mirror of
https://github.com/sunnypilot/sunnypilot.git
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12 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
48b752ef10 | ||
|
James Vecellio-Grant
|
922513f312 | ||
|
Kumar
|
0dacd0eec4 | ||
|
Kumar
|
09b2f4bbe0 | ||
|
Amy Jeanes
|
0120b66f05 | ||
|
James Vecellio-Grant
|
f09b04c267 | ||
|
James Vecellio-Grant
|
f0617e11a6 | ||
|
Jason Wen
|
0739fe823d | ||
|
Jason Wen
|
b6170ac5e9 | ||
|
James Vecellio-Grant
|
e6864661c9 | ||
|
James Vecellio-Grant
|
4ff90ff8d0 | ||
|
Jason Wen
|
2149006ec7 |
@@ -115,7 +115,7 @@ jobs:
|
||||
env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
|
||||
${{ github.workspace }}/${{ env.SMALL_ONNX }} \
|
||||
${{ github.workspace }}/${{ env.SMALL_PKL }} \
|
||||
--device-input "*" --out-of-band --benchmark-runs 1
|
||||
--out-of-band --benchmark-runs 1
|
||||
|
||||
- name: Prepare output
|
||||
env:
|
||||
@@ -440,9 +440,10 @@ jobs:
|
||||
TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
|
||||
|
||||
taskset -c 7 env ${TG_FLAGS} python3 \
|
||||
${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
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||||
${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile_onnx.py \
|
||||
${{ github.workspace }}/${{ env.DM_ONNX }} \
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||||
${{ github.workspace }}/${{ env.DM_PKL }}
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||||
${{ github.workspace }}/${{ env.DM_PKL }} \
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||||
--out-of-band --benchmark-runs 1
|
||||
|
||||
- name: Compile DM warp
|
||||
run: |
|
||||
|
||||
@@ -58,6 +58,11 @@ jobs:
|
||||
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
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env:
|
||||
HF_TOKEN: ${{ secrets.HF_TOKEN }}
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GIT_CONFIG_COUNT: 1
|
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GIT_CONFIG_KEY_0: credential.https://huggingface.co.helper
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GIT_CONFIG_VALUE_0: '!f() { test "$1" = get && echo username=user && echo "password=$HF_TOKEN"; }; f'
|
||||
with:
|
||||
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
||||
token: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -69,3 +74,7 @@ jobs:
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labels: bot
|
||||
add-paths: |
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openpilot/sunnypilot/modeld_v2/models/*.pkl
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- name: Reset lfs access
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if: always()
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run: git config --local --unset-all "lfs.$(git config -f .lfsconfig lfs.url).access" || true
|
||||
|
||||
@@ -33,7 +33,7 @@ jobs:
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||||
|
||||
- name: LFS Fetch
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run: |
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git lfs fetch
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git lfs fetch || echo "::warning::some objects are missing on commaai/openpilot-lfs; mirroring the rest"
|
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|
||||
- name: Set up Git
|
||||
run: |
|
||||
@@ -68,6 +68,7 @@ jobs:
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git config lfs.activitytimeout 300
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git config lfs.transfer.maxretries 5
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git config lfs.concurrenttransfers 4
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git config lfs.allowincompletepush true
|
||||
|
||||
- name: Push LFS
|
||||
id: sync-and-commit
|
||||
@@ -81,3 +82,80 @@ jobs:
|
||||
done
|
||||
echo "All push attempts failed"
|
||||
exit 1
|
||||
|
||||
- name: Checkout sunnypilot
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'sunnypilot/sunnypilot'
|
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path: sunnypilot
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fetch-depth: 0
|
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filter: blob:limit=1k
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lfs: false
|
||||
|
||||
- name: Reference objects on sunnypilot-lfs
|
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env:
|
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HF_TOKEN: ${{ secrets.HF_TOKEN }}
|
||||
run: |
|
||||
set -euo pipefail
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GIT_LFS_SKIP_SMUDGE=1 git clone --quiet https://huggingface.co/sunnypilot/sunnypilot-lfs hf-lfs
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mkdir -p hf-lfs/all
|
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cat > scan_pointers.py <<'EOF'
|
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import re, subprocess, sys, threading
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repo = sys.argv[1]
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chk = subprocess.run(["git", "-C", repo, "cat-file", "--batch-all-objects",
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"--batch-check=%(objectname) %(objecttype) %(objectsize)"],
|
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capture_output=True, text=True, check=True).stdout
|
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small = [f[0] for f in (l.split() for l in chk.splitlines()) if f[1] == "blob" and int(f[2]) < 1024]
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p = subprocess.Popen(["git", "-C", repo, "cat-file", "--batch=%(objectsize)"],
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stdin=subprocess.PIPE, stdout=subprocess.PIPE)
|
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def feed():
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for sha in small:
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p.stdin.write(sha.encode() + b"\n")
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p.stdin.close()
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threading.Thread(target=feed, daemon=True).start()
|
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rx = re.compile(rb"^version https://git-lfs\.github\.com/spec/v1\noid sha256:([0-9a-f]{64})\nsize ([0-9]+)\n")
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seen = {}
|
||||
for _ in small:
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n = int(p.stdout.readline()); body = p.stdout.read(n); p.stdout.read(1)
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m = rx.match(body)
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||||
if m:
|
||||
seen.setdefault(m.group(1).decode(), m.group(2).decode())
|
||||
for oid, size in sorted(seen.items()):
|
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print(oid, size)
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EOF
|
||||
for repo in . sunnypilot; do
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python3 scan_pointers.py "$repo"
|
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done | sort -u | while read -r oid size; do
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[ -e "hf-lfs/all/$oid" ] && continue
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printf 'version https://git-lfs.github.com/spec/v1\noid sha256:%s\nsize %s\n' "$oid" "$size" > "hf-lfs/all/$oid"
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||||
echo "$oid"
|
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done > new_oids.txt
|
||||
echo "new pointer files: $(wc -l < new_oids.txt)"
|
||||
|
||||
dropped=0
|
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while mapfile -t -n 100 chunk && ((${#chunk[@]})); do
|
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body=$(for oid in "${chunk[@]}"; do
|
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size=$(awk '/^size /{print $2}' "hf-lfs/all/$oid")
|
||||
printf '{"oid":"%s","size":%s}\n' "$oid" "$size"
|
||||
done | jq -s '{operation:"download",transfers:["basic"],objects:.}')
|
||||
for attempt in 1 2 3 4 5; do
|
||||
resp=$(curl -sS -u "user:${HF_TOKEN}" -w '\n%{http_code}' \
|
||||
-H 'Accept: application/vnd.git-lfs+json' -H 'Content-Type: application/vnd.git-lfs+json' \
|
||||
--data "$body" "${LFS_URL}/objects/batch") && [ "$(tail -n1 <<<"$resp")" = 200 ] && break
|
||||
echo "batch check attempt $attempt failed ($(tail -n1 <<<"$resp")), retrying in 60s"; sleep 60
|
||||
done
|
||||
[ "$(tail -n1 <<<"$resp")" = 200 ] || { echo "batch check failed"; exit 1; }
|
||||
for oid in $(sed '$d' <<<"$resp" | jq -r '.objects[] | select(.error) | .oid'); do
|
||||
rm -f "hf-lfs/all/$oid"; dropped=$((dropped+1))
|
||||
done
|
||||
done < new_oids.txt
|
||||
echo "dropped (not on HF): $dropped"
|
||||
|
||||
cd hf-lfs
|
||||
git add -A all
|
||||
if git diff --cached --quiet; then
|
||||
echo "nothing new to reference"
|
||||
exit 0
|
||||
fi
|
||||
git commit -q -m "Reference $(git diff --cached --name-only | wc -l | tr -d ' ') new LFS objects"
|
||||
git push origin HEAD:main
|
||||
|
||||
@@ -594,8 +594,14 @@ jobs:
|
||||
- name: Publish chestnut branch
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
HF_TOKEN: ${{ secrets.HF_TOKEN }}
|
||||
run: |
|
||||
CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
|
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cp .lfsconfig "${{ env.OUTPUT_DIR }}/"
|
||||
echo 'openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text' > "${{ env.OUTPUT_DIR }}/.gitattributes"
|
||||
git lfs install
|
||||
git config --global credential.helper store
|
||||
echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials
|
||||
|
||||
${{ env.CI_DIR }}/publish.sh \
|
||||
"${{ github.workspace }}" \
|
||||
|
||||
+114
-107
@@ -4,10 +4,11 @@
|
||||
|
||||
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.
|
||||
|
||||
# 345 Supported Cars
|
||||
# 351 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ADX 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=Acura ADX 2025-26">Buy Here</a></sub></details>|||
|
||||
|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>1,5</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>|||
|
||||
@@ -16,12 +17,12 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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>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>|||
|
||||
|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>|||
|
||||
@@ -33,8 +34,8 @@ 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>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>|||
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|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>|||
|
||||
@@ -86,7 +87,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic 2022-26|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 2022-26">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 2022-26|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 2022-26">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>|||
|
||||
@@ -94,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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>1,5</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|CR-V Hybrid 2023-27|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 2023-27">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>|||
|
||||
@@ -111,7 +112,9 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Prelude 2026|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 Prelude 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-26|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
@@ -163,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -188,7 +192,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
@@ -197,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Plug-in Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Plug-in Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
@@ -225,51 +230,52 @@ 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>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>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)|Leaf IC 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 IC 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>|||
|
||||
|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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[<sup>6</sup>](#footnotes)|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[<sup>6</sup>](#footnotes)|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>7</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>7</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>7</sup>](#footnotes)|Leaf IC 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 IC 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>7</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>7</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>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<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>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)|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 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)|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 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)|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 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)|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 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)|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 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)|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 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)|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 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)|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 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) 2020-24[<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) 2020-24">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<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) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|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 R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2025|All|openpilot available[<sup>1</sup>](#footnotes)|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 available[<sup>1</sup>](#footnotes)|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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot available[<sup>1</sup>](#footnotes)|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>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>8</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 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>8</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 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>8</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 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>8</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>8</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 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>8</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 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>8</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 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>8</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>8</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>8</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>8</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>8</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>8</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 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>8</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 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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<sup>10</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 HW2.5) 2019">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</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>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</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>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>10</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) 2020-24">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>10</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) 2023-25">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>|||
|
||||
@@ -282,8 +288,8 @@ 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>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 2018-20|All|Stock|0 mph[<sup>12</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>12</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>|||
|
||||
@@ -315,44 +321,44 @@ 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>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|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<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>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>1,17</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>18</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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 />
|
||||
@@ -360,18 +366,19 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<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>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>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. 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 />
|
||||
<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <br />
|
||||
<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>10</sup>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. 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>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>12</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>13</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>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>17</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>18</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/).
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 0041535cfb...5be7507143
@@ -256,7 +256,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
|
||||
{"LanefulStrength", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
|
||||
|
||||
// mapd
|
||||
|
||||
@@ -48,8 +48,9 @@ def compile_model(onnx_path, pkl_path):
|
||||
Action(cmd, " [ONNX] $TARGET"),
|
||||
)
|
||||
|
||||
compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
|
||||
compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
|
||||
if not os.getenv('SKIP_TINYGRAD_COMPILE'):
|
||||
compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
|
||||
compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
|
||||
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
for cam_w, cam_h in camera_configs:
|
||||
@@ -62,7 +63,7 @@ for cam_w, cam_h in camera_configs:
|
||||
lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
|
||||
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
for cam_w, cam_h in camera_configs:
|
||||
for cam_w, cam_h in [] if os.getenv('SKIP_TINYGRAD_COMPILE') else camera_configs:
|
||||
dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
|
||||
stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
|
||||
cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '
|
||||
|
||||
@@ -7,6 +7,7 @@ from functools import cached_property
|
||||
import os
|
||||
os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
|
||||
os.environ.setdefault('AM_POWER_LIMIT', '100')
|
||||
os.environ.setdefault('AM_PERF_LEVEL', 'high')
|
||||
from tinygrad.device import Buffer, Device
|
||||
from tinygrad.dtype import DType, dtypes
|
||||
from tinygrad.engine.realize import lower_and_compile
|
||||
|
||||
@@ -206,8 +206,6 @@ class AugmentedRoadView(CameraView):
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
# Don't trigger click callback if bookmark was triggered
|
||||
if not self._bookmark_icon.interacting():
|
||||
if self._model_renderer.laneful.handle_tap(mouse_pos):
|
||||
return
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _render(self, _):
|
||||
|
||||
@@ -141,7 +141,6 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
if ui_state.status != UIStatus.DISENGAGED:
|
||||
self._draw_lane_lines()
|
||||
self._draw_path()
|
||||
self.laneful.draw(self._rect)
|
||||
|
||||
if render_lead_indicator:
|
||||
self._update_leads(sm)
|
||||
@@ -220,7 +219,6 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
# Update road edges using raw points
|
||||
for road_edge in self._road_edges:
|
||||
road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
|
||||
self.laneful.update(self, max_idx)
|
||||
|
||||
# Update path using raw points
|
||||
if lead and lead.present:
|
||||
|
||||
@@ -8,7 +8,6 @@ from enum import IntEnum
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
|
||||
from openpilot.system.ui.lib.multilang import tr, tr_noop
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
@@ -30,7 +29,6 @@ ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments f
|
||||
ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
|
||||
ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
|
||||
ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
|
||||
MAP_UNAVAILABLE_DESCRIPTION = tr_noop("Map data is temporarily unavailable.")
|
||||
|
||||
|
||||
class CruiseLayout(Widget):
|
||||
@@ -56,8 +54,7 @@ class CruiseLayout(Widget):
|
||||
|
||||
self.scc_m_toggle = toggle_item_sp(
|
||||
title=tr("Smart Cruise Control - Map"),
|
||||
description=(f"<b>{tr(MAP_UNAVAILABLE_DESCRIPTION)}</b>\n\n" if not MAPD_AVAILABLE else "") +
|
||||
tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
|
||||
description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
|
||||
param="SmartCruiseControlMap")
|
||||
|
||||
self.custom_acc_toggle = toggle_item_sp(
|
||||
@@ -142,7 +139,7 @@ class CruiseLayout(Widget):
|
||||
if has_long or has_icbm:
|
||||
self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
|
||||
self.scc_v_toggle.action_item.set_enabled(True)
|
||||
self.scc_m_toggle.action_item.set_enabled(MAPD_AVAILABLE)
|
||||
self.scc_m_toggle.action_item.set_enabled(True)
|
||||
else:
|
||||
ui_state.params.remove("CustomAccIncrementsEnabled")
|
||||
ui_state.params.remove("SmartCruiseControlVision")
|
||||
|
||||
-6
@@ -8,8 +8,6 @@ from collections.abc import Callable
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
|
||||
from openpilot.system.ui.widgets.network import NavButton
|
||||
@@ -45,8 +43,6 @@ class SpeedLimitPolicyLayout(Widget):
|
||||
param="SpeedLimitPolicy",
|
||||
button_width=250,
|
||||
)
|
||||
if not MAPD_AVAILABLE:
|
||||
self._speed_limit_policy.action_item.set_enabled_buttons({Policy.car_state_only})
|
||||
|
||||
items = [
|
||||
self._speed_limit_policy
|
||||
@@ -55,8 +51,6 @@ class SpeedLimitPolicyLayout(Widget):
|
||||
|
||||
@staticmethod
|
||||
def _get_policy_description():
|
||||
if not MAPD_AVAILABLE:
|
||||
return f"<b>{tr('Map data is temporarily unavailable. Using Speed Limit data only from Car.')}</b>"
|
||||
return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
|
||||
|
||||
def _render(self, rect):
|
||||
|
||||
@@ -1,39 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigMultiToggle
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
|
||||
# above 1.0 the pull overshoots lane center and ping-pongs
|
||||
STRENGTHS = {"off": 0.0, "gentle": 0.5, "firm": 1.0}
|
||||
|
||||
|
||||
class LanefulStrengthToggle(BigMultiToggle):
|
||||
"""Tap to cycle LanefulStrength, like the driving personality toggle."""
|
||||
def __init__(self):
|
||||
super().__init__("laneful strength", list(STRENGTHS), select_callback=self._on_select,
|
||||
description="Nudges the car toward lane center.\n" +
|
||||
"Firm centers faster than gentle.")
|
||||
self.refresh()
|
||||
|
||||
def refresh(self):
|
||||
strength = ui_state.params.get("LanefulStrength", return_default=True)
|
||||
self.set_value(min(STRENGTHS, key=lambda k: abs(STRENGTHS[k] - strength)))
|
||||
|
||||
def _on_select(self, value: str):
|
||||
ui_state.params.put("LanefulStrength", STRENGTHS[value])
|
||||
|
||||
|
||||
class LanefulLayoutMici(NavScroller):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._strength = LanefulStrengthToggle()
|
||||
self._scroller.add_widget(self._strength)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._strength.refresh()
|
||||
@@ -11,7 +11,6 @@ from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
@@ -51,10 +50,6 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
models_btn = SettingsBigButton(tr("models"), "", gui_app.texture("../../sunnypilot/selfdrive/assets/offroad/icon_models.png", ICON_SIZE, ICON_SIZE))
|
||||
models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
|
||||
|
||||
laneful_panel = LanefulLayoutMici()
|
||||
laneful_btn = SettingsBigButton(tr("laneful"), "", gui_app.texture("icons_mici/settings/device/lkas.png", ICON_SIZE, ICON_SIZE))
|
||||
laneful_btn.set_click_callback(lambda: gui_app.push_widget(laneful_panel))
|
||||
|
||||
# onroad: enable button sits at the front (left of toggles)
|
||||
self._enable_offroad_btn_onroad = BigCircleButton(self.icon_offroad_enable, red=True)
|
||||
self._enable_offroad_btn_onroad.set_click_callback(lambda: self._handle_always_offroad(True))
|
||||
@@ -72,8 +67,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
items = self._scroller._items.copy()
|
||||
|
||||
items.insert(1, models_btn)
|
||||
items.insert(2, laneful_btn)
|
||||
items.insert(6, sunnylink_btn)
|
||||
items.insert(5, sunnylink_btn)
|
||||
|
||||
# front slots (only one ever visible at a time): exit-always-offroad, then enable-onroad
|
||||
items.insert(0, self._enable_offroad_btn_onroad)
|
||||
|
||||
@@ -1,122 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
Laneful visuals: cyan lane-center target, thin white "after" path (model path bent by laneful's nudge),
|
||||
and a top-center readout of the pull. Mirrors the math in sunnypilot/modeld_v2/laneful.py.
|
||||
"""
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.shader_polygon import draw_polygon
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
|
||||
CENTER_COLOR = (0, 200, 255)
|
||||
AFTER_COLOR = (255, 255, 255)
|
||||
# keep in sync with sunnypilot/modeld_v2/laneful.py
|
||||
LOOKAHEAD_TIME = 1.5
|
||||
MIN_LOOKAHEAD = 10.0
|
||||
MAX_ERROR = 0.5
|
||||
|
||||
|
||||
class LanefulRenderer:
|
||||
def __init__(self):
|
||||
self._center_points = np.empty((0, 2), dtype=np.float32)
|
||||
self._after_points = np.empty((0, 2), dtype=np.float32)
|
||||
self._trust = 0.0
|
||||
self._strength = 0.0
|
||||
self._frame = 0
|
||||
self._font = gui_app.font(FontWeight.BOLD)
|
||||
# smoothed copies for the readout so the numbers don't flicker
|
||||
self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
|
||||
self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
|
||||
self._readout_rect: rl.Rectangle | None = None
|
||||
self._settings_page = None
|
||||
|
||||
def update(self, renderer, max_idx: int) -> None:
|
||||
"""Called from the model renderer's update with its lane lines and path already in raw points."""
|
||||
if self._frame % 60 == 0:
|
||||
self._strength = ui_state.params.get("LanefulStrength", return_default=True)
|
||||
self._frame += 1
|
||||
|
||||
left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
|
||||
stds = list(ui_state.sm['modelV2'].laneLineStds)
|
||||
if self._strength <= 0.0 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
|
||||
self._center_points = np.empty((0, 2), dtype=np.float32)
|
||||
self._after_points = np.empty((0, 2), dtype=np.float32)
|
||||
return
|
||||
|
||||
probs = renderer._lane_line_probs
|
||||
l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
|
||||
r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
|
||||
width = np.clip(right[:, 1] - left[:, 1], 2.8, 4.5) if l_prob * r_prob > 0.5 else 3.7
|
||||
center = left.copy()
|
||||
center[:, 1] = (l_prob * (left[:, 1] + width / 2) + r_prob * (right[:, 1] - width / 2)) / (l_prob + r_prob + 1e-4)
|
||||
self._trust = l_prob + r_prob - l_prob * r_prob
|
||||
self._center_points = renderer._map_line_to_polygon(center, 0.1, 0.0, max_idx)
|
||||
|
||||
# "after" path: model path bent toward center the way laneful's pure-pursuit term steers, ending at the lookahead
|
||||
path = renderer._path.raw_points
|
||||
lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
|
||||
error = float(np.clip(np.interp(lookahead, center[:, 0], center[:, 1]) - np.interp(lookahead, path[:, 0], path[:, 1]),
|
||||
-MAX_ERROR, MAX_ERROR))
|
||||
self._pull_display.update(self._trust * error) # what laneful actually pulls, 0 when lines are untrusted
|
||||
self._trust_display.update(self._trust)
|
||||
after = path.copy()
|
||||
after[:, 1] += self._strength * self._trust * error * (path[:, 0] / lookahead) ** 2
|
||||
self._after_points = renderer._map_line_to_polygon(after, 0.15, renderer._path_offset_z,
|
||||
renderer._get_path_length_idx(path[:, 0], lookahead))
|
||||
|
||||
def draw(self, rect: rl.Rectangle) -> None:
|
||||
if self._center_points.size and self._trust > 0.05:
|
||||
draw_polygon(rect, self._center_points, rl.Color(*CENTER_COLOR, int(np.clip(self._trust, 0.2, 1.0) * 255)))
|
||||
if self._after_points.size:
|
||||
draw_polygon(rect, self._after_points, rl.Color(*AFTER_COLOR, 200))
|
||||
self._readout_rect = None
|
||||
if self._strength > 0.0:
|
||||
self._draw_readout(rect)
|
||||
|
||||
def handle_tap(self, pos) -> bool:
|
||||
"""Tapping the readout opens the laneful settings page. Returns True if the tap was consumed."""
|
||||
r = self._readout_rect
|
||||
if r is None or not (r.x - 20 <= pos.x <= r.x + r.width + 20 and r.y - 20 <= pos.y <= r.y + r.height + 20):
|
||||
return False
|
||||
if self._settings_page is None:
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.laneful import LanefulLayoutMici
|
||||
self._settings_page = LanefulLayoutMici()
|
||||
gui_app.push_widget(self._settings_page)
|
||||
return True
|
||||
|
||||
def _draw_readout(self, rect: rl.Rectangle) -> None:
|
||||
"""Top-center pill: pull toward lane center in cm (capped at 50), arrow = side,
|
||||
bar grows from center toward the pull (full at the cap), brighter with more lane line trust."""
|
||||
pull, trust = self._pull_display.x, self._trust_display.x
|
||||
w, h = 190, 76
|
||||
x, y = rect.x + (rect.width - w) / 2, rect.y + 10
|
||||
cx, cy = x + w / 2, y + 30
|
||||
self._readout_rect = rl.Rectangle(x, y, w, h)
|
||||
rl.draw_rectangle_rounded(self._readout_rect, 0.5, 12, rl.Color(0, 0, 0, 170))
|
||||
|
||||
text = f"{abs(pull) * 100:.0f}"
|
||||
text_w = measure_text_cached(self._font, text, 44, 0).x
|
||||
rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, rl.WHITE)
|
||||
|
||||
active = rl.Color(*CENTER_COLOR, int(np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255))
|
||||
idle = rl.Color(255, 255, 255, 40)
|
||||
lx, rx = x + 18, x + w - 18
|
||||
rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
|
||||
rl.draw_triangle(rl.Vector2(rx - 16, cy - 12), rl.Vector2(rx - 16, cy + 12), rl.Vector2(rx, cy), active if pull > 0 else idle)
|
||||
|
||||
bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
|
||||
rl.draw_rectangle_rounded(bar, 1.0, 6, rl.Color(255, 255, 255, 40))
|
||||
rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), rl.Color(255, 255, 255, 120))
|
||||
fill = bar.width / 2 * float(np.clip(abs(pull) / MAX_ERROR, 0.0, 1.0))
|
||||
if fill > 1:
|
||||
fill_x = cx if pull > 0 else cx - fill
|
||||
rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
|
||||
rl.Color(*CENTER_COLOR, int(np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255)))
|
||||
@@ -6,7 +6,6 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.ui_state import UIStatus
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.onroad.laneful import LanefulRenderer
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
|
||||
|
||||
LANE_LINE_COLORS_SP = {
|
||||
@@ -18,4 +17,3 @@ LANE_LINE_COLORS_SP = {
|
||||
class ModelRendererSP:
|
||||
def __init__(self):
|
||||
self.rainbow_path = RainbowPath()
|
||||
self.laneful = LanefulRenderer()
|
||||
|
||||
@@ -3,7 +3,3 @@ from openpilot.common.basedir import BASEDIR
|
||||
|
||||
MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
|
||||
MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
|
||||
|
||||
# mapd still runs (OSM downloads) but has no position source since ubloxd owns LastGPSPosition;
|
||||
# map-based features stay off until mapd is rebuilt
|
||||
MAPD_AVAILABLE = False
|
||||
|
||||
@@ -4,6 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import json
|
||||
import math
|
||||
import platform
|
||||
|
||||
@@ -26,6 +27,21 @@ class OsmMapData(BaseMapData):
|
||||
self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
|
||||
self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
|
||||
|
||||
if self.last_position is None:
|
||||
return
|
||||
|
||||
params = {
|
||||
"latitude": self.last_position.latitude,
|
||||
"longitude": self.last_position.longitude,
|
||||
}
|
||||
|
||||
if self.last_bearing is not None:
|
||||
params['bearing'] = self.last_bearing
|
||||
|
||||
# mapd reads its position from the memory params as JSON, so write it for the mapd binary.
|
||||
# LastGPSPosition is registered as BYTES (ubloxd owns the persistent copy for pigeond),
|
||||
# so the JSON payload has to be encoded here.
|
||||
self.mem_params.put("LastGPSPosition", json.dumps(params).encode(), block=True)
|
||||
|
||||
def get_current_speed_limit(self) -> float:
|
||||
return float(self.mem_params.get("MapSpeedLimit") or 0.0)
|
||||
|
||||
@@ -121,6 +121,10 @@ def update_osm_db() -> None:
|
||||
if not mem_params.get("OSMDownloadBounds"):
|
||||
mem_params.put("OSMDownloadBounds", "", block=True)
|
||||
|
||||
# mapd reads LastGPSPosition from the memory params as JSON, and it is registered as BYTES upstream
|
||||
if not mem_params.get("LastGPSPosition"):
|
||||
mem_params.put("LastGPSPosition", b"{}", block=True)
|
||||
|
||||
|
||||
def main_thread():
|
||||
update_installed_version(VERSION, params)
|
||||
|
||||
@@ -0,0 +1,70 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import json
|
||||
import math
|
||||
import platform
|
||||
|
||||
import openpilot.cereal.messaging as messaging
|
||||
from openpilot.cereal import log
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
|
||||
|
||||
|
||||
class TestOsmMapData(OpenpilotTestCase):
|
||||
"""The mapd binary reads its position from the memory params as JSON, so mapd_manager has to feed it."""
|
||||
|
||||
LATITUDE = 32.875134
|
||||
LONGITUDE = -117.209777
|
||||
ALTITUDE = 42.0
|
||||
BEARING = 90.0
|
||||
|
||||
def setup_method(self):
|
||||
self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else Params()
|
||||
self.mem_params.remove("LastGPSPosition")
|
||||
self.map_data = OsmMapData()
|
||||
self.pm = messaging.PubMaster(['liveLocationKalman'])
|
||||
|
||||
def location_message(self, status: log.LiveLocationKalman.Status, position_valid: bool):
|
||||
msg = messaging.new_message('liveLocationKalman', valid=True)
|
||||
location = msg.liveLocationKalman
|
||||
location.status = status
|
||||
location.positionGeodetic = {'value': [self.LATITUDE, self.LONGITUDE, self.ALTITUDE], 'valid': position_valid}
|
||||
location.calibratedOrientationNED = {'value': [0.0, 0.0, math.radians(self.BEARING)], 'valid': True}
|
||||
return msg
|
||||
|
||||
def send_location(self, status: log.LiveLocationKalman.Status, position_valid: bool) -> None:
|
||||
# the first exchange synchronizes the PUB/SUB connection, the second one is actually received
|
||||
self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
|
||||
self.map_data.sm.update(1000)
|
||||
self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
|
||||
self.map_data.sm.update(1000)
|
||||
|
||||
def read_position(self) -> dict:
|
||||
value = self.mem_params.get("LastGPSPosition")
|
||||
self.assertIsNotNone(value, "LastGPSPosition was not written for mapd")
|
||||
return json.loads(value)
|
||||
|
||||
def test_writes_position_for_mapd(self):
|
||||
self.send_location(log.LiveLocationKalman.Status.valid, True)
|
||||
self.map_data.tick()
|
||||
|
||||
position = self.read_position()
|
||||
self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
|
||||
self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)
|
||||
self.assertAlmostEqual(position['bearing'], self.BEARING, delta=1e-6)
|
||||
|
||||
def test_invalid_localizer_keeps_last_known_position(self):
|
||||
self.send_location(log.LiveLocationKalman.Status.valid, True)
|
||||
self.map_data.tick()
|
||||
|
||||
self.send_location(log.LiveLocationKalman.Status.uninitialized, False)
|
||||
self.map_data.tick()
|
||||
|
||||
position = self.read_position()
|
||||
self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
|
||||
self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)
|
||||
@@ -1,79 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
Laneful: nudge the model's curvature toward the lane center seen by the lane lines.
|
||||
The model stays in charge; this only adds a pure-pursuit correction weighted by lane line confidence,
|
||||
and fades to zero (plain laneless) when the lines are weak.
|
||||
"""
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
|
||||
|
||||
LANE_WIDTH_DEFAULT = 3.7 # m
|
||||
LANE_WIDTH_CLIP = (2.8, 4.5) # m
|
||||
LOOKAHEAD_TIME = 1.5 # s
|
||||
MIN_LOOKAHEAD = 10.0 # m
|
||||
MAX_ERROR = 0.5 # m, cap on how far laneful can pull
|
||||
MIN_SPEED = 9.0 # m/s
|
||||
|
||||
|
||||
class Laneful:
|
||||
def __init__(self):
|
||||
self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL)
|
||||
|
||||
def update(self, model_output: dict[str, np.ndarray], v_ego: float, strength: float, desire_active: bool) -> float:
|
||||
"""Returns a curvature offset to add to the model's raw desired curvature."""
|
||||
if strength <= 0.0 or desire_active or v_ego < MIN_SPEED or 'lane_lines' not in model_output:
|
||||
return 0.0
|
||||
|
||||
lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
|
||||
lines = model_output['lane_lines'][0, :, :, 0]
|
||||
left_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[1])
|
||||
right_y = np.interp(lookahead, ModelConstants.X_IDXS, lines[2])
|
||||
|
||||
# line confidence, discounted when the model is unsure where the line is
|
||||
probs = model_output['lane_lines_prob'][0, 1::2]
|
||||
stds = model_output['lane_lines_stds'][0, :, 0, 0]
|
||||
l_prob = float(probs[1] * np.interp(stds[1], [0.15, 0.3], [1.0, 0.0]))
|
||||
r_prob = float(probs[2] * np.interp(stds[2], [0.15, 0.3], [1.0, 0.0]))
|
||||
|
||||
if l_prob * r_prob > 0.5:
|
||||
self.lane_width.update(float(np.clip(right_y - left_y, *LANE_WIDTH_CLIP)))
|
||||
half_width = self.lane_width.x / 2
|
||||
|
||||
# one weak line -> hug the strong one at half a lane width
|
||||
center_y = (l_prob * (left_y + half_width) + r_prob * (right_y - half_width)) / (l_prob + r_prob + 1e-4)
|
||||
lane_trust = l_prob + r_prob - l_prob * r_prob
|
||||
|
||||
plan = model_output['plan'][0, :, Plan.POSITION]
|
||||
plan_y = np.interp(lookahead, plan[:, 0], plan[:, 1])
|
||||
|
||||
error = np.clip(center_y - plan_y, -MAX_ERROR, MAX_ERROR)
|
||||
return float(strength * lane_trust * 2.0 * error / lookahead ** 2)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
def fake_output(left_y, right_y, prob=0.9, std=0.1, plan_y=0.0):
|
||||
x = np.array(ModelConstants.X_IDXS)
|
||||
lines = np.zeros((1, 4, len(x), 2), dtype=np.float32)
|
||||
lines[0, 1, :, 0], lines[0, 2, :, 0] = left_y, right_y
|
||||
plan = np.zeros((1, len(x), 15), dtype=np.float32)
|
||||
plan[0, :, 0], plan[0, :, 1] = x, plan_y
|
||||
return {'lane_lines': lines, 'plan': plan,
|
||||
'lane_lines_prob': np.full((1, 8), prob, dtype=np.float32),
|
||||
'lane_lines_stds': np.full((1, 4, len(x), 2), std, dtype=np.float32)}
|
||||
|
||||
lf = Laneful()
|
||||
assert abs(lf.update(fake_output(-1.85, 1.85), 25.0, 1.0, False)) < 1e-6, "centered -> no nudge"
|
||||
assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False) > 0, "lane center to the +y side -> nudge toward +y"
|
||||
assert lf.update(fake_output(-2.7, 1.0), 25.0, 1.0, False) < 0, "lane center to the -y side -> nudge toward -y"
|
||||
assert lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, True) == 0.0, "off during lane change/turn"
|
||||
assert lf.update(fake_output(-1.0, 2.7, std=0.5), 25.0, 1.0, False) == 0.0, "blurry lines -> laneless"
|
||||
assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.0, False) == 0.0, "strength 0 -> off"
|
||||
assert lf.update(fake_output(-1.0, 2.7), 25.0, 0.5, False) < lf.update(fake_output(-1.0, 2.7), 25.0, 1.0, False)
|
||||
print("laneful self-check ok")
|
||||
@@ -39,7 +39,6 @@ from openpilot.selfdrive.modeld.modeld import ChestnutGpuState
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
|
||||
from openpilot.sunnypilot.modeld_v2.laneful import Laneful
|
||||
from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
|
||||
from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
|
||||
from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
|
||||
@@ -229,8 +228,7 @@ class ModelState(ModelStateBase):
|
||||
return outputs
|
||||
|
||||
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,
|
||||
laneful_curvature: float = 0.0) -> 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 = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
|
||||
@@ -242,7 +240,6 @@ class ModelState(ModelStateBase):
|
||||
else:
|
||||
desired_accel = model_output['action'][0, 1]
|
||||
desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
|
||||
desired_curvature += laneful_curvature
|
||||
|
||||
stop = v_ego < 0.3 and desired_accel < 0.1
|
||||
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
|
||||
@@ -369,8 +366,6 @@ def main(demo=False):
|
||||
DH = DesireHelper()
|
||||
meta_constants = load_meta_constants()
|
||||
RELC = RoadEdgeLaneChangeController()
|
||||
laneful = Laneful()
|
||||
laneful_strength = 0.0
|
||||
|
||||
while True:
|
||||
# Keep receiving frames until we are at least 1 frame ahead of previous extra frame
|
||||
@@ -414,7 +409,6 @@ def main(demo=False):
|
||||
model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
|
||||
model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
|
||||
camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
|
||||
laneful_strength = params.get("LanefulStrength", return_default=True)
|
||||
lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
|
||||
if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
|
||||
device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
|
||||
@@ -488,9 +482,7 @@ def main(demo=False):
|
||||
|
||||
if not sm['carControl'].latActive:
|
||||
prev_action.desiredCurvature = sm['controlsState'].curvature
|
||||
laneful_curvature = laneful.update(model_output, v_ego, laneful_strength,
|
||||
desire != log.Desire.none or DH.lane_change_state != log.LaneChangeState.off)
|
||||
action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego, laneful_curvature)
|
||||
action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, 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,
|
||||
|
||||
@@ -22,7 +22,7 @@ DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "mode
|
||||
MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "model_hash")
|
||||
BIG_MODEL_HASH_PATH = os.path.join(BASEDIR, "openpilot", "sunnypilot", "models", "tests", "big_model_hash")
|
||||
SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "driving_supercombo.onnx")
|
||||
BIG_SUPERCOMBO_ONNX_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "big_driving_supercombo.onnx")
|
||||
BIG_DRIVING_PKL_PATH = os.path.join(BASEDIR, "openpilot", "selfdrive", "modeld", "models", "big_driving_tinygrad.pkl")
|
||||
|
||||
|
||||
def _read_model_name_fields():
|
||||
@@ -47,18 +47,17 @@ def update_model_hash():
|
||||
|
||||
print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
|
||||
|
||||
if os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
|
||||
import subprocess
|
||||
rel = os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd())
|
||||
pointer = subprocess.check_output(["git", "show", f"HEAD:{rel}"], text=True)
|
||||
oid = next(l.split(":", 1)[1] for l in pointer.splitlines() if l.startswith("oid sha256:"))
|
||||
big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
|
||||
big_combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
|
||||
import subprocess
|
||||
rel = os.path.relpath(BIG_DRIVING_PKL_PATH, os.getcwd())
|
||||
pointer = subprocess.check_output(["git", "show", f"HEAD:{rel}"], text=True)
|
||||
oid = next(l.split(":", 1)[1] for l in pointer.splitlines() if l.startswith("oid sha256:"))
|
||||
big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
|
||||
big_combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
|
||||
|
||||
with open(BIG_MODEL_HASH_PATH, "w") as f:
|
||||
f.write(big_combined_hash)
|
||||
with open(BIG_MODEL_HASH_PATH, "w") as f:
|
||||
f.write(big_combined_hash)
|
||||
|
||||
print(f"Generated and updated new big model hash to {BIG_MODEL_HASH_PATH}")
|
||||
print(f"Generated and updated new big model hash to {BIG_MODEL_HASH_PATH}")
|
||||
|
||||
|
||||
def get_ref_for_name(url: str, name: str) -> str:
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
DEFAULT_MODEL = "CD210"
|
||||
DEFAULT_MODEL_REF = "5b6436a90cf6902b8aaa71c2b6f3d7164d8ae391"
|
||||
DEFAULT_BIG_MODEL = "Cinque Terre Model v2"
|
||||
DEFAULT_BIG_MODEL_REF = "37bfa1413edcdc2e8844984b83727c33f81d8f46"
|
||||
DEFAULT_BIG_MODEL = "Mountain Dew Model v3"
|
||||
DEFAULT_BIG_MODEL_REF = "1e219d7785cfb7b7343c7f2366347fc86e7ce5f2"
|
||||
|
||||
@@ -1 +1 @@
|
||||
2c814f08a2c51323b87839fbf8d2c2a9853a2b5536271b3d67f7b7a2de7f9374
|
||||
330fdf61b5519642ebccd93aa50f2d7c4ba6c08c5a10c36a2cf155e498700cef
|
||||
@@ -10,7 +10,7 @@ import subprocess
|
||||
|
||||
from openpilot.sunnypilot import get_file_hash
|
||||
from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, SUPERCOMBO_ONNX_PATH, BIG_MODEL_HASH_PATH, \
|
||||
BIG_SUPERCOMBO_ONNX_PATH, _read_model_name_fields
|
||||
BIG_DRIVING_PKL_PATH, _read_model_name_fields
|
||||
import hashlib
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
|
||||
@@ -36,12 +36,9 @@ class TestDefaultModel(OpenpilotTestCase):
|
||||
|
||||
assert combined_hash == current_hash, "Run openpilot/sunnypilot/models/default_model.py to update the default model name and hash"
|
||||
|
||||
def test_compare_big_onnx_hashes(self):
|
||||
if not os.path.exists(BIG_SUPERCOMBO_ONNX_PATH):
|
||||
self.skipTest("big_driving_supercombo.onnx not present")
|
||||
|
||||
def test_compare_big_pkl_hashes(self):
|
||||
fields = _read_model_name_fields()
|
||||
oid = _get_lfs_oid(os.path.relpath(BIG_SUPERCOMBO_ONNX_PATH, os.getcwd()))
|
||||
oid = _get_lfs_oid(os.path.relpath(BIG_DRIVING_PKL_PATH, os.getcwd()))
|
||||
big_fingerprint = f"{oid}:{fields.get('DEFAULT_BIG_MODEL', '')}:{fields.get('DEFAULT_BIG_MODEL_REF', '')}"
|
||||
combined_hash = hashlib.sha256(big_fingerprint.encode()).hexdigest()
|
||||
|
||||
|
||||
@@ -9,7 +9,6 @@ from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
|
||||
from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
|
||||
from openpilot.sunnypilot.navd.helpers import Coordinate
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
|
||||
|
||||
@@ -76,7 +75,7 @@ class SmartCruiseControlMap:
|
||||
def __init__(self):
|
||||
self.params = Params()
|
||||
self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
|
||||
self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
|
||||
self.enabled = self.params.get_bool("SmartCruiseControlMap")
|
||||
self.long_enabled = False
|
||||
self.long_override = False
|
||||
self.is_enabled = False
|
||||
@@ -102,7 +101,7 @@ class SmartCruiseControlMap:
|
||||
|
||||
def update_params(self):
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
|
||||
self.enabled = self.params.get_bool("SmartCruiseControlMap")
|
||||
|
||||
def update_calculations(self, sm: messaging.SubMaster) -> None:
|
||||
gps = sm[self.gps_location_service]
|
||||
|
||||
+1
-14
@@ -8,7 +8,7 @@ import json
|
||||
import math
|
||||
import platform
|
||||
from types import SimpleNamespace
|
||||
from unittest.mock import MagicMock, patch
|
||||
from unittest.mock import MagicMock
|
||||
|
||||
from openpilot.cereal import custom
|
||||
from openpilot.common.params import Params
|
||||
@@ -23,8 +23,6 @@ MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
|
||||
class TestSmartCruiseControlMap(OpenpilotTestCase):
|
||||
|
||||
def setup_method(self):
|
||||
self.mapd_patch = patch("openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller.MAPD_AVAILABLE", True)
|
||||
self.mapd_patch.start()
|
||||
self.params = Params()
|
||||
self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
|
||||
self.reset_params()
|
||||
@@ -32,9 +30,6 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
|
||||
self.sm = MagicMock()
|
||||
self.sm.__getitem__.return_value = SimpleNamespace(latitude=0.0, longitude=0.0)
|
||||
|
||||
def teardown_method(self):
|
||||
self.mapd_patch.stop()
|
||||
|
||||
def reset_params(self):
|
||||
self.params.put_bool("SmartCruiseControlMap", True, block=True)
|
||||
|
||||
@@ -55,14 +50,6 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
|
||||
assert self.scc_m.state == VisionState.disabled
|
||||
assert not self.scc_m.is_active
|
||||
|
||||
def test_mapd_unavailable(self):
|
||||
self.mapd_patch.stop()
|
||||
self.scc_m = SmartCruiseControlMap()
|
||||
for _ in range(int(10. / DT_MDL)):
|
||||
self.scc_m.update(self.sm, True, False, 0., 0., 0.)
|
||||
assert self.scc_m.state == VisionState.disabled
|
||||
self.mapd_patch.start()
|
||||
|
||||
def test_disabled(self):
|
||||
for _ in range(int(10. / DT_MDL)):
|
||||
self.scc_m.update(self.sm, False, False, 0., 0., 0.)
|
||||
|
||||
@@ -13,7 +13,6 @@ from openpilot.common.gps import get_gps_location_service
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
|
||||
from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
|
||||
|
||||
@@ -49,8 +48,6 @@ class SpeedLimitResolver:
|
||||
Policy.max().value,
|
||||
self.params
|
||||
)
|
||||
if not MAPD_AVAILABLE:
|
||||
self.policy = Policy.car_state_only
|
||||
self._policy_to_sources_map = {
|
||||
Policy.car_state_only: [SpeedLimitSource.car],
|
||||
Policy.map_data_only: [SpeedLimitSource.map],
|
||||
@@ -94,7 +91,7 @@ class SpeedLimitResolver:
|
||||
|
||||
def update_params(self):
|
||||
if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
|
||||
self.policy = self.params.get("SpeedLimitPolicy", return_default=True) if MAPD_AVAILABLE else Policy.car_state_only
|
||||
self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
|
||||
self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
|
||||
|
||||
@@ -15,7 +15,6 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.hardware import HARDWARE
|
||||
from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
|
||||
|
||||
|
||||
# Wire-protocol version for the capabilities payload. Bump on breaking changes
|
||||
@@ -44,7 +43,6 @@ CAPABILITY_FIELDS = (
|
||||
"device_type",
|
||||
"subaru_has_sng",
|
||||
"hyundai_alpha_long_available",
|
||||
"mapd_available",
|
||||
)
|
||||
|
||||
CAPABILITY_LABELS: dict[str, str] = {
|
||||
@@ -67,7 +65,6 @@ CAPABILITY_LABELS: dict[str, str] = {
|
||||
"device_type": "Device type",
|
||||
"subaru_has_sng": "Subaru Stop-and-Go available",
|
||||
"hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
|
||||
"mapd_available": "Map data available",
|
||||
}
|
||||
|
||||
# Explicit defaults for non-boolean capability fields
|
||||
@@ -135,7 +132,6 @@ def generate_capabilities(params: Params | None = None) -> dict:
|
||||
caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
|
||||
caps["is_development"] = params.get_bool("IsDevelopmentBranch")
|
||||
caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
|
||||
caps["mapd_available"] = MAPD_AVAILABLE
|
||||
|
||||
bundle = params.get("CarPlatformBundle")
|
||||
bundle_brand = _bundle_field(bundle, "brand")
|
||||
|
||||
@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
|
||||
|
||||
**Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
|
||||
|
||||
**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `mapd_available`
|
||||
**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -857,47 +857,19 @@
|
||||
},
|
||||
{
|
||||
"value": 1,
|
||||
"label": "Map Data Only",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "mapd_available",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
"label": "Map Data Only"
|
||||
},
|
||||
{
|
||||
"value": 2,
|
||||
"label": "Car State Priority",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "mapd_available",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
"label": "Car State Priority"
|
||||
},
|
||||
{
|
||||
"value": 3,
|
||||
"label": "Map Data Priority",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "mapd_available",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
"label": "Map Data Priority"
|
||||
},
|
||||
{
|
||||
"value": 4,
|
||||
"label": "Combined",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "mapd_available",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
"label": "Combined"
|
||||
}
|
||||
]
|
||||
},
|
||||
@@ -1029,11 +1001,6 @@
|
||||
}
|
||||
],
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "mapd_available",
|
||||
"equals": true
|
||||
},
|
||||
{
|
||||
"type": "any",
|
||||
"conditions": [
|
||||
|
||||
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[[package]]
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Reference in New Issue
Block a user