs."""
|
||||
outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
|
||||
return self._parse_outputs(outputs)
|
||||
|
||||
def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
|
||||
"""Parses the raw model outputs using the standard Parser."""
|
||||
if self._model_data is None:
|
||||
raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
|
||||
|
||||
result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
|
||||
return result
|
||||
|
||||
|
||||
class TinygradSplitRunner(ModelRunner):
|
||||
"""
|
||||
A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
|
||||
|
||||
Manages the execution of split vision and policy models, combining their inputs and outputs.
|
||||
"""
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.is_20hz_3d = True
|
||||
self.vision_runner = TinygradRunner(ModelType.vision)
|
||||
self.policy_runner = TinygradRunner(ModelType.policy) if self.models.get(ModelType.policy) else None
|
||||
self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
|
||||
self.on_policy_runner = TinygradRunner(ModelType.onPolicy) if self.models.get(ModelType.onPolicy) else None
|
||||
self._constants = SplitModelConstants
|
||||
|
||||
def _run_model(self) -> NumpyDict:
|
||||
"""Runs both vision and policy models and merges their parsed outputs."""
|
||||
vision_output = self.vision_runner.run_model()
|
||||
outputs = {**vision_output}
|
||||
|
||||
if self.policy_runner:
|
||||
policy_output = self.policy_runner.run_model()
|
||||
outputs.update(policy_output)
|
||||
|
||||
if self.off_policy_runner:
|
||||
off_policy_output = self.off_policy_runner.run_model()
|
||||
if self.on_policy_runner:
|
||||
off_policy_output.pop('plan', None)
|
||||
outputs.update(off_policy_output)
|
||||
|
||||
if self.on_policy_runner:
|
||||
on_policy_output = self.on_policy_runner.run_model()
|
||||
outputs.update(on_policy_output)
|
||||
|
||||
if 'planplus' in outputs and 'plan' in outputs:
|
||||
outputs['plan'] = outputs['plan'] + outputs['planplus']
|
||||
|
||||
return outputs
|
||||
|
||||
@property
|
||||
def vision_input_names(self) -> list[str]:
|
||||
"""Returns the list of vision input names from the vision runner."""
|
||||
return list(self.vision_runner.vision_input_names)
|
||||
|
||||
@property
|
||||
def input_shapes(self) -> ShapeDict:
|
||||
"""Returns the combined input shapes from both vision and policy models."""
|
||||
shapes = {**self.vision_runner.input_shapes}
|
||||
if self.policy_runner:
|
||||
shapes.update(self.policy_runner.input_shapes)
|
||||
if self.off_policy_runner:
|
||||
shapes.update(self.off_policy_runner.input_shapes)
|
||||
if self.on_policy_runner:
|
||||
shapes.update(self.on_policy_runner.input_shapes)
|
||||
return shapes
|
||||
|
||||
@property
|
||||
def output_slices(self) -> SliceDict:
|
||||
"""Returns the combined output slices from both vision and policy models."""
|
||||
slices = {**self.vision_runner.output_slices}
|
||||
if self.policy_runner:
|
||||
slices.update(self.policy_runner.output_slices)
|
||||
if self.off_policy_runner:
|
||||
slices.update(self.off_policy_runner.output_slices)
|
||||
if self.on_policy_runner:
|
||||
slices.update(self.on_policy_runner.output_slices)
|
||||
return slices
|
||||
|
||||
def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
|
||||
"""Prepares inputs for both vision and policy models."""
|
||||
if self.policy_runner:
|
||||
self.policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
|
||||
for key in self.vision_input_names:
|
||||
if key in self.inputs:
|
||||
self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
|
||||
|
||||
inputs = {**self.vision_runner.inputs}
|
||||
if self.policy_runner:
|
||||
inputs.update(self.policy_runner.inputs)
|
||||
|
||||
if self.off_policy_runner:
|
||||
self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
inputs.update(self.off_policy_runner.inputs)
|
||||
if self.on_policy_runner:
|
||||
self.on_policy_runner.prepare_policy_inputs(numpy_inputs)
|
||||
inputs.update(self.on_policy_runner.inputs)
|
||||
return inputs
|
||||
@@ -43,7 +43,6 @@ class SplitModelConstants:
|
||||
LANE_LINES_WIDTH = 2
|
||||
ROAD_EDGES_WIDTH = 2
|
||||
PLAN_WIDTH = 15
|
||||
ACTION_WIDTH = 2
|
||||
DESIRE_PRED_WIDTH = 8
|
||||
LAT_PLANNER_SOLUTION_WIDTH = 4
|
||||
DESIRED_CURV_WIDTH = 1
|
||||
|
||||
Submodule tinygrad_repo updated: 2fecac4e4a...ac1632ab96
156
uv.lock
generated
156
uv.lock
generated
@@ -21,7 +21,7 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "aiohttp"
|
||||
version = "3.13.5"
|
||||
version = "3.14.1"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "aiohappyeyeballs" },
|
||||
@@ -30,27 +30,29 @@ dependencies = [
|
||||
{ name = "frozenlist" },
|
||||
{ name = "multidict" },
|
||||
{ name = "propcache" },
|
||||
{ name = "typing-extensions" },
|
||||
{ name = "yarl" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/82/78/8ea7308cac6934de8c74a14f3d5f65d1c89287426688be79538d0e5c013d/aiohttp-3.14.1.tar.gz", hash = "sha256:307f2cff90a764d329e77040603fa032db89c5c24fdad50c4c15334cba744035", size = 7955794, upload-time = "2026-06-07T21:09:35.529Z" }
|
||||
wheels = [
|
||||
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[[package]]
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Reference in New Issue
Block a user