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docs/CARS.md
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docs/CARS.md
@@ -4,24 +4,24 @@
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 341 Supported Cars
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# 340 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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|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>|||
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|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>|||
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|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>|||
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||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
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||||
|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
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||||
|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|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|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>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|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>|||
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||||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
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||||
|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>|||
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||||
|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>||
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|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[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
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||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</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 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 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 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1,5</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|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -126,7 +126,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -224,14 +223,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN[<sup>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>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|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)|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>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|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>|||
|
||||
@@ -239,35 +238,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|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>|||
|
||||
@@ -280,8 +279,8 @@ 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>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 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>|||
|
||||
@@ -313,61 +312,60 @@ 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[<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>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Submodule opendbc_repo updated: b9712d20ef...10e654bf21
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.honda.values import HondaFlags
|
||||
from opendbc.car.structs import car
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from opendbc.car.values import Platform, PLATFORMS
|
||||
@@ -358,13 +358,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
|
||||
|
||||
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
|
||||
brake_pressed = False
|
||||
|
||||
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
|
||||
self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
|
||||
|
||||
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
@@ -448,12 +442,7 @@ class TestCarModelBase(unittest.TestCase):
|
||||
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
|
||||
angle_can < (self.safety.get_angle_meas_min() - 1))
|
||||
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
|
||||
|
||||
|
||||
@@ -10,471 +10,291 @@ import argparse
|
||||
import os
|
||||
import pickle
|
||||
import time
|
||||
from functools import partial
|
||||
from collections import defaultdict
|
||||
|
||||
from functools import partial
|
||||
import numpy as np
|
||||
from tinygrad.tensor import Tensor
|
||||
os.environ['GMMU'] = '0'
|
||||
|
||||
def _patch_tinygrad_fetch_fw():
|
||||
import hashlib
|
||||
import pathlib
|
||||
import zstandard
|
||||
from tinygrad import helpers
|
||||
_orig_fetch_fw = helpers.fetch_fw
|
||||
def fetch_fw(path, name, sha256):
|
||||
p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
|
||||
if p.is_file():
|
||||
blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
|
||||
if hashlib.sha256(blob).hexdigest() == sha256:
|
||||
return blob
|
||||
return _orig_fetch_fw(path, name, sha256)
|
||||
helpers.fetch_fw = fetch_fw
|
||||
_patch_tinygrad_fetch_fw()
|
||||
|
||||
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
|
||||
from tinygrad import dtypes
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
|
||||
from openpilot.selfdrive.modeld.compile_modeld import (
|
||||
NV12Frame, make_frame_prepare,
|
||||
shift_and_sample, sample_skip, sample_desire,
|
||||
)
|
||||
from tinygrad.tensor import Tensor
|
||||
|
||||
MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
|
||||
|
||||
|
||||
def _detect_desire_key(policy_input_shapes):
|
||||
for k in policy_input_shapes:
|
||||
if k.startswith('desire'):
|
||||
return k
|
||||
return None
|
||||
def _detect_desire_key(shapes: dict) -> str | None:
|
||||
return next((key for key in shapes if key.startswith('desire')), None)
|
||||
|
||||
|
||||
def _detect_vision_keys(vision_input_shapes):
|
||||
img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
|
||||
road_key = next((k for k in img_keys if 'big' not in k), None)
|
||||
wide_key = next((k for k in img_keys if 'big' in k), None)
|
||||
if road_key is None or wide_key is None:
|
||||
raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
|
||||
return road_key, wide_key
|
||||
def _detect_vision_keys(shapes: dict) -> tuple[str | None, str | None]:
|
||||
img_keys = sorted(key for key in shapes if 'img' in key)
|
||||
return (
|
||||
next((key for key in img_keys if 'big' not in key), None),
|
||||
next((key for key in img_keys if 'big' in key), None)
|
||||
)
|
||||
|
||||
|
||||
def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
|
||||
road_key, _ = _detect_vision_keys(vision_input_shapes)
|
||||
img = vision_input_shapes[road_key]
|
||||
n_frames = img[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
|
||||
|
||||
fb = policy_input_shapes['features_buffer']
|
||||
desire_key = _detect_desire_key(policy_input_shapes)
|
||||
dp = policy_input_shapes[desire_key]
|
||||
tc = policy_input_shapes.get('traffic_convention', (1, 2))
|
||||
|
||||
npy = {
|
||||
'desire': np.zeros(dp[2], dtype=np.float32),
|
||||
'traffic_convention': np.zeros(tc, dtype=np.float32),
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
|
||||
handled = {'features_buffer', desire_key, 'traffic_convention'}
|
||||
for key, shape in policy_input_shapes.items():
|
||||
if key in handled:
|
||||
continue
|
||||
npy[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
|
||||
}
|
||||
return input_queues, npy
|
||||
def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> int:
|
||||
features_buffer = policy_input_shapes.get('features_buffer')
|
||||
return 1 if not features_buffer or features_buffer[1] >= 99 else 4
|
||||
|
||||
|
||||
def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
|
||||
npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
|
||||
desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
|
||||
extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
|
||||
Tensor.realize(*npy_tensors, *extra_device.values())
|
||||
tfm, big_tfm, desire, traffic_convention = npy_tensors
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
|
||||
|
||||
new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
|
||||
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
|
||||
policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
|
||||
|
||||
return vision_out, policy_out
|
||||
return run_policy
|
||||
|
||||
|
||||
def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runner, vision_metadata, policy_metadata):
|
||||
print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
vision_features_slice = vision_metadata['output_slices']['hidden_state']
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
policy_input_shapes = policy_metadata['input_shapes']
|
||||
desire_key = _detect_desire_key(policy_input_shapes)
|
||||
extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
|
||||
vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
|
||||
|
||||
_run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only)
|
||||
run_policy_jit = TinyJit(_run, prune=True)
|
||||
|
||||
SEED = 42
|
||||
|
||||
def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
|
||||
input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
|
||||
np.random.seed(seed)
|
||||
Tensor.manual_seed(seed)
|
||||
|
||||
testing = test_val is not None or test_buffers is not None
|
||||
n_runs = 1 if testing else 3
|
||||
|
||||
for i in range(n_runs):
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
outs = fn(**input_queues, frame=frame, big_frame=big_frame)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
if i == 0:
|
||||
val = [np.copy(v.numpy()) for v in outs]
|
||||
buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
|
||||
|
||||
if test_val is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
|
||||
assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
if test_buffers is not None:
|
||||
match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
|
||||
assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
|
||||
return fn, val, buffers
|
||||
|
||||
print('capture + replay')
|
||||
run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
|
||||
|
||||
print('pickle round trip')
|
||||
run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
|
||||
random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
|
||||
random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
|
||||
return run_policy_jit
|
||||
|
||||
|
||||
def derive_frame_skip(vision_input_shapes, policy_input_shapes):
|
||||
fb = policy_input_shapes.get('features_buffer')
|
||||
if fb is None:
|
||||
return 1
|
||||
fb_history = fb[1]
|
||||
if fb_history >= 99:
|
||||
return 1
|
||||
return 4
|
||||
|
||||
|
||||
def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
|
||||
if img_shape is None:
|
||||
raise ValueError("No img input found in model shapes")
|
||||
def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
road_key, _ = _detect_vision_keys(input_shapes)
|
||||
if not road_key:
|
||||
raise ValueError("Vision road key missing from input shapes.")
|
||||
|
||||
img_shape = input_shapes[road_key]
|
||||
n_frames = img_shape[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
|
||||
|
||||
numpy_keys = {}
|
||||
queue_keys = {}
|
||||
desire_key = _detect_desire_key(input_shapes)
|
||||
if not desire_key:
|
||||
raise ValueError("Desire key missing from input shapes.")
|
||||
|
||||
desire_shape = input_shapes[desire_key]
|
||||
features_buffer = input_shapes.get('features_buffer')
|
||||
|
||||
npy_arrays = {
|
||||
'desire': np.zeros(desire_shape[2], dtype=np.float32),
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32)
|
||||
}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
if 'img' in key:
|
||||
continue
|
||||
if len(shape) == 3 and shape[1] > 1:
|
||||
if key.startswith('desire'):
|
||||
numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
queue_keys[f'{key}_q'] = Tensor(
|
||||
np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
elif key == 'features_buffer':
|
||||
queue_keys['feat_q'] = Tensor(
|
||||
np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
else:
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
elif len(shape) == 2:
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
|
||||
npy_arrays[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
if 'traffic_convention' not in numpy_keys:
|
||||
tc_shape = input_shapes.get('traffic_convention', (1, 2))
|
||||
numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
|
||||
numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
|
||||
input_queues = {
|
||||
queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**queue_keys,
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
|
||||
'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
}
|
||||
return input_queues, numpy_keys
|
||||
|
||||
if features_buffer:
|
||||
queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize()
|
||||
|
||||
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
|
||||
return queues, npy_arrays
|
||||
|
||||
|
||||
def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
|
||||
features_slice, frame_skip, input_shapes, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device)
|
||||
|
||||
|
||||
def make_supercombo_input_queues(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
|
||||
return generate_queues_and_npy(input_shapes, frame_skip, device)
|
||||
|
||||
|
||||
def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
|
||||
features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
|
||||
frame_prepare = make_frame_prepare(nv12, *model_size)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
|
||||
desire_key = _detect_desire_key(input_shapes)
|
||||
if desire_key is None:
|
||||
raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
|
||||
road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
|
||||
extra_policy_keys = [k for k in input_shapes
|
||||
if k not in (desire_key, 'features_buffer', 'traffic_convention')
|
||||
and 'img' not in k]
|
||||
road_key, wide_key = _detect_vision_keys(input_shapes)
|
||||
|
||||
def run_supercombo(img_q, big_img_q, feat_q, desire_q,
|
||||
frame, big_frame, **kwargs):
|
||||
desire = kwargs.get(desire_key)
|
||||
if not desire_key or not road_key or not wide_key:
|
||||
raise ValueError("Missing required vision or desire keys in input shapes.")
|
||||
|
||||
extra_keys = [key for key in input_shapes if key not in (desire_key, 'features_buffer', 'traffic_convention') and 'img' not in key]
|
||||
|
||||
def runner(img_q, big_img_q, feat_q, frame, big_frame, tfm, big_tfm, **kwargs):
|
||||
desire_q = kwargs['desire_q']
|
||||
desire = kwargs['desire']
|
||||
traffic_convention = kwargs.get('traffic_convention')
|
||||
tfm = kwargs['tfm']
|
||||
big_tfm = kwargs['big_tfm']
|
||||
|
||||
tfm = tfm.to(Device.DEFAULT)
|
||||
big_tfm = big_tfm.to(Device.DEFAULT)
|
||||
desire = desire.to(Device.DEFAULT)
|
||||
traffic_convention = traffic_convention.to(Device.DEFAULT)
|
||||
Tensor.realize(tfm, big_tfm, desire, traffic_convention)
|
||||
npys = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT), desire.to(Device.DEFAULT)]
|
||||
if traffic_convention is not None:
|
||||
npys.append(traffic_convention.to(Device.DEFAULT))
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
extra_tensors = {key: kwargs[key].to(Device.DEFAULT) for key in extra_keys if key in kwargs}
|
||||
Tensor.realize(*npys, *extra_tensors.values())
|
||||
|
||||
tfm_dev, big_tfm_dev, desire_dev = npys[:3]
|
||||
traffic_conv_dev = npys[3] if traffic_convention is not None else None
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn)
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
feat_buf = sample_skip_fn(feat_q)
|
||||
desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
|
||||
inputs = {desire_key: desire_buf, **extra_tensors}
|
||||
|
||||
inputs = {road_img_key: img, wide_img_key: big_img,
|
||||
desire_key: desire_buf, 'features_buffer': feat_buf,
|
||||
'traffic_convention': traffic_convention}
|
||||
for k in extra_policy_keys:
|
||||
if k in kwargs:
|
||||
inputs[k] = kwargs[k].to(Device.DEFAULT)
|
||||
if traffic_conv_dev is not None:
|
||||
inputs['traffic_convention'] = traffic_conv_dev
|
||||
|
||||
model_out = next(iter(model_runner(inputs).values())).cast('float32')
|
||||
if vision_runner:
|
||||
vision_out = next(iter(vision_runner({road_key: img, wide_key: big_img}).values()))
|
||||
vision_out_cast = vision_out.cast('float32')
|
||||
new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
|
||||
inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
|
||||
policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32') for pol_runner in policy_runners]
|
||||
return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
|
||||
inputs.update({road_key: img, wide_key: big_img, 'features_buffer': sample_skip_fn(feat_q)})
|
||||
policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32')
|
||||
new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
|
||||
shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
|
||||
return policy_out
|
||||
|
||||
new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
|
||||
shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
|
||||
return model_out
|
||||
|
||||
return run_supercombo
|
||||
return runner
|
||||
|
||||
|
||||
def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only=False):
|
||||
frame_prepare = make_frame_prepare(nv12, model_w, model_h)
|
||||
sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
|
||||
sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
|
||||
def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
|
||||
print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
|
||||
traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
|
||||
npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
|
||||
desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
|
||||
extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
|
||||
Tensor.realize(*npy_tensors, *extra_device.values())
|
||||
tfm, big_tfm, desire, traffic_convention = npy_tensors
|
||||
all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
|
||||
|
||||
img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
|
||||
big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
|
||||
feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
|
||||
if not feat_meta:
|
||||
raise ValueError("Could not find vision, model, or policy metadata.")
|
||||
|
||||
if prepare_only:
|
||||
return img, big_img
|
||||
features_slice = feat_meta['output_slices']['hidden_state']
|
||||
WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
|
||||
|
||||
vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
|
||||
run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
|
||||
run_jit = TinyJit(run_func, prune=True)
|
||||
queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT)
|
||||
|
||||
new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
|
||||
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
|
||||
desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
|
||||
|
||||
inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
|
||||
|
||||
policy_outputs = []
|
||||
for runner in policy_runners:
|
||||
policy_out = next(iter(runner(inputs).values())).cast('float32')
|
||||
policy_outputs.append(policy_out)
|
||||
|
||||
return (vision_out, *policy_outputs)
|
||||
|
||||
return run_multi_policy
|
||||
|
||||
|
||||
def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
|
||||
for i in range(3):
|
||||
np.random.seed(42 + i)
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
|
||||
for v in npy.values():
|
||||
v[:] = np.random.randn(*v.shape).astype(v.dtype)
|
||||
frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
|
||||
big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
|
||||
for arr in npy_arrays.values():
|
||||
arr[:] = np.random.randn(*arr.shape).astype(arr.dtype)
|
||||
|
||||
Device.default.synchronize()
|
||||
st = time.perf_counter()
|
||||
run_jit(**input_queues, frame=frame, big_frame=big_frame)
|
||||
mt = time.perf_counter()
|
||||
start_time = time.perf_counter()
|
||||
run_jit(**queues, frame=frame, big_frame=big_frame)
|
||||
mid_time = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
|
||||
return pickle.loads(pickle.dumps(run_jit))
|
||||
print(f" [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
|
||||
|
||||
return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
|
||||
|
||||
|
||||
def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
model_runner, metadata):
|
||||
print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
features_slice = metadata['output_slices']['hidden_state']
|
||||
input_shapes = metadata['input_shapes']
|
||||
|
||||
_run = make_run_supercombo(model_runner, nv12, model_w, model_h,
|
||||
features_slice, frame_skip, input_shapes, prepare_only)
|
||||
run_jit = TinyJit(_run, prune=True)
|
||||
|
||||
input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
|
||||
|
||||
run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
|
||||
return run_jit
|
||||
def _parse_size(size_str: str) -> tuple[int, int]:
|
||||
width, height = size_str.lower().split('x')
|
||||
return int(width), int(height)
|
||||
|
||||
|
||||
def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runners, vision_metadata, policy_metadata):
|
||||
print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
|
||||
|
||||
vision_features_slice = vision_metadata['output_slices']['hidden_state']
|
||||
vision_input_shapes = vision_metadata['input_shapes']
|
||||
policy_input_shapes = policy_metadata['input_shapes']
|
||||
desire_key = _detect_desire_key(policy_input_shapes)
|
||||
extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
|
||||
vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
|
||||
|
||||
_run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
|
||||
vision_features_slice, frame_skip, desire_key, extra_policy_keys,
|
||||
vision_road_key, vision_wide_key, prepare_only)
|
||||
run_jit = TinyJit(_run, prune=True)
|
||||
|
||||
input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
|
||||
|
||||
run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
|
||||
return run_jit
|
||||
def read_file_chunked_to_shm(path):
|
||||
if not path:
|
||||
return None
|
||||
import atexit
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
|
||||
atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
|
||||
with open(shm_path, 'wb') as f:
|
||||
f.write(read_file_chunked(path))
|
||||
return shm_path
|
||||
|
||||
|
||||
def _parse_size(s):
|
||||
w, h = s.lower().split('x')
|
||||
return int(w), int(h)
|
||||
def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
|
||||
vision_runner, policy_runners: list, metadata: dict) -> dict:
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
return {
|
||||
(cam_w, cam_h): {
|
||||
name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
|
||||
frame_skip, vision_runner, policy_runners, metadata)
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
for cam_w, cam_h in camera_resolutions
|
||||
}
|
||||
|
||||
|
||||
def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
|
||||
runners, keys = [], []
|
||||
for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
|
||||
if onnx_arg:
|
||||
runners.append(OnnxRunner(onnx_arg))
|
||||
keys.append(name)
|
||||
return runners, keys
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
|
||||
p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
|
||||
p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
|
||||
p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
|
||||
p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
|
||||
p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
|
||||
p.add_argument('--output', required=True)
|
||||
parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
|
||||
parser.add_argument('--model-type', choices=MODEL_TYPES, required=True)
|
||||
parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
|
||||
parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
|
||||
parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
|
||||
parser.add_argument('--output', required=True)
|
||||
|
||||
p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
|
||||
p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
|
||||
p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
|
||||
p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
|
||||
p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
|
||||
parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
|
||||
parser.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
|
||||
parser.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
|
||||
parser.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
|
||||
parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
|
||||
|
||||
args = p.parse_args()
|
||||
out = defaultdict(dict)
|
||||
args = parser.parse_args()
|
||||
output_data = defaultdict(dict)
|
||||
|
||||
args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
|
||||
args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
|
||||
args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
|
||||
args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
|
||||
args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
|
||||
|
||||
vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
|
||||
|
||||
if args.model_type == 'vision_policy':
|
||||
assert args.vision_onnx and args.policy_onnx
|
||||
vision_runner = OnnxRunner(args.vision_onnx)
|
||||
policy_runner = OnnxRunner(args.policy_onnx)
|
||||
out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
|
||||
out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
|
||||
|
||||
frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
|
||||
out['metadata']['policy']['input_shapes'])
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
model_w, model_h = args.model_size
|
||||
out[(cam_w, cam_h)] = {
|
||||
name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runner,
|
||||
out['metadata']['vision'], out['metadata']['policy'])
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
|
||||
assert vision_runner and args.policy_onnx
|
||||
policy_runners = [OnnxRunner(args.policy_onnx)]
|
||||
output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
|
||||
elif args.model_type == 'supercombo':
|
||||
assert args.supercombo_onnx
|
||||
model_runner = OnnxRunner(args.supercombo_onnx)
|
||||
out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
|
||||
|
||||
frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
model_w, model_h = args.model_size
|
||||
out[(cam_w, cam_h)] = {
|
||||
name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
|
||||
model_runner, out['metadata']['model'])
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
|
||||
policy_runners = [OnnxRunner(args.supercombo_onnx)]
|
||||
output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
|
||||
elif args.model_type == 'vision_multi_policy':
|
||||
assert args.vision_onnx
|
||||
vision_runner = OnnxRunner(args.vision_onnx)
|
||||
out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
|
||||
assert vision_runner
|
||||
policy_runners, policy_names = _load_policy_runners(args)
|
||||
output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
|
||||
for name in policy_names:
|
||||
runner_arg = getattr(args, f"{name}_onnx")
|
||||
output_data['metadata'][name] = make_metadata_dict(runner_arg)
|
||||
|
||||
policy_runners = []
|
||||
policy_onnxes = []
|
||||
if args.policy_onnx:
|
||||
policy_onnxes.append(('policy', args.policy_onnx))
|
||||
if args.off_policy_onnx:
|
||||
policy_onnxes.append(('off_policy', args.off_policy_onnx))
|
||||
if args.on_policy_onnx:
|
||||
policy_onnxes.append(('on_policy', args.on_policy_onnx))
|
||||
policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
|
||||
first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
|
||||
vision_meta = output_data['metadata'].get('vision', {})
|
||||
|
||||
for name, onnx_path in policy_onnxes:
|
||||
runner = OnnxRunner(onnx_path)
|
||||
policy_runners.append(runner)
|
||||
out['metadata'][name] = make_metadata_dict(onnx_path)
|
||||
derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
|
||||
output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
|
||||
vision_runner, policy_runners, output_data['metadata']))
|
||||
|
||||
first_policy_key = policy_onnxes[0][0]
|
||||
frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
|
||||
out['metadata'][first_policy_key]['input_shapes'])
|
||||
with open(args.output, "wb") as file:
|
||||
pickle.dump(output_data, file)
|
||||
|
||||
for cam_w, cam_h in args.camera_resolutions:
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
model_w, model_h = args.model_size
|
||||
out[(cam_w, cam_h)] = {
|
||||
name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
|
||||
vision_runner, policy_runners,
|
||||
out['metadata']['vision'], out['metadata'][first_policy_key])
|
||||
for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
|
||||
}
|
||||
|
||||
with open(args.output, "wb") as f:
|
||||
pickle.dump(out, f)
|
||||
pkl_size = os.path.getsize(args.output)
|
||||
print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
|
||||
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
chunk_targets = get_chunk_targets(args.output, pkl_size)
|
||||
chunk_file(args.output, chunk_targets)
|
||||
num_chunks = len(chunk_targets) - 1
|
||||
print(f"Chunked into {num_chunks} file(s)")
|
||||
print(f"Chunked into {len(chunk_targets) - 1} file(s)")
|
||||
|
||||
@@ -1,103 +0,0 @@
|
||||
import os
|
||||
os.environ['DEV'] = 'CPU'
|
||||
import pytest
|
||||
import numpy as np
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
|
||||
from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
|
||||
|
||||
VISION_NAME_PAIRS = [ # needed to account for supercombos input_imgs
|
||||
('img', 'big_img'),
|
||||
('input_imgs', 'big_input_imgs'),
|
||||
]
|
||||
|
||||
|
||||
class MockVisionBuf:
|
||||
def __init__(self, w, h):
|
||||
self.width = w
|
||||
self.height = h
|
||||
_, _, _, yuv_size = get_nv12_info(w, h)
|
||||
self.data = np.zeros(yuv_size, dtype=np.uint8)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("buffer_length", [2, 5])
|
||||
def test_warp_initialization(buffer_length):
|
||||
warp = Warp(buffer_length)
|
||||
assert warp.buffer_length == buffer_length
|
||||
assert warp.img_buffer_shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("buffer_length", [2, 5])
|
||||
@pytest.mark.parametrize("cam_w, cam_h", CAMERA_CONFIGS)
|
||||
@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
|
||||
def test_warp_process(buffer_length, cam_w, cam_h, road, wide):
|
||||
warp = Warp(buffer_length)
|
||||
mock_buf = MockVisionBuf(cam_w, cam_h)
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
bufs = {road: mock_buf, wide: mock_buf}
|
||||
transforms = {road: transform, wide: transform}
|
||||
|
||||
out = warp.process(bufs, transforms)
|
||||
assert isinstance(out, dict)
|
||||
assert road in out and wide in out
|
||||
assert out[road].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
|
||||
assert out[wide].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
key = (cam_w, cam_h)
|
||||
assert key in warp.jit_cache
|
||||
|
||||
out2 = warp.process(bufs, transforms)
|
||||
assert out2[road].shape == out[road].shape
|
||||
|
||||
|
||||
@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
|
||||
def test_warp_buffer_shift(road, wide):
|
||||
warp = Warp(2)
|
||||
cam_w, cam_h = CAMERA_CONFIGS[1]
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
|
||||
buf1 = MockVisionBuf(cam_w, cam_h)
|
||||
buf1.data[0] = 255
|
||||
bufs1 = {road: buf1, wide: buf1}
|
||||
transforms = {road: transform, wide: transform}
|
||||
out1 = warp.process(bufs1, transforms)
|
||||
road1 = out1[road].numpy().copy()
|
||||
|
||||
buf2 = MockVisionBuf(cam_w, cam_h)
|
||||
buf2.data[0] = 128
|
||||
bufs2 = {road: buf2, wide: buf2}
|
||||
out2 = warp.process(bufs2, transforms)
|
||||
assert not np.array_equal(road1, out2[road].numpy())
|
||||
|
||||
|
||||
@pytest.mark.parametrize("buffer_length", [2, 5])
|
||||
@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
|
||||
def test_warp_buffer_accumulation(buffer_length, road, wide):
|
||||
warp = Warp(buffer_length)
|
||||
cam_w, cam_h = CAMERA_CONFIGS[0]
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
transforms = {road: transform, wide: transform}
|
||||
outputs = []
|
||||
|
||||
for i in range(buffer_length + 1):
|
||||
buf = MockVisionBuf(cam_w, cam_h)
|
||||
buf.data[:] = i * 10
|
||||
out = warp.process({road: buf, wide: buf}, transforms)
|
||||
outputs.append(out[road].numpy().copy())
|
||||
|
||||
assert warp.full_buffers['img'].shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
for i in range(1, len(outputs)):
|
||||
assert not np.array_equal(outputs[i - 1], outputs[i])
|
||||
|
||||
|
||||
def test_warp_different_cameras_same_instance():
|
||||
warp = Warp(2)
|
||||
transform = np.eye(3, dtype=np.float32).flatten()
|
||||
|
||||
buf1 = MockVisionBuf(*CAMERA_CONFIGS[0])
|
||||
warp.process({'img': buf1, 'big_img': buf1}, {'img': transform, 'big_img': transform})
|
||||
assert len(warp.jit_cache) == 1
|
||||
|
||||
buf2 = MockVisionBuf(*CAMERA_CONFIGS[1])
|
||||
warp.process({'img': buf2, 'big_img': buf2}, {'img': transform, 'big_img': transform})
|
||||
assert len(warp.jit_cache) == 2
|
||||
@@ -1,171 +0,0 @@
|
||||
import pickle
|
||||
import time
|
||||
import numpy as np
|
||||
from pathlib import Path
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
from tinygrad.device import Device
|
||||
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare as _make_frame_prepare
|
||||
|
||||
CAMERA_CONFIGS = [
|
||||
(_ar_ox_fisheye.width, _ar_ox_fisheye.height),
|
||||
(_os_fisheye.width, _os_fisheye.height),
|
||||
]
|
||||
|
||||
|
||||
def make_frame_prepare(cam_w, cam_h, model_w, model_h):
|
||||
nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
|
||||
return _make_frame_prepare(nv12, model_w, model_h)
|
||||
|
||||
|
||||
def warp_pkl_path(w, h):
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR
|
||||
return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
|
||||
|
||||
|
||||
def make_update_img_input(frame_prepare, model_w, model_h):
|
||||
def update_img_input_tinygrad(tensor, frame, M_inv):
|
||||
M_inv = M_inv.to(Device.DEFAULT)
|
||||
new_img = frame_prepare(frame, M_inv)
|
||||
tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
|
||||
return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
|
||||
return update_img_input_tinygrad
|
||||
|
||||
|
||||
def make_update_both_imgs(frame_prepare, model_w, model_h):
|
||||
update_img = make_update_img_input(frame_prepare, model_w, model_h)
|
||||
def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
|
||||
calib_big_img_buffer, new_big_img, M_inv_big):
|
||||
calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
|
||||
calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
|
||||
return calib_img_pair, calib_big_img_pair
|
||||
return update_both_imgs_tinygrad
|
||||
|
||||
MODELS_DIR = Path(__file__).parent / 'models'
|
||||
MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
|
||||
UPSTREAM_BUFFER_LENGTH = 5
|
||||
|
||||
|
||||
def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
|
||||
return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
|
||||
|
||||
|
||||
def compile_v2_warp(cam_w, cam_h, buffer_length):
|
||||
_, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
|
||||
img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
|
||||
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
update_img_jit = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
|
||||
new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
for i in range(10):
|
||||
img_inputs = [full_buffer,
|
||||
Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
big_img_inputs = [big_full_buffer,
|
||||
Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
|
||||
inputs = img_inputs + big_img_inputs
|
||||
Device.default.synchronize()
|
||||
|
||||
st = time.perf_counter()
|
||||
_ = update_img_jit(*inputs)
|
||||
mt = time.perf_counter()
|
||||
Device.default.synchronize()
|
||||
et = time.perf_counter()
|
||||
print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
|
||||
|
||||
pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
|
||||
with open(pkl_path, "wb") as f:
|
||||
pickle.dump(update_img_jit, f)
|
||||
print(f" Saved to {pkl_path}")
|
||||
|
||||
jit = pickle.load(open(pkl_path, "rb"))
|
||||
verify_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
verify_big_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
|
||||
fresh_inputs = [
|
||||
Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
|
||||
Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
|
||||
Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
|
||||
Tensor.from_blob(verify_big_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
|
||||
Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
|
||||
]
|
||||
jit(*fresh_inputs)
|
||||
|
||||
|
||||
class Warp:
|
||||
def __init__(self, buffer_length=2):
|
||||
self.buffer_length = buffer_length
|
||||
self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
|
||||
|
||||
self.jit_cache = {}
|
||||
self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
|
||||
self._blob_cache: dict[int, Tensor] = {}
|
||||
self._nv12_cache: dict[tuple[int, int], int] = {}
|
||||
self.transforms_np = {k: np.zeros((3, 3), dtype=np.float32) for k in ['img', 'big_img']}
|
||||
self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
|
||||
|
||||
def process(self, bufs, transforms):
|
||||
if not bufs:
|
||||
return {}
|
||||
road = next(n for n in bufs if 'big' not in n)
|
||||
wide = next(n for n in bufs if 'big' in n)
|
||||
cam_w, cam_h = bufs[road].width, bufs[road].height
|
||||
key = (cam_w, cam_h)
|
||||
|
||||
if key not in self.jit_cache:
|
||||
v2_pkl = v2_warp_pkl_path(cam_w, cam_h, self.buffer_length)
|
||||
if v2_pkl.exists():
|
||||
with open(v2_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
elif self.buffer_length == UPSTREAM_BUFFER_LENGTH:
|
||||
upstream_pkl = warp_pkl_path(cam_w, cam_h)
|
||||
if upstream_pkl.exists():
|
||||
with open(upstream_pkl, 'rb') as f:
|
||||
self.jit_cache[key] = pickle.load(f)
|
||||
if key not in self.jit_cache:
|
||||
frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
|
||||
update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
|
||||
self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
|
||||
|
||||
if key not in self._nv12_cache:
|
||||
self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
|
||||
yuv_size = self._nv12_cache[key]
|
||||
|
||||
road_ptr = bufs[road].data.ctypes.data
|
||||
wide_ptr = bufs[wide].data.ctypes.data
|
||||
if road_ptr not in self._blob_cache:
|
||||
self._blob_cache[road_ptr] = Tensor.from_blob(road_ptr, (yuv_size,), dtype='uint8')
|
||||
if wide_ptr not in self._blob_cache:
|
||||
self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
|
||||
road_blob = self._blob_cache[road_ptr]
|
||||
wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
|
||||
np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
|
||||
np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
|
||||
|
||||
Device.default.synchronize()
|
||||
res = self.jit_cache[key](
|
||||
self.full_buffers['img'], road_blob, self.transforms['img'],
|
||||
self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
|
||||
)
|
||||
out_road = res[0].realize()
|
||||
out_wide = res[1].realize()
|
||||
|
||||
return {road: out_road, wide: out_wide}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
for cam_w, cam_h in CAMERA_CONFIGS:
|
||||
for bl in [2, 5]:
|
||||
compile_v2_warp(cam_w, cam_h, bl)
|
||||
@@ -41,6 +41,7 @@ LOCAL_PORT_WHITELIST = {8022}
|
||||
SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
|
||||
SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require a change on sidebar.cc
|
||||
DISALLOW_LOG_UPLOAD = threading.Event()
|
||||
METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
|
||||
|
||||
params = Params()
|
||||
|
||||
@@ -169,6 +170,39 @@ def getParamsAllKeys() -> list[str]:
|
||||
return keys
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsAllKeysV1() -> dict[str, str]:
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
|
||||
metadata = {}
|
||||
|
||||
try:
|
||||
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
|
||||
|
||||
params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
|
||||
for key in available_keys:
|
||||
value = get_param_as_byte(key, get_default=True)
|
||||
|
||||
param_entry = {
|
||||
"key": key,
|
||||
"type": int(params.get_type(key).value),
|
||||
"default_value": base64.b64encode(value).decode('utf-8') if value else None,
|
||||
}
|
||||
|
||||
if key in metadata:
|
||||
meta_copy = metadata[key].copy()
|
||||
param_entry["_extra"] = meta_copy
|
||||
|
||||
params_dict["params"].append(param_entry)
|
||||
return {"keys": json.dumps(params_dict.get("params", []))}
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
|
||||
raise
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsMetadata() -> str:
|
||||
"""Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
|
||||
|
||||
@@ -97,11 +97,12 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe
|
||||
|
||||
```
|
||||
1. common/params_keys.h — add/remove the C++ param key
|
||||
2. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
4. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
5. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
6. commit
|
||||
2. params_metadata.json — automated via update_params_metadata.py
|
||||
3. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
5. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
6. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
7. commit
|
||||
```
|
||||
|
||||
CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
|
||||
|
||||
1411
sunnypilot/sunnylink/params_metadata.json
Normal file
1411
sunnypilot/sunnylink/params_metadata.json
Normal file
File diff suppressed because it is too large
Load Diff
86
sunnypilot/sunnylink/tests/test_params_metadata.py
Normal file
86
sunnypilot/sunnylink/tests/test_params_metadata.py
Normal file
@@ -0,0 +1,86 @@
|
||||
"""
|
||||
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
|
||||
|
||||
from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
|
||||
|
||||
|
||||
def test_get_params_all_keys_v1():
|
||||
"""
|
||||
Test the getParamsAllKeysV1 API endpoint.
|
||||
|
||||
Why:
|
||||
This endpoint is used by the UI (and potentially external tools) to fetch the list of
|
||||
available parameters along with their metadata (titles, descriptions, options, constraints).
|
||||
We need to ensure it returns the correct structure and that the metadata from
|
||||
params_metadata.json is correctly merged into the response.
|
||||
|
||||
Expected:
|
||||
- The response should contain a "keys" field which is a JSON string of a list of parameters.
|
||||
- Each parameter object should have "key", "type", "default_value", and optionally "_extra".
|
||||
- The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
|
||||
the source of truth (params_metadata.json).
|
||||
"""
|
||||
response = getParamsAllKeysV1()
|
||||
assert "keys" in response
|
||||
|
||||
keys_json = response["keys"]
|
||||
params_list = json.loads(keys_json)
|
||||
|
||||
assert isinstance(params_list, list)
|
||||
assert len(params_list) > 0
|
||||
|
||||
# Check structure of first item
|
||||
first_param = params_list[0]
|
||||
assert "key" in first_param
|
||||
assert "type" in first_param
|
||||
assert "default_value" in first_param
|
||||
|
||||
if "_extra" in first_param:
|
||||
assert isinstance(first_param["_extra"], dict)
|
||||
assert "default" not in first_param["_extra"]
|
||||
assert "type" not in first_param["_extra"]
|
||||
|
||||
# Load the source of truth
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
# Verify that the API response matches the metadata file for a few sample keys
|
||||
# This ensures the plumbing is working without being brittle to content changes
|
||||
|
||||
# 1. Check a key that should have metadata
|
||||
keys_with_metadata = [k for k in params_list if k["key"] in metadata]
|
||||
assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
|
||||
|
||||
for param in keys_with_metadata[:5]: # Check first 5 matches
|
||||
key = param["key"]
|
||||
expected_meta = metadata[key]
|
||||
|
||||
assert "_extra" in param, f"Parameter {key} should have _extra field"
|
||||
actual_meta = param["_extra"]
|
||||
|
||||
# Verify all fields in JSON are present in the API response
|
||||
for meta_key, meta_val in expected_meta.items():
|
||||
assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
|
||||
assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
|
||||
|
||||
# 2. Check that we are correctly serving options if they exist
|
||||
params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
|
||||
if params_with_options:
|
||||
param = params_with_options[0]
|
||||
key = param["key"]
|
||||
assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
|
||||
assert param["_extra"]["options"] == metadata[key]["options"]
|
||||
|
||||
# 3. Check that we are correctly serving numeric constraints if they exist
|
||||
params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
|
||||
if params_with_constraints:
|
||||
param = params_with_constraints[0]
|
||||
key = param["key"]
|
||||
assert param["_extra"]["min"] == metadata[key]["min"]
|
||||
assert param["_extra"]["max"] == metadata[key]["max"]
|
||||
assert param["_extra"]["step"] == metadata[key]["step"]
|
||||
284
sunnypilot/sunnylink/tests/test_params_sync.py
Normal file
284
sunnypilot/sunnylink/tests/test_params_sync.py
Normal file
@@ -0,0 +1,284 @@
|
||||
"""
|
||||
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 os
|
||||
import pytest
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
|
||||
|
||||
|
||||
def test_metadata_json_exists():
|
||||
"""
|
||||
Test that the params_metadata.json file exists at the expected path.
|
||||
|
||||
Why:
|
||||
The metadata file is the source of truth for parameter descriptions, options, and constraints.
|
||||
If it's missing, the UI will not be able to display rich information for parameters.
|
||||
|
||||
Expected:
|
||||
The file should exist at sunnypilot/sunnylink/params_metadata.json.
|
||||
"""
|
||||
assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
|
||||
|
||||
|
||||
def test_metadata_json_valid():
|
||||
"""
|
||||
Test that the params_metadata.json file contains valid JSON.
|
||||
|
||||
Why:
|
||||
Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
|
||||
resulting in missing metadata.
|
||||
|
||||
Expected:
|
||||
The file content should be parseable as a JSON object (dictionary).
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
try:
|
||||
data = json.load(f)
|
||||
except json.JSONDecodeError:
|
||||
pytest.fail("Metadata file is not valid JSON")
|
||||
|
||||
assert isinstance(data, dict), "Metadata root must be a dictionary"
|
||||
|
||||
|
||||
def test_all_params_have_metadata():
|
||||
"""
|
||||
Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
|
||||
|
||||
Why:
|
||||
We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
|
||||
should also be documented in the metadata file.
|
||||
|
||||
Expected:
|
||||
There should be no parameters in Params() that are missing from the metadata file.
|
||||
If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
|
||||
"""
|
||||
params = Params()
|
||||
all_keys = [k.decode('utf-8') for k in params.all_keys()]
|
||||
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
missing_keys = [key for key in all_keys if key not in metadata]
|
||||
|
||||
if missing_keys:
|
||||
pytest.fail(
|
||||
f"The following parameters are missing from metadata: {missing_keys}. "
|
||||
+ "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
|
||||
)
|
||||
|
||||
|
||||
def test_metadata_keys_exist_in_params():
|
||||
"""
|
||||
Test that all keys in params_metadata.json actually exist in the codebase.
|
||||
|
||||
Why:
|
||||
We want to avoid stale metadata for parameters that have been removed or renamed.
|
||||
This keeps the metadata file clean and relevant.
|
||||
|
||||
Expected:
|
||||
There should be no keys in the metadata file that are not present in Params().
|
||||
This prints a warning rather than failing, as it's less critical than missing metadata.
|
||||
"""
|
||||
params = Params()
|
||||
all_keys = {k.decode('utf-8') for k in params.all_keys()}
|
||||
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
extra_keys = [key for key in metadata.keys() if key not in all_keys]
|
||||
|
||||
if extra_keys:
|
||||
print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
|
||||
|
||||
|
||||
def test_no_default_titles():
|
||||
"""
|
||||
Test that no parameter has a title that is identical to its key.
|
||||
|
||||
Why:
|
||||
The default behavior of the update script is to set the title equal to the key.
|
||||
We want to force developers to provide human-readable, descriptive titles for all parameters.
|
||||
|
||||
Expected:
|
||||
No parameter metadata should have 'title' == 'key'.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
|
||||
|
||||
if default_title_keys:
|
||||
pytest.fail(
|
||||
f"The following parameters have default titles (title == key): {default_title_keys}. "
|
||||
+ "Please update 'params_metadata.json' with descriptive titles."
|
||||
)
|
||||
|
||||
|
||||
def test_options_structure():
|
||||
"""
|
||||
Test that the 'options' field in metadata follows the correct structure.
|
||||
|
||||
Why:
|
||||
The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
|
||||
Incorrect structure will break the UI rendering for dropdowns/toggles.
|
||||
|
||||
Expected:
|
||||
If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
for key, meta in metadata.items():
|
||||
if "options" in meta:
|
||||
options = meta["options"]
|
||||
assert isinstance(options, list), f"Options for {key} must be a list"
|
||||
for option in options:
|
||||
assert isinstance(option, dict), f"Option in {key} must be a dictionary"
|
||||
assert "value" in option, f"Option in {key} must have a 'value' key"
|
||||
assert "label" in option, f"Option in {key} must have a 'label' key"
|
||||
|
||||
|
||||
def test_numeric_constraints():
|
||||
"""
|
||||
Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
|
||||
|
||||
Why:
|
||||
The UI uses these constraints to validate user input and render sliders/steppers.
|
||||
Missing or invalid constraints can lead to UI bugs or invalid parameter values.
|
||||
|
||||
Expected:
|
||||
If any of min/max/step is present, ALL of them must be present.
|
||||
They must be numbers (int/float), and min must be less than max.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
for key, meta in metadata.items():
|
||||
if "min" in meta or "max" in meta or "step" in meta:
|
||||
assert "min" in meta, f"Numeric param {key} must have 'min'"
|
||||
assert "max" in meta, f"Numeric param {key} must have 'max'"
|
||||
assert "step" in meta, f"Numeric param {key} must have 'step'"
|
||||
|
||||
assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
|
||||
assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
|
||||
assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
|
||||
assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
|
||||
|
||||
|
||||
def test_known_params_metadata():
|
||||
"""
|
||||
Test specific known parameters to ensure they have the expected rich metadata.
|
||||
|
||||
Why:
|
||||
This acts as a spot check to ensure that our rich metadata population logic is working correctly
|
||||
and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
|
||||
|
||||
Expected:
|
||||
'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
|
||||
'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
# Check an enum-like param
|
||||
lp = metadata.get("LongitudinalPersonality")
|
||||
assert lp is not None
|
||||
assert "options" in lp
|
||||
assert len(lp["options"]) == 3
|
||||
assert lp["options"][0]["label"] == "Aggressive"
|
||||
assert lp["options"][0]["value"] == 0
|
||||
|
||||
# Check a numeric param
|
||||
acc_long = metadata.get("CustomAccLongPressIncrement")
|
||||
assert acc_long is not None
|
||||
assert acc_long["min"] == 1
|
||||
assert acc_long["max"] == 10
|
||||
assert acc_long["step"] == 1
|
||||
|
||||
|
||||
def test_torque_control_tune_versions_in_sync():
|
||||
"""
|
||||
Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
|
||||
|
||||
Why:
|
||||
The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
|
||||
If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
|
||||
|
||||
Expected:
|
||||
- TorqueControlTune should have a 'Default' option with empty string value
|
||||
- All versions from latcontrol_torque_versions.json should be present in the options
|
||||
- The version values and labels should match between both files
|
||||
"""
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
|
||||
sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
|
||||
|
||||
# Load both files
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
with open(versions_json_path) as f:
|
||||
versions = json.load(f)
|
||||
|
||||
# Get TorqueControlTune metadata
|
||||
torque_tune = metadata.get("TorqueControlTune")
|
||||
if torque_tune is None:
|
||||
pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if "options" not in torque_tune:
|
||||
pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
options = torque_tune["options"]
|
||||
if not isinstance(options, list):
|
||||
pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if len(options) == 0:
|
||||
pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Check that Default option exists
|
||||
default_option = next((opt for opt in options if opt.get("value") == ""), None)
|
||||
if default_option is None:
|
||||
pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if default_option.get("label") != "Default":
|
||||
pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Build expected options from versions.json
|
||||
expected_version_keys = set(versions.keys())
|
||||
actual_version_keys = set()
|
||||
|
||||
for option in options:
|
||||
if option.get("value") == "":
|
||||
continue # Skip the default option
|
||||
|
||||
label = option.get("label")
|
||||
value = option.get("value")
|
||||
|
||||
# Check that this option corresponds to a version
|
||||
if label not in versions:
|
||||
pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Check that the value matches the version number
|
||||
expected_value = float(versions[label]["version"])
|
||||
if value != expected_value:
|
||||
pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
actual_version_keys.add(label)
|
||||
|
||||
# Check that all versions are represented
|
||||
missing_versions = expected_version_keys - actual_version_keys
|
||||
if missing_versions:
|
||||
pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
|
||||
f"Please run '{sync_script_path}' to sync.")
|
||||
|
||||
extra_versions = actual_version_keys - expected_version_keys
|
||||
if extra_versions:
|
||||
pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
|
||||
f"{extra_versions}. Please run '{sync_script_path}' to sync.")
|
||||
133
sunnypilot/sunnylink/tools/update_params_metadata.py
Executable file
133
sunnypilot/sunnylink/tools/update_params_metadata.py
Executable file
@@ -0,0 +1,133 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
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 os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
|
||||
|
||||
METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
|
||||
TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
|
||||
|
||||
|
||||
def main():
|
||||
params = Params()
|
||||
all_keys = params.all_keys()
|
||||
|
||||
if os.path.exists(METADATA_PATH):
|
||||
with open(METADATA_PATH) as f:
|
||||
try:
|
||||
data = json.load(f)
|
||||
except json.JSONDecodeError:
|
||||
data = {}
|
||||
else:
|
||||
data = {}
|
||||
|
||||
# Add new keys
|
||||
for key in all_keys:
|
||||
key_str = key.decode("utf-8")
|
||||
if key_str not in data:
|
||||
print(f"Adding new key: {key_str}")
|
||||
data[key_str] = {
|
||||
"title": key_str,
|
||||
"description": "",
|
||||
}
|
||||
|
||||
# Remove deleted keys
|
||||
# keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
|
||||
# for k in keys_to_remove:
|
||||
# print(f"Removing deleted key: {k}")
|
||||
# del data[k]
|
||||
|
||||
# Sort keys
|
||||
sorted_data = dict(sorted(data.items()))
|
||||
|
||||
with open(METADATA_PATH, "w") as f:
|
||||
json.dump(sorted_data, f, indent=2)
|
||||
f.write("\n")
|
||||
|
||||
print(f"Updated {METADATA_PATH}")
|
||||
|
||||
# update onroad screen brightness params
|
||||
update_onroad_brightness_param()
|
||||
|
||||
# update onroad screen brightness timer params
|
||||
update_onroad_brightness_timer_param()
|
||||
|
||||
# update torque versions param
|
||||
update_torque_versions_param()
|
||||
|
||||
|
||||
def update_onroad_brightness_param():
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
if "OnroadScreenOffBrightness" in params_metadata:
|
||||
options = [
|
||||
{"value": 0, "label": "Auto (Default)"},
|
||||
{"value": 1, "label": "Auto (Dark)"},
|
||||
{"value": 2, "label": "Screen Off"},
|
||||
]
|
||||
for i in range(3, 23):
|
||||
options.append({"value": i, "label": f"{(i - 2) * 5} %"})
|
||||
params_metadata["OnroadScreenOffBrightness"]["options"] = options
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
|
||||
except Exception as e:
|
||||
print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
|
||||
|
||||
|
||||
def update_onroad_brightness_timer_param():
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
if "OnroadScreenOffTimer" in params_metadata:
|
||||
options = []
|
||||
for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
|
||||
label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
|
||||
options.append({"value": seconds, "label": label})
|
||||
params_metadata["OnroadScreenOffTimer"]["options"] = options
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
|
||||
except Exception as e:
|
||||
print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
|
||||
|
||||
|
||||
def update_torque_versions_param():
|
||||
with open(TORQUE_VERSIONS_JSON) as f:
|
||||
current_versions = json.load(f)
|
||||
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
|
||||
options = [{"value": "", "label": "Default"}]
|
||||
for version_key, version_data in current_versions.items():
|
||||
version_value = float(version_data["version"])
|
||||
options.append({"value": version_value, "label": str(version_key)})
|
||||
|
||||
if "TorqueControlTune" in params_metadata:
|
||||
params_metadata["TorqueControlTune"]["options"] = options
|
||||
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
|
||||
print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
|
||||
|
||||
except Exception as e:
|
||||
print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
162
uv.lock
generated
162
uv.lock
generated
@@ -21,7 +21,7 @@ wheels = [
|
||||
|
||||
[[package]]
|
||||
name = "aiohttp"
|
||||
version = "3.14.1"
|
||||
version = "3.13.5"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "aiohappyeyeballs" },
|
||||
@@ -30,29 +30,27 @@ dependencies = [
|
||||
{ name = "frozenlist" },
|
||||
{ name = "multidict" },
|
||||
{ name = "propcache" },
|
||||
{ name = "typing-extensions" },
|
||||
{ name = "yarl" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/82/78/8ea7308cac6934de8c74a14f3d5f65d1c89287426688be79538d0e5c013d/aiohttp-3.14.1.tar.gz", hash = "sha256:307f2cff90a764d329e77040603fa032db89c5c24fdad50c4c15334cba744035", size = 7955794, upload-time = "2026-06-07T21:09:35.529Z" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/77/9a/152096d4808df8e4268befa55fba462f440f14beab85e8ad9bf990516918/aiohttp-3.13.5.tar.gz", hash = "sha256:9d98cc980ecc96be6eb4c1994ce35d28d8b1f5e5208a23b421187d1209dbb7d1", size = 7858271, upload-time = "2026-03-31T22:01:03.343Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/1d/21/151624b51cd92553d95424daf4bf19f19ce9be9002d19253e7e7ce67197b/aiohttp-3.14.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d35143e27778b4bb0fb189562d7f275bff79c62ab8e98459717c0ea617ff2480", size = 757402, upload-time = "2026-06-07T21:06:40.311Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/c2/82/280619e0bd7bf2454987e19282616e84762255dd9c8468f62382e8c191f1/aiohttp-3.14.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:bcfb80a2cc36fba2534e5e5b5264dc7ae6fcd9bf15256da3e53d2f499e6fa29d", size = 512310, upload-time = "2026-06-07T21:06:42.207Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/55/b2/2aac325583aaa1353045f96dffa586d8a34e8322e14a7ba49cffeb103ab4/aiohttp-3.14.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:27fd7c91e51729b4f7e1577865fa6d34c9adccbc39aabe9000285b48af9f0ec2", size = 512448, upload-time = "2026-06-07T21:06:43.813Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/8a/72/a60607cb849faa8af8a356c9329ea2eb6f395d49e82cc82ccba1fd8deb8f/aiohttp-3.14.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:64c567bf9eaf664280116a8688f63016e6b32db2505908e2bdaca1b6438142f2", size = 1766854, upload-time = "2026-06-07T21:06:45.391Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/b5/d3/d9fe1c9ec7557ab4d0d82bebaa728c6418f0b93295ec2f4ab015f7710cc7/aiohttp-3.14.1-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:f5e6ff2bdbb8f4cd3fbe41f99e25bbcd58e3bf9f13d3dd31a11e7917251cc77a", size = 1740884, upload-time = "2026-06-07T21:06:47.413Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/c1/dc/f2cecfaf9337ba3e63f181500814ff502aa3d00d9c7ec93a9d23d10a27b2/aiohttp-3.14.1-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:2f73e01dc37122325caf079982621262f96d74823c179038a82fddfc50359264", size = 1810034, upload-time = "2026-06-07T21:06:50.165Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/66/d7/2ff65c5e65c0d7476daf7e15c032e0805e36811185b9623e3238ad6c763e/aiohttp-3.14.1-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:bb2c0c80d431c0d03f2c7dbf125150fedd4f0de17366a7ca33f7ccb822391842", size = 1904054, upload-time = "2026-06-07T21:06:52.035Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/20/9c/d445818389df371f56d141d881153ba23183c4735a03f7356ffb43f7757d/aiohttp-3.14.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:3e6fc1a85fa7194a1a7d19f44e8609180f4a8eb5fa4c7ed8b4355f080fad235c", size = 1790278, upload-time = "2026-06-07T21:06:54.049Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/4d/aa/bf04cb4d865fc6101c2229a294ad744973b72e513fdc5a6b791e6983d72a/aiohttp-3.14.1-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:686b6c0d3911ec387b444ddf5dc62fb7f7c0a7d5186a7861626496a5ab4aff95", size = 1591795, upload-time = "2026-06-07T21:06:55.911Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/dc/b4/4dac0038960427ba832f6609dfb4ea5437d7fd80c72001b9e48f834f428b/aiohttp-3.14.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:c6fa4dc7ad6f8109c70bb1499e589f76b0b792baf39f9b017eb92c8a81d0a199", size = 1728397, upload-time = "2026-06-07T21:06:57.777Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/2b/f9/7cd4e8ad7aa3b75f17d56bb5498dd604a93d4e6eece822ba0568c413fff0/aiohttp-3.14.1-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:87a5eea1b2a5e21e1ebdbb33ad4165359189327e63fc4e4894693e7f821ac817", size = 1766504, upload-time = "2026-06-07T21:07:00.009Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/f9/df/fc01d9fcad0f73fed3f3d361f1f94f975947b50dff82919f6dc2bf4316cc/aiohttp-3.14.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:1c1421eb01d4fd608d88cc8290211d177a58532b55ad94076fb349c5bf467f0a", size = 1777806, upload-time = "2026-06-07T21:07:02.064Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/41/09/47e2d090bddcc8fb4ccb4c314aadc32d7c5d9bb55f50f6ad1c92fc15d501/aiohttp-3.14.1-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:34b257ec41345c1e8f2df68fa908a7952f5de932723871eb633ecbbff396c9a4", size = 1580707, upload-time = "2026-06-07T21:07:03.942Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/3d/36/f1a4ce904ae0b6930cfe9afc96d0896f7ec1a620c400405d63783bb95a9c/aiohttp-3.14.1-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:de538791a80e5d862addbc183f70f0158ac9b9bb872bb147f1fd2a683691e087", size = 1798121, upload-time = "2026-06-07T21:07:05.987Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/70/0a/e0075ce9ca0279ee1d4f0c0b85f54fea02ebc83c3007651a72bece658fec/aiohttp-3.14.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:6f71173be42d3241d428f760122febb748de0623f44308a6f120d0dd9ec572e3", size = 1767580, upload-time = "2026-06-07T21:07:07.873Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/3e/61/a0c0a8f327a9c52095cdd8e312391b00d3ed64ab6c72bb5c33d8ec251cf7/aiohttp-3.14.1-cp312-cp312-win32.whl", hash = "sha256:ec8dc383ee57ea3e883477dcca3f11b65d58199f1080acaf4cd6ad9a99698be4", size = 452771, upload-time = "2026-06-07T21:07:09.669Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/df/d9/ea367c75f16ac9c6cdc8febb25e8318fa21a2b1bc8d6514d4b2d890bface/aiohttp-3.14.1-cp312-cp312-win_amd64.whl", hash = "sha256:2aa92c87868cd13674989f9ee83e5f9f7ea4237589b728048e1f0c8f6caa3271", size = 479873, upload-time = "2026-06-07T21:07:11.538Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/03/64/8d96784a7851156db8a4c6c3f6f91042fdf39fb15a4cc38c8b3c14833c45/aiohttp-3.14.1-cp312-cp312-win_arm64.whl", hash = "sha256:2c840c90759922cb5e6dda94596e079a30fb5a5ba548e7e0dc00574703940847", size = 448073, upload-time = "2026-06-07T21:07:13.637Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/be/6f/353954c29e7dcce7cf00280a02c75f30e133c00793c7a2ed3776d7b2f426/aiohttp-3.13.5-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:023ecba036ddd840b0b19bf195bfae970083fd7024ce1ac22e9bba90464620e9", size = 748876, upload-time = "2026-03-31T21:57:36.319Z" },
|
||||
{ url = "https://files.pythonhosted.org/packages/f5/1b/428a7c64687b3b2e9cd293186695affc0e1e54a445d0361743b231f11066/aiohttp-3.13.5-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:15c933ad7920b7d9a20de151efcd05a6e38302cbf0e10c9b2acb9a42210a2416", size = 499557, upload-time = "2026-03-31T21:57:38.236Z" },
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[[package]]
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Reference in New Issue
Block a user