bump opendbc

# Conflicts:
#	opendbc_repo

.codespellignore

@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO

.github/workflows/lfs-maintenance.yaml

@@ -33,7 +33,7 @@ jobs:
 
       - name: LFS Fetch
         run: |
-          git lfs fetch
+          git lfs fetch || echo "::warning::some objects are missing on commaai/openpilot-lfs; mirroring the rest"
 
       - name: Set up Git
         run: |
@@ -68,6 +68,7 @@ jobs:
           git config lfs.activitytimeout 300
           git config lfs.transfer.maxretries 5
           git config lfs.concurrenttransfers 4
+          git config lfs.allowincompletepush true
 
       - name: Push LFS
         id: sync-and-commit
@@ -81,3 +82,80 @@ jobs:
           done
           echo "All push attempts failed"
           exit 1
+
+      - name: Checkout sunnypilot
+        uses: actions/checkout@v4
+        with:
+          repository: 'sunnypilot/sunnypilot'
+          path: sunnypilot
+          fetch-depth: 0
+          filter: blob:limit=1k
+          lfs: false
+
+      - name: Reference objects on sunnypilot-lfs
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          set -euo pipefail
+          GIT_LFS_SKIP_SMUDGE=1 git clone --quiet https://huggingface.co/sunnypilot/sunnypilot-lfs hf-lfs
+          mkdir -p hf-lfs/all
+          cat > scan_pointers.py <<'EOF'
+          import re, subprocess, sys, threading
+          repo = sys.argv[1]
+          chk = subprocess.run(["git", "-C", repo, "cat-file", "--batch-all-objects",
+                                "--batch-check=%(objectname) %(objecttype) %(objectsize)"],
+                               capture_output=True, text=True, check=True).stdout
+          small = [f[0] for f in (l.split() for l in chk.splitlines()) if f[1] == "blob" and int(f[2]) < 1024]
+          p = subprocess.Popen(["git", "-C", repo, "cat-file", "--batch=%(objectsize)"],
+                               stdin=subprocess.PIPE, stdout=subprocess.PIPE)
+          def feed():
+            for sha in small:
+              p.stdin.write(sha.encode() + b"\n")
+            p.stdin.close()
+          threading.Thread(target=feed, daemon=True).start()
+          rx = re.compile(rb"^version https://git-lfs\.github\.com/spec/v1\noid sha256:([0-9a-f]{64})\nsize ([0-9]+)\n")
+          seen = {}
+          for _ in small:
+            n = int(p.stdout.readline()); body = p.stdout.read(n); p.stdout.read(1)
+            m = rx.match(body)
+            if m:
+              seen.setdefault(m.group(1).decode(), m.group(2).decode())
+          for oid, size in sorted(seen.items()):
+            print(oid, size)
+          EOF
+          for repo in . sunnypilot; do
+            python3 scan_pointers.py "$repo"
+          done | sort -u | while read -r oid size; do
+            [ -e "hf-lfs/all/$oid" ] && continue
+            printf 'version https://git-lfs.github.com/spec/v1\noid sha256:%s\nsize %s\n' "$oid" "$size" > "hf-lfs/all/$oid"
+            echo "$oid"
+          done > new_oids.txt
+          echo "new pointer files: $(wc -l < new_oids.txt)"
+
+          dropped=0
+          while mapfile -t -n 100 chunk && ((${#chunk[@]})); do
+            body=$(for oid in "${chunk[@]}"; do
+                     size=$(awk '/^size /{print $2}' "hf-lfs/all/$oid")
+                     printf '{"oid":"%s","size":%s}\n' "$oid" "$size"
+                   done | jq -s '{operation:"download",transfers:["basic"],objects:.}')
+            for attempt in 1 2 3 4 5; do
+              resp=$(curl -sS -u "user:${HF_TOKEN}" -w '\n%{http_code}' \
+                       -H 'Accept: application/vnd.git-lfs+json' -H 'Content-Type: application/vnd.git-lfs+json' \
+                       --data "$body" "${LFS_URL}/objects/batch") && [ "$(tail -n1 <<<"$resp")" = 200 ] && break
+              echo "batch check attempt $attempt failed ($(tail -n1 <<<"$resp")), retrying in 60s"; sleep 60
+            done
+            [ "$(tail -n1 <<<"$resp")" = 200 ] || { echo "batch check failed"; exit 1; }
+            for oid in $(sed '$d' <<<"$resp" | jq -r '.objects[] | select(.error) | .oid'); do
+              rm -f "hf-lfs/all/$oid"; dropped=$((dropped+1))
+            done
+          done < new_oids.txt
+          echo "dropped (not on HF): $dropped"
+
+          cd hf-lfs
+          git add -A all
+          if git diff --cached --quiet; then
+            echo "nothing new to reference"
+            exit 0
+          fi
+          git commit -q -m "Reference $(git diff --cached --name-only | wc -l | tr -d ' ') new LFS objects"
+          git push origin HEAD:main

.github/workflows/test_models.yml

@@ -3,9 +3,62 @@ on:
   pull_request:
     paths:
       - 'tinygrad_repo'
+      - 'openpilot/sunnypilot/modeld_v2/**'
   workflow_dispatch:
 
+env:
+  CI: 1
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+
 jobs:
+  plain-artifact:
+    name: Plain artifact round trip and pickle converter
+    runs-on: ubuntu-24.04
+    env:
+      PYTHONPATH: ${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}
+      TINYGRAD_TESTS: 1
+    steps:
+      - uses: actions/checkout@v7
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        run: scons -j$(nproc)
+      - name: Compile, load, cache and fuse a model with the pinned tinygrad
+        env:
+          DEV: CPU
+        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_plain_artifact.py
+      - name: Install LLVM 20 and ROCm comgr for the amd mock, as tinygrad_repo/.github/actions/setup-tinygrad does
+        run: |
+          . /etc/os-release
+          curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc > /dev/null
+          echo "deb http://apt.llvm.org/$VERSION_CODENAME/ llvm-toolchain-$VERSION_CODENAME-20 main" | sudo tee /etc/apt/sources.list.d/llvm.list
+          sudo mkdir -p /etc/apt/keyrings
+          curl -fsSL https://repo.radeon.com/rocm/rocm.gpg.key | gpg --dearmor | sudo tee /etc/apt/keyrings/rocm.gpg > /dev/null
+          echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/rocm.gpg] https://repo.radeon.com/rocm/apt/7.1 $VERSION_CODENAME main" | sudo tee /etc/apt/sources.list.d/rocm.list
+          printf 'Package: *\nPin: release o=repo.radeon.com\nPin-Priority: 600\n' | sudo tee /etc/apt/preferences.d/rocm-pin-600
+          sudo apt-get -qq update && sudo apt-get -qq install -y --no-install-recommends libllvm20 clang-20 lld-20 comgr
+          printf '/opt/rocm/lib\n/opt/rocm/lib64\n' | sudo tee /etc/ld.so.conf.d/rocm.conf && sudo ldconfig
+          echo "/usr/lib/llvm-20/bin" >> "$GITHUB_PATH"
+      - name: Convert a pickled USB+AMD jit and replay it under tinygrad's amd mock
+        env:
+          DEV: MOCKUSB+AMD
+          CHECK_OOB: 0
+          GMMU: 0
+        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
+      - name: Where tinygrad moved, for the helper or failure point named above
+        if: failure() && github.event_name == 'pull_request'
+        run: |
+          git fetch -q --depth=1 origin "${{ github.base_ref }}"
+          old=$(git rev-parse "origin/${{ github.base_ref }}:tinygrad_repo") new=$(git rev-parse HEAD:tinygrad_repo)
+          git -C tinygrad_repo fetch -q origin "$old" || true
+          echo "tinygrad_repo $old -> $new, in what helpers.py and plain_artifact_compiler.py read:"
+          git -C tinygrad_repo diff "$old" "$new" -- tinygrad/uop/ops.py tinygrad/engine/jit.py tinygrad/engine/realize.py tinygrad/device.py \
+            tinygrad/helpers.py tinygrad/dtype.py tinygrad/renderer/__init__.py
+          echo "and in what convert_upstream_pkl.py decodes:"
+          git -C tinygrad_repo diff --stat "$old" "$new" -- tinygrad/runtime/autogen/am/pm4_nv.py tinygrad/runtime/autogen/amd_gpu.py
+          git -C tinygrad_repo diff "$old" "$new" -- tinygrad/runtime/support/hcq2.py tinygrad/runtime/support/usb.py tinygrad/runtime/ops_amd.py
+
   generate-matrix:
     runs-on: ubuntu-latest
     outputs:

.github/workflows/tests.yaml

@@ -50,6 +50,12 @@ jobs:
       timeout-minutes: 3
       run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
     - run: ./tools/op.sh setup
+    - name: Restore scons cache
+      uses: actions/cache@v6
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.os }}-${{ github.job }}-${{ github.sha }}
+        restore-keys: scons-${{ runner.os }}-${{ github.job }}-
     - name: Build openpilot and run checks
       timeout-minutes: 30
       working-directory: ${{ env.STRIPPED_DIR }}
@@ -89,6 +95,12 @@ jobs:
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
         echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
     - run: ./tools/op.sh setup
+    - name: Restore scons cache
+      uses: actions/cache@v6
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.os }}-${{ github.job }}-${{ github.sha }}
+        restore-keys: scons-${{ runner.os }}-${{ github.job }}-
     - name: Building openpilot
       run: scons
 
@@ -121,6 +133,12 @@ jobs:
     - name: Install raylib headless dependencies
       if: ${{ !contains(runner.name, 'nsc') }}
       run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
+    - name: Restore scons cache
+      uses: actions/cache@v6
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.os }}-${{ github.job }}-${{ github.sha }}
+        restore-keys: scons-${{ runner.os }}-${{ github.job }}-
     - name: Build openpilot
       run: scons
     - name: Run unit tests
@@ -131,6 +149,7 @@ jobs:
 
   process_replay:
     name: process replay
+    if: false #process replay disabled for angle steering until we are ready to merge it
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
@@ -140,6 +159,12 @@ jobs:
     steps:
     - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
+    - name: Restore scons cache
+      uses: actions/cache@v6
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.os }}-${{ github.job }}-${{ github.sha }}
+        restore-keys: scons-${{ runner.os }}-${{ github.job }}-
     - name: Build openpilot
       run: scons
     - name: Run replay
@@ -228,6 +253,12 @@ jobs:
       - name: Install raylib headless dependencies
         if: ${{ !contains(runner.name, 'nsc') }}
         run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
+      - name: Restore scons cache
+        uses: actions/cache@v6
+        with:
+          path: /tmp/scons_cache
+          key: scons-${{ runner.os }}-${{ github.job }}-${{ github.sha }}
+          restore-keys: scons-${{ runner.os }}-${{ github.job }}-
       - name: Build openpilot
         run: scons
       - name: Create UI Report

.idea/customTargets.xml

@@ -21,5 +21,12 @@
         </clean>
       </configuration>
     </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,4 +20,11 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>

.run/Replay for controls + ui.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>

.run/replay for controls.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

docs/CARS.md

@@ -4,10 +4,11 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 345 Supported Cars
+# 351 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ADX 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
 |Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
@@ -16,12 +17,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,8 +34,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -86,7 +87,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -94,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-27|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-27">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -111,7 +112,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Honda|Pilot 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2026">Buy Here</a></sub></details>|||
+|Honda|Prelude 2026|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-26|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-26">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
@@ -163,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -188,7 +192,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -197,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Sportage Plug-in Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Plug-in Hybrid 2023">Buy Here</a></sub></details>|||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
@@ -225,51 +230,52 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Mazda[<sup>6</sup>](#footnotes)|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
+|Mazda[<sup>6</sup>](#footnotes)|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
+|Ram|3500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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 2019-24">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW2.5) 2019">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -282,8 +288,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -315,44 +321,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
+|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
@@ -360,18 +366,19 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>13</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>17</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>18</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

openpilot/cereal/custom.capnp

@@ -138,6 +138,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     status @0 :DownloadStatus;
     progress @1 :Float32;
     eta @2 :UInt32;
+    speed @3 :Float32;
+    canceling @4 :Bool;
+    resuming @5 :Bool;
   }
 
   struct Chunk {
@@ -465,6 +468,13 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
   leftLaneChangeEdgeBlock @1 :Bool;
   rightLaneChangeEdgeBlock @2 :Bool;
+  blendfulCurvature @3 :Float32;
+  blendfulTrust @4 :Float32;
+  modelCurvature @5 :Float32;
+  blendfulGoingAround @6 :Bool;
+  blendfulLeftProb @7 :Float32;
+  blendfulRightProb @8 :Float32;
+  blendfulLaneWidth @9 :Float32;
 
   enum TurnDirection {
     none @0;

openpilot/cereal/services.py

@@ -94,7 +94,7 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "modelDataV2SP": (True, 20., 10, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
 
   # debug

openpilot/common/params_keys.h

@@ -246,6 +246,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TeslaMadsScreenButton", {PERSISTENT | BACKUP, INT, "0"}},
     {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaTSS2Smooth", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
@@ -256,6 +257,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
+    {"Blendful", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd

openpilot/common/version.py

@@ -37,6 +37,8 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "release3-staging"): "release-tizi-staging",
   ("mici", "release3"): "release-mici",
   ("mici", "release3-staging"): "release-mici-staging",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }
 
 BUILD_METADATA_FILENAME = "build.json"

openpilot/selfdrive/controls/lib/desire_helper.py

@@ -64,16 +64,19 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
-        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
-                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
-        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
+        edge_detected = ((left_edge_detected and self.lane_change_direction == LaneChangeDirection.left) or
+                         (right_edge_detected and self.lane_change_direction == LaneChangeDirection.right))
+
+        self.alc.update_lane_change(blindspot_detected, edge_detected, carstate.brakePressed, torque_applied)
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
           self.lane_change_timer = 0.0
-        elif (torque_applied or self.alc.auto_lane_change_allowed) and not blindspot_detected:
+        elif (torque_applied or self.alc.auto_lane_change_allowed) and not self.alc.lane_change_blocked:
           self.lane_change_state = LaneChangeState.laneChangeStarting
           self.lane_change_timer = 0.0
 

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -141,6 +141,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     if ui_state.status != UIStatus.DISENGAGED:
       self._draw_lane_lines()
       self._draw_path()
+      self.blendful.draw(self._rect)
 
     if render_lead_indicator:
       self._update_leads(sm)
@@ -219,6 +220,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
+    self.blendful.update(self, max_idx)
 
     # Update path using raw points
     if lead and lead.present:

openpilot/selfdrive/ui/mici/onroad/torque_bar.py

@@ -208,7 +208,7 @@ class TorqueBar(Widget):
     # draw curved line polygon torque bar
     torque_line_radius = 1200 * self._scale
     top_angle = -90
-    torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN * rect.width / 476
+    torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN * min(1.0, rect.width / (476 * self._scale))
     torque_start_angle = top_angle - torque_bg_angle_span / 2
     torque_end_angle = top_angle + torque_bg_angle_span / 2
     # centerline radius & center (you already have these values)

openpilot/selfdrive/ui/onroad/model_renderer.py

@@ -123,6 +123,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Draw elements
     self._draw_lane_lines()
     self._draw_path()
+    self.blendful.draw(self._rect)
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
@@ -172,6 +173,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Update road edges using raw points
     for road_edge in self._road_edges:
       road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx, max_distance)
+    self.blendful.update(self, max_idx, max_distance)
 
     # Update path using raw points
     if lead and lead.present:

openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -102,13 +102,18 @@ class ModelsLayout(Widget):
 
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
+    self._blendful_desc = tr("Adds a gentle nudge toward lane center on top of the model's own steering, stronger when lane lines are clear." +
+                             " Yields around obstacles. Not available with the Default model.")
+    self.blendful_toggle = toggle_item_sp(tr("Blendful (Alpha)"), self._blendful_desc, param="Blendful")
+
     self.camera_offset = option_item_sp(tr("Adjust Camera Offset"), "CameraOffset", -35, 35,
                                         tr("Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)"),
                                         1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                         lambda v: f"{v / 100:.2f} m")
 
     self.items = [self.small_model_item, self.big_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
-                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
+                  self.blendful_toggle, self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control,
+                  self.camera_offset]
 
   def _update_lagd_description(self, lagd_toggle: bool):
     desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
@@ -235,13 +240,17 @@ class ModelsLayout(Widget):
     progress = sum(p.progress for p in progresses) / len(progresses)
     ds = custom.ModelManagerSP.DownloadStatus
 
+    if any(p.canceling for p in progresses):
+      return {"name": name, "downloading": True, "progress": progress, "status_text": tr("canceling...")}
     if ds.failed in statuses:
       # close.png is authored black and a tint cannot lift it, hence close2
       return {"name": name, "status_text": tr("download failed"), "text_color": rl.RED, "icon": "icons/close2.png"}
     if ds.verifying in statuses:
       return {"name": name, "downloading": True, "progress": progress, "status_text": tr("verifying")}
     if ds.downloading in statuses:
-      return {"name": name, "downloading": True, "progress": progress}
+      speed = max((p.speed for p in progresses), default=0.0)
+      status_text = f"{speed / 1024 ** 2:.1f} MB/s" if speed > 0 else "--.- MB/s"
+      return {"name": name, "downloading": True, "progress": progress, "status_text": status_text}
     if statuses <= {ds.downloaded, ds.cached}:
       return {"name": name, "text_color": ON_COLOR, "icon": "icons/checkmark.png"}
     # circled_slash is authored grey; tinting it again only darkens it
@@ -318,6 +327,21 @@ class ModelsLayout(Widget):
     self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
     self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
     self.lagd_toggle.action_item.set_state(live_delay)
+
+    blendful_allowed = ui_state.active_runner_tinygrad
+    if blendful_allowed:
+      self.blendful_toggle.action_item.set_state(ui_state.params.get_bool("Blendful"))
+      self.blendful_toggle.action_item.set_enabled(True)
+    else:
+      self.blendful_toggle.action_item.set_state(False)
+      self.blendful_toggle.action_item.set_enabled(False)
+
+    blendful_desc = self._blendful_desc if blendful_allowed else \
+      f"<b>{tr('Select a non-Default model to use Blendful.')}</b><br><br>{self._blendful_desc}"
+    if self.blendful_toggle.description != blendful_desc:
+      self.blendful_toggle.set_description(blendful_desc)
+      self.blendful_toggle.show_description(not blendful_allowed)
+
     self.delay_control.set_visible(not live_delay and advanced_controls)
     new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
     if self.lane_turn_value_control.action_item is not None and self.lane_turn_value_control.action_item.value_change_step != new_step:

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py

@@ -11,10 +11,12 @@ from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from opendbc.car.toyota.values import ToyotaFlags
 
 
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
 SNG_HACK_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature.")
+PLATFORM_UNAVAILABLE = tr_noop("This feature is currently not available on this platform.")
 
 DESCRIPTIONS = {
   'enforce_stock_longitudinal': tr_noop(
@@ -23,7 +25,11 @@ DESCRIPTIONS = {
   'stop_and_go_hack': tr_noop(
     'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
     'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
-  )
+  ),
+  'tss2_smooth': tr_noop(
+    'Enable smoother longitudinal control for TSS2 vehicles. ' +
+    'Uses a custom speed-dependent integral gain curve for smoother traffic driving.'
+  ),
 }
 
 
@@ -47,9 +53,18 @@ class ToyotaSettings(BrandSettings):
       enabled=lambda: not ui_state.engaged,
     )
 
+    self.tss2_smooth = toggle_item_sp(
+      lambda: tr("TSS2 Smooth Longitudinal (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["tss2_smooth"]),
+      initial_state=ui_state.params.get_bool("ToyotaTSS2Smooth"),
+      callback=self._on_enable_tss2_smooth,
+      enabled=lambda: not ui_state.engaged,
+    )
+
     self.items = [
       self.enforce_stock_longitudinal,
       self.stop_and_go_hack,
+      self.tss2_smooth,
     ]
 
   def _on_enable_enforce_stock_longitudinal(self, state: bool):
@@ -61,6 +76,8 @@ class ToyotaSettings(BrandSettings):
             ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
           ui_state.params.put_bool("ToyotaStopAndGoHack", False)
           self.stop_and_go_hack.action_item.set_state(False)
+          ui_state.params.put_bool("ToyotaTSS2Smooth", False)
+          self.tss2_smooth.action_item.set_state(False)
           ui_state.params.put_bool("OnroadCycleRequested", True)
         else:
           self.enforce_stock_longitudinal.action_item.set_state(False)
@@ -75,6 +92,25 @@ class ToyotaSettings(BrandSettings):
       ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
       ui_state.params.put_bool("OnroadCycleRequested", True)
 
+  def _on_enable_tss2_smooth(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaTSS2Smooth", True)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.tss2_smooth.action_item.set_state(False)
+
+      content = (f"<h1>{self.tss2_smooth.title}</h1><br>" +
+                 f"<p>{self.tss2_smooth.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaTSS2Smooth", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def _on_enable_stop_and_go_hack(self, state: bool):
     if state:
       def confirm_callback(result: int):
@@ -113,9 +149,32 @@ class ToyotaSettings(BrandSettings):
         self.stop_and_go_hack.set_description(new_desc)
         if show_desc:
           self.stop_and_go_hack.show_description(True)
+
+      tss2 = bool(ui_state.CP.flags & ToyotaFlags.TSS2)
+      if longitudinal and not enforce_stock and tss2:
+        self.tss2_smooth.action_item.set_enabled(not ui_state.engaged)
+        new_desc = tr(DESCRIPTIONS["tss2_smooth"])
+        show_desc = False
+      else:
+        self.tss2_smooth.action_item.set_enabled(False)
+        self.tss2_smooth.action_item.set_state(False)
+        unavailable = SNG_HACK_UNAVAILABLE if tss2 else PLATFORM_UNAVAILABLE
+        new_desc = "<b>" + tr(unavailable) + "</b>\n\n" + tr(DESCRIPTIONS["tss2_smooth"])
+        show_desc = True
+
+      if self.tss2_smooth.description != new_desc:
+        self.tss2_smooth.set_description(new_desc)
+        if show_desc:
+          self.tss2_smooth.show_description(True)
     else:
       self.stop_and_go_hack.action_item.set_enabled(False)
       new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
       if self.stop_and_go_hack.description != new_desc:
         self.stop_and_go_hack.set_description(new_desc)
         self.stop_and_go_hack.show_description(True)
+
+      self.tss2_smooth.action_item.set_enabled(False)
+      new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["tss2_smooth"])
+      if self.tss2_smooth.description != new_desc:
+        self.tss2_smooth.set_description(new_desc)
+        self.tss2_smooth.show_description(True)

openpilot/selfdrive/ui/sunnypilot/mici/layouts/models.py

@@ -11,7 +11,7 @@ import pyray as rl
 from openpilot.cereal import custom
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.sunnypilot.models.helpers import ACTIVE_BUNDLE_KEYS, get_selected_bundle
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.ui.sunnypilot.model_info import (active_source, big_model_state, bundles_for_source, carrying_model,
                                                            default_model_name, model_cache_size_mb, model_info, queued_name,
@@ -95,7 +95,12 @@ class ModelsLayoutMici(NavScroller):
     self.clear_cache_btn.set_click_callback(self._confirm_clear_cache)
     self._cache_size_time = 0.0
 
-    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn]
+    self.blendful_toggle = BigParamControl(tr("blendful (alpha)"), "Blendful",
+                                           description=tr("Adds a gentle nudge toward lane center on top of the model's own steering, stronger when " +
+                                                          "lane lines are clear. Yields around obstacles. Not available with the Default model."))
+
+    self.main_items = [self.current_model_info, self.select_model_btn, self.cancel_download_btn, self.refresh_btn, self.clear_cache_btn,
+                       self.blendful_toggle]
     self._scroller.add_widgets(self.main_items)
 
   @property
@@ -205,6 +210,10 @@ class ModelsLayoutMici(NavScroller):
       device.set_override_interactive_timeout(None)
       self._was_downloading = False
 
+  def show_event(self):
+    super().show_event()
+    self.blendful_toggle.refresh()
+
   def _update_state(self):
     super()._update_state()
 
@@ -213,6 +222,17 @@ class ModelsLayoutMici(NavScroller):
     self.current_model_info.current_model_header._shimmer = False
     self.current_model_info.info_header._shimmer = False
 
+    blendful_allowed = ui_state.active_runner_tinygrad
+    if blendful_allowed:
+      self.blendful_toggle.set_checked(ui_state.params.get_bool("Blendful"))
+      self.blendful_toggle.set_enabled(True)
+    else:
+      self.blendful_toggle.set_checked(False)
+      self.blendful_toggle.set_enabled(False)
+    blendful_value = "" if blendful_allowed else tr("custom model only")
+    if self.blendful_toggle.value != blendful_value:
+      self.blendful_toggle.set_value(blendful_value)
+
     manager = self.model_manager
     self._download_frame += 1
     should_update = self._download_frame % (gui_app.target_fps / 2) == 0
@@ -251,11 +271,13 @@ class ModelsLayoutMici(NavScroller):
       self.current_model_info.info_text.set_text(tr("download failed"))
 
     elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
-      self.cancel_download_btn.set_visible(True)
+      self.cancel_download_btn.set_visible(ui_state.params.get("ModelManager_DownloadRef") is not None)
       device.set_override_interactive_timeout(5)
       progress = 0.0
       count = 0
       verifying = False
+      canceling = False
+      speed = 0.0
       for model in manager.selectedBundle.models:
         count += 1
         p = model.artifact.downloadProgress
@@ -263,11 +285,14 @@ class ModelsLayoutMici(NavScroller):
                         custom.ModelManagerSP.DownloadStatus.verifying):
           progress += p.progress
           verifying = verifying or p.status == custom.ModelManagerSP.DownloadStatus.verifying
+          canceling = canceling or p.canceling
+          speed = max(speed, p.speed)  # only one file downloads at a time, so the non-zero speed is the live one
         elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
                           custom.ModelManagerSP.DownloadStatus.cached):
           progress += 100.0
 
-      self.current_model_info.current_model_header.set_text(tr("verifying") if verifying else tr("downloading"))
+      header = tr("canceling...") if canceling else tr("verifying") if verifying else tr("downloading")
+      self.current_model_info.current_model_header.set_text(header)
       self.cancel_download_btn.set_text(tr("cancel verification") if verifying else tr("cancel download"))
       self.current_model_info.current_model_header._shimmer = True
       name_text = manager.selectedBundle.internalName.lower()
@@ -276,7 +301,10 @@ class ModelsLayoutMici(NavScroller):
       self.current_model_info.current_model_text.set_text(name_text)
       self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
       self.current_model_info.info_header._shimmer = True
-      self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
+      progress_text = f"{progress/count:.2f}%"
+      if not verifying and not canceling:
+        progress_text += f"  |  {speed / 1024 ** 2:.1f} MB/s" if speed > 0 else "  |  --.- MB/s"
+      self.current_model_info.info_text.set_text(progress_text)
 
     elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloaded:
       self.current_model_info.info_header.set_text(tr("downloaded"))

openpilot/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py

@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
+from openpilot.selfdrive.ui.sunnypilot.onroad.blendful import BlendfulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
 
 LANE_LINE_COLORS_SP = {
@@ -17,3 +18,4 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
+    self.blendful = BlendfulRenderer(rect_relative=True)

openpilot/selfdrive/ui/sunnypilot/onroad/blendful.py

@@ -0,0 +1,95 @@
+"""
+Copyright (c) 2021-, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+import pyray as rl
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP
+from openpilot.sunnypilot.modeld_v2.blendful import LANE_WIDTH_CLIP, LOOKAHEAD_TIME, MIN_LOOKAHEAD
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.shader_polygon import draw_polygon
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+BLENDFUL_COLOR = (0, 200, 255)
+FULL_BAR = 1.0
+
+
+class BlendfulRenderer:
+  def __init__(self, readout: bool = True, rect_relative: bool = False):
+    self._readout = readout
+    self._rect_relative = rect_relative
+    self._center_points = np.empty((0, 2), dtype=np.float32)
+    self._trust = 0.0
+    self._font = gui_app.font(FontWeight.BOLD)
+    self._pull_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
+    self._trust_display = FirstOrderFilter(0.0, 0.5, DT_MDL)
+    self._alpha = FirstOrderFilter(0.0, 0.3, DT_MDL)
+
+  def update(self, renderer, max_idx: int, *map_args) -> None:
+    blendful = ui_state.sm['modelDataV2SP']
+    if ui_state.sm.updated['modelDataV2SP']:
+      self._alpha.update(float(blendful.blendfulTrust > 0.0))
+      if blendful.blendfulTrust > 0.0:
+        self._trust = blendful.blendfulTrust
+      if self._readout:
+        lookahead = max(ui_state.sm['carState'].vEgo * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
+        self._pull_display.update(blendful.blendfulCurvature * lookahead ** 2 / 2)
+        self._trust_display.update(self._trust)
+
+    left, right = renderer._lane_lines[1].raw_points, renderer._lane_lines[2].raw_points
+    stds = list(ui_state.sm['modelV2'].laneLineStds)
+    if self._alpha.x < 0.01 or len(left) == 0 or len(right) != len(left) or len(stds) < 3:
+      self._center_points = np.empty((0, 2), dtype=np.float32)
+      return
+
+    l_prob, r_prob = blendful.blendfulLeftProb, blendful.blendfulRightProb
+    if blendful.blendfulTrust > 0.0 and l_prob + r_prob > 0.0:
+      half_width = np.clip(right[:, 1] - left[:, 1], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else blendful.blendfulLaneWidth / 2
+      l_var = stds[1] ** 2 / max(l_prob, 1e-4)
+      r_var = stds[2] ** 2 / max(r_prob, 1e-4)
+      center = left.copy()
+      center[:, 1] = (r_var * (left[:, 1] + half_width) + l_var * (right[:, 1] - half_width)) / (l_var + r_var)
+      self._center_points = renderer._map_line_to_polygon(center, 0.15, 0.0, max_idx, *map_args)
+
+  def _color(self, rgb, alpha: float) -> rl.Color:
+    return rl.Color(*rgb, int(alpha * self._alpha.x))
+
+  def draw(self, rect: rl.Rectangle) -> None:
+    if not UIStateSP.lateral_active(ui_state):
+      return
+    if self._center_points.size and self._trust > 0.05:
+      points = self._center_points + (rect.x, rect.y) if self._rect_relative else self._center_points
+      draw_polygon(rect, points, self._color(BLENDFUL_COLOR, np.clip(self._trust, 0.2, 1.0) * 255))
+    if self._center_points.size and self._readout:
+      self._draw_readout(rect)
+
+  def _draw_readout(self, rect: rl.Rectangle) -> None:
+    pull, trust = self._pull_display.x, self._trust_display.x
+    w, h = 190, 76
+    x, y = rect.x + (rect.width - w) / 2, rect.y + 10
+    cx, cy = x + w / 2, y + 30
+    rl.draw_rectangle_rounded(rl.Rectangle(x, y, w, h), 0.5, 12, self._color((0, 0, 0), 170))
+
+    text = f"{abs(pull) * 100:.0f}"
+    text_w = measure_text_cached(self._font, text, 44, 0).x
+    rl.draw_text_ex(self._font, text, rl.Vector2(cx - text_w / 2, cy - 24), 44, 0, self._color((255, 255, 255), 255))
+
+    active = self._color(BLENDFUL_COLOR, np.clip(abs(pull) / 0.1, 0.0, 1.0) * 255)
+    idle = self._color((255, 255, 255), 40)
+    lx, rx = x + 18, x + w - 18
+    rl.draw_triangle(rl.Vector2(lx, cy), rl.Vector2(lx + 16, cy + 12), rl.Vector2(lx + 16, cy - 12), active if pull < 0 else idle)
+    rl.draw_triangle(rl.Vector2(rx - 16, cy - 12), rl.Vector2(rx - 16, cy + 12), rl.Vector2(rx, cy), active if pull > 0 else idle)
+
+    bar = rl.Rectangle(x + 24, y + h - 16, w - 48, 6)
+    rl.draw_rectangle_rounded(bar, 1.0, 6, self._color((255, 255, 255), 40))
+    rl.draw_rectangle(int(cx - 1), int(bar.y - 2), 2, int(bar.height + 4), self._color((255, 255, 255), 120))
+    fill = bar.width / 2 * float(np.sqrt(np.clip(abs(pull) / FULL_BAR, 0.0, 1.0)))
+    if fill > 1:
+      fill_x = cx if pull > 0 else cx - fill
+      rl.draw_rectangle_rounded(rl.Rectangle(fill_x, bar.y, fill, bar.height), 1.0, 6,
+                                self._color(BLENDFUL_COLOR, np.clip(0.3 + 0.7 * trust, 0.0, 1.0) * 255))

openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py

@@ -5,10 +5,11 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.blendful import BlendfulRenderer
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.sunnypilot.ui_state import MADSState
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP
 from openpilot.system.ui.lib.application import gui_app
 
 
@@ -16,16 +17,12 @@ class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
     self.chevron_metrics = ChevronMetrics()
+    self.blendful = BlendfulRenderer(readout=False)
     self._width_filter = FirstOrderFilter(0.9, 0.1, 1 / gui_app.target_fps)
 
   @property
   def _lateral_active(self) -> bool:
-    sm = ui_state.sm
-    if sm.valid["selfdriveStateSP"]:
-      mads = sm["selfdriveStateSP"].mads
-      if mads.available:
-        return mads.enabled and mads.state != MADSState.paused
-    return ui_state.status in (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
+    return UIStateSP.lateral_active(ui_state)
 
   def _get_path_half_width(self) -> float:
     target = 0.9 if self._lateral_active else 0.40

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -36,7 +36,7 @@ class UIStateSP:
     self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay"
+      "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay", "modelDataV2SP"
     ]
 
     self.sunnylink_state = SunnylinkState()
@@ -46,6 +46,7 @@ class UIStateSP:
 
     self.active_bundle = None
     self.model_runner_tinygrad: bool = False
+    self.active_runner_tinygrad: bool = False
     self.blindspot: bool = False
     self.chevron_metrics = None
     self.custom_interactive_timeout: int = 0
@@ -109,6 +110,14 @@ class UIStateSP:
   def auto_onroad_brightness(self) -> bool:
     return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)
 
+  @staticmethod
+  def lateral_active(_ui_state) -> bool:
+    if _ui_state.sm.valid["selfdriveStateSP"]:
+      mads = _ui_state.sm["selfdriveStateSP"].mads
+      if mads.available:
+        return mads.enabled and mads.state != MADSState.paused
+    return _ui_state.status.value in ("engaged", "lat_only")
+
   @staticmethod
   def update_status(ss, ss_sp, onroad_evt) -> str:
     state = ss.state
@@ -157,6 +166,8 @@ class UIStateSP:
                                chestnut_loading=self.chestnut_loading, offroad=self.is_offroad())
     self.active_bundle = self.params.get(ACTIVE_BUNDLE_KEYS[source])
     self.model_runner_tinygrad = self.active_bundle is not None and self.active_bundle.get("runner") == "tinygrad"
+    # runner the manager launches (process_config.is_tinygrad_model); with a chestnut the big slot decides
+    self.active_runner_tinygrad = self.params.get("ModelRunnerTypeCache") == custom.ModelManagerSP.Runner.tinygrad
     # stock only counts the default big model's compiled pkl. a downloaded big bundle runs on the
     # chestnut just the same, so ChestnutState has to see it as available too.
     self.chestnut_compiled = self.chestnut_compiled or self.model_runner_tinygrad

openpilot/sunnypilot/modeld_v2/blendful.py

@@ -0,0 +1,145 @@
+"""
+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 numpy as np
+
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+LANE_WIDTH_DEFAULT = 3.6  # m
+LANE_WIDTH_CLIP = (2.8, 4.5)  # m
+LOOKAHEAD_TIME = 1.5  # s
+MIN_LOOKAHEAD = 10.0  # m
+MIN_SPEED = 5.0  # m/s
+LINE_STD = (0.2, 0.6)
+POINT_STD = 0.1
+YIELD = (0.2, 0.45)
+X_IDXS = np.array(ModelConstants.X_IDXS)
+
+
+class Blendful:
+  def __init__(self):
+    self.lane_width = FirstOrderFilter(LANE_WIDTH_DEFAULT, 10.0, DT_MDL, initialized=False)
+    self.line_gone = FirstOrderFilter(np.zeros(2), 2.0, DT_MDL)
+    self.line_probs_slow = FirstOrderFilter(np.zeros(2), 3.0, DT_MDL)
+    self.line_probs = FirstOrderFilter(np.zeros(2), 0.5, DT_MDL)
+    self.usual_offset = FirstOrderFilter(0.0, 10.0, DT_MDL, initialized=False)
+    self.going_around = False
+    self.since_turning = 0.0
+    self.trust = 0.0
+    self.line_trust = 0.0
+    self.dk = 0.0 # delta kappa; difference between lane center and model plan
+    self.l_prob = 0.0
+    self.r_prob = 0.0
+    self.model_curvature = 0.0
+    self.smooth = 0.0 # smooths the correction target below .53 lat accel
+    self.curvature = 0.0
+
+  def update(self, model_output: dict[str, np.ndarray], v_ego: float, active: bool, model_curvature: float, enabled: bool = True) -> float:
+    self.l_prob = self.r_prob = 0.0
+    self.model_curvature = model_curvature
+    if not enabled:
+      if self.curvature or self.trust:
+        self.__init__()
+      return 0.0
+    fading = not active or v_ego < MIN_SPEED
+    if fading:
+      self.trust = self.line_trust = 0.0
+      self.usual_offset.initialized = False
+      self.lane_width.initialized = False
+      self.going_around = False
+    target = 0.0 if fading else self._target(model_output, v_ego, model_curvature)
+    target = self.smooth = self.smooth + (target - self.smooth) * DT_MDL / (DT_MDL + np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.5, 0.0]))
+    build = 0.5 / max(v_ego, 1.0) ** 2 * DT_MDL  # jerk over 1 second
+    release = (0.5 if fading else 2.0) / max(v_ego, 1.0) ** 2 * DT_MDL  # lets go fast, but past zero it builds like any other pull
+    k = self.curvature
+    self.curvature = float(np.clip(target, max(k - release, -build) if k > 0 else k - build, min(k + release, build) if k < 0 else k + build))
+    return self.curvature
+
+  def _target(self, model_output: dict[str, np.ndarray], v_ego: float, model_curvature: float) -> float:
+    lookahead = max(v_ego * LOOKAHEAD_TIME, MIN_LOOKAHEAD)
+    lines = model_output['lane_lines'][0, :, :, 0]
+    stds = model_output['lane_lines_stds'][0, :, :, 0]
+
+    lone_weight = np.interp(abs(model_curvature) * v_ego ** 2, [0.18, 0.53], [0.5, 1.0])  # 0.5 on straights, 1.0 in curves
+    probs = self.line_probs.update(model_output['lane_lines_prob'][0, 1::2][1:3])
+    absent = (probs < 0.3) & (lone_weight > 0.5)
+    gone = self.line_gone.update((model_output['lane_lines_prob'][0, 1::2][1:3] < 0.3).astype(float))
+    missing = np.where(absent, 1.0, gone)
+    dropping = bool(np.any((probs < 0.6 * self.line_probs_slow.update(model_output['lane_lines_prob'][0, 1::2][1:3])) & ~absent))
+    l_prob = float(probs[0] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[1]), LINE_STD, [1.0, 0.0]))
+    r_prob = float(probs[1] * np.interp(np.interp(0.5 * lookahead, X_IDXS, stds[2]), LINE_STD, [1.0, 0.0]))
+    self.l_prob, self.r_prob = l_prob, r_prob
+    # one line steadily on its own still centers at lone_weight. a line that is disappearing gives control back to laneless
+    if missing[1] > 0.8 and l_prob > 0.5:
+      lane_trust = l_prob * lone_weight
+    elif missing[0] > 0.8 and r_prob > 0.5:
+      lane_trust = r_prob * lone_weight
+    elif dropping:
+      lane_trust = min(l_prob, r_prob)
+    else:
+      lane_trust = l_prob + r_prob - l_prob * r_prob
+    if lone_weight > 0.5 and lane_trust < self.line_trust:
+      lane_trust = self.line_trust + (lane_trust - self.line_trust) * DT_MDL / (lone_weight - 0.5 + DT_MDL)
+    self.line_trust = lane_trust
+    if lane_trust <= 0.0:
+      self.trust = 0.0
+      return 0.0
+    if l_prob + r_prob <= 0.0:  # keep the last fit while trust lets go
+      self.trust = min(self.trust, lane_trust)
+      return float(self.trust * self.dk)
+
+    win = (X_IDXS >= 0.5 * lookahead) & (X_IDXS <= 1.5 * lookahead)
+    x = X_IDXS[win]
+    half_width = self.lane_width.x / 2
+    if l_prob * r_prob > 0.5:
+      width = np.interp(lookahead, X_IDXS, lines[2]) - np.interp(lookahead, X_IDXS, lines[1])
+      self.lane_width.update(float(np.clip(width, *LANE_WIDTH_CLIP)))
+      half_width = np.clip(lines[2, win] - lines[1, win], *LANE_WIDTH_CLIP) / 2
+    l_var = stds[1, win] ** 2 / max(l_prob, 1e-4)
+    r_var = stds[2, win] ** 2 / max(r_prob, 1e-4)
+    center = (r_var * (lines[1, win] + half_width) + l_var * (lines[2, win] - half_width)) / (l_var + r_var)
+    weight = 1.0 / (l_var * r_var / (l_var + r_var) + POINT_STD ** 2)
+
+    # Fit curvature to place the plant in center: e ~ dk x^2 / 2
+    plan_x = np.interp(x, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
+    plan_share = np.interp(abs(model_curvature) * lookahead ** 2 / 2, [0.5, 2.0], [0.3, 0.5]) # up to 50% plan y vs curvature parabola in sharp curves
+    error = np.clip(center - ((1 - plan_share) * model_curvature * x ** 2 / 2 + plan_share * plan_x), -1.0, 1.0)
+    dk = 2.0 * np.sum(weight * error * x ** 2) / np.sum(weight * x ** 4)
+
+    # A model planning to end up further from its usual spot in the lane than the plant is now is likely going around something
+    hw_now = np.clip(lines[2, 0] - lines[1, 0], *LANE_WIDTH_CLIP) / 2 if l_prob * r_prob > 0.5 else self.lane_width.x / 2
+    center_now = (l_prob * (lines[1, 0] + hw_now) + r_prob * (lines[2, 0] - hw_now)) / (l_prob + r_prob)
+    plan_y = np.interp(lookahead, model_output['plan'][0, :, 0], model_output['plan'][0, :, 1])
+    offset = plan_y - np.interp(lookahead, x, center)
+    if min(gone) > 0.5:  # both lines gone: turns, intersections, relearn ideal model position
+      self.usual_offset.initialized = False
+    usual = self.usual_offset.x if self.usual_offset.initialized else offset
+    swerve = abs(offset - usual) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2
+    away = swerve - abs(-center_now - usual)
+    lane_curvature = 2.0 * np.polyfit(x, center, 2)[0]
+    inside_curve = abs(lane_curvature) * lookahead ** 2 / 2 > 0.1 and (offset - usual) * lane_curvature > 0
+    self.since_turning = 0.0 if abs(model_curvature) * lookahead ** 2 / 2 > 0.5 else self.since_turning + DT_MDL
+    if inside_curve:
+      self.going_around = False
+    elif away > YIELD[0] and self.since_turning > 2.0:
+      self.going_around = True
+    elif swerve < YIELD[0] / 2:
+      self.going_around = False
+    self.usual_offset.update_alpha(20.0 if self.going_around else 10.0)
+    self.usual_offset.update(offset)
+
+    if inside_curve:
+      lane_trust *= np.interp(abs(offset) - abs(center_now) - 0.25 * abs(model_curvature) * lookahead ** 2 / 2, (0.5, 1.0), [1.0, 0.0])
+    else:
+      lane_trust *= np.interp(swerve, (YIELD[0] / 2, YIELD[0]), [1.0, 0.0]) if self.going_around else np.interp(away, YIELD, [1.0, 0.0])
+
+    if lane_trust < self.trust:
+      dk = float(np.clip(dk, min(self.dk, 0.0), max(self.dk, 0.0)))
+    self.trust = lane_trust if lane_trust < self.trust else self.trust + (lane_trust - self.trust) * DT_MDL / (1.5 + DT_MDL)
+    self.dk = dk
+    return float(self.trust * dk)

openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import argparse
 import dataclasses
+import inspect
 import itertools
 import mmap
 import re
@@ -45,6 +46,11 @@ def _address(v):
   return _root(v.src[0]), add + start, size
 
 
+def _buffer(u):
+  from tinygrad.uop.ops import Ops
+  return u.buffer if u.op is Ops.BUFFER else getattr(u.arg, "buffer", None)
+
+
 def _patched(buf, topo) -> tuple[bytearray, dict]:
   from tinygrad.uop.ops import Ops
   blob, rows = bytearray(buf.max_numel() * buf.dtype.itemsize), {}
@@ -72,7 +78,7 @@ def _evaluate(u, env):
     table, index = _root(u.src[0].src[0]), _evaluate(u.src[0].src[1], env)
     return struct.unpack_from(u.dtype.fmt, table.arg, index * u.dtype.itemsize)[0] if table.op is Ops.BINARY and index is not None else None
   if u.op in GroupOp.ALU and None not in (values := [_evaluate(x, env) for x in u.src]):
-    return exec_alu(u.op, u.dtype, values, False)
+    return exec_alu(u.op, u.dtype, values, *([False] if "truncate_output" in inspect.signature(exec_alu).parameters else []))
   return None
 
 
@@ -112,7 +118,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
   from tinygrad.uop.ops import Ops
   submit = jit.captured._linear.src[0].without_after
   kernels, topo = submit.arg.aux.kernels, list(jit.captured._linear.toposort(enter_calls=True))
-  allocs = {str(u.tag): u for u in topo if u.op is Ops.ALLOC and u.tag is not None}
+  allocs = {str(name): u for u in topo if u.op is Ops.ALLOC and (name := getattr(u, "tag", None) or u.arg.name) is not None}
   (commands, patched), kernargs = _patched(allocs["cmdbuf_compute_0"], topo), allocs["kernargs_compute_0"]
   argument_words, pokes = _patched(kernargs, topo)[1], _input_pokes(submit, kernargs)
   sh = {name: getattr(amd_gpu, f"reg{name}") + amd_gpu.GC_BASE__INST0_SEG0 - pm4.PACKET3_SET_SH_REG_START
@@ -158,7 +164,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
         args.append({"input": pokes[slot][0]})
       elif slot in argument_words:
         base, at, nbytes = _address(argument_words[slot])
-        args.append({"buffer": buffers.setdefault(base, len(buffers)), "offset": at, "nbytes": nbytes or base.arg.buffer.nbytes, "dtype": u8})
+        args.append({"buffer": buffers.setdefault(base, len(buffers)), "offset": at, "nbytes": nbytes or base.max_numel() * base.dtype.itemsize, "dtype": u8})
     outs, ins = kernel[6]
     calls.append({"kind": "program", "name": re.sub(r"\x1b\[[0-9;]*m", "", kernel[1]), "lib": programs[image_alloc], "target": dataclasses.asdict(target),
                   "signature": [[f"data{i}", i, u8, [a.get("nbytes", 1)]] for i, a in enumerate(args)], "global_size": grid, "local_size": local,
@@ -166,12 +172,13 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
     needs_init |= {args[i]["buffer"] for i in ins if "buffer" in args[i] and args[i]["buffer"] not in written}
     written |= {args[i]["buffer"] for i in outs if "buffer" in args[i]}
 
+  assert all(_buffer(b) is not None for b, i in buffers.items() if i in needs_init), "a kernel reads a scratch before any kernel writes it"
   names = list(jit.captured.expected_names)
   inputs = [{"slot": slot, "name": names[slot] if slot < len(names) else None, "dtype": repr(u.dtype), "numel": int(u.max_numel()), "device": u.device}
             for slot, u in enumerate(_prepare_jit_inputs((), kwargs)[0])]
   header = {"input_names": names, "calls": calls, "returns": {"kind": "NoneType", "tensors": []}, "inputs": inputs,
-            "buffers": [{"nbytes": b.arg.buffer.nbytes, "device": b.arg.buffer.device, "dtype": u8}
-                        | ({"init": blob.add(b.arg.buffer.ensure_allocated().as_memoryview())} if i in needs_init else {}) for b, i in buffers.items()],
+            "buffers": [{"nbytes": bb.nbytes if (bb := _buffer(b)) else b.max_numel() * b.dtype.itemsize, "device": bb.device if bb else b.device, "dtype": u8}
+                        | ({"init": blob.add(bb.ensure_allocated().as_memoryview())} if i in needs_init else {}) for b, i in buffers.items()],
             "check": {"inputs": [[path, store(array), device] for path, array, device in frame["inputs"]],
                       "outputs": [store(array) for array in frame["outputs"]], "output_container": frame["output_container"]}}
   with sink:

openpilot/sunnypilot/modeld_v2/helpers.py

@@ -250,6 +250,12 @@ def _allocate_buffers(header: dict, blob: memoryview, device_map: dict | None, s
   return buffers
 
 
+def _fields(what, /, **values):  # a tinygrad dataclass built or replaced with the fields it has today: a dropped field is fine, a new required one is not
+  known = {field.name for field in dataclasses.fields(what)}
+  values = {name: value for name, value in values.items() if name in known}
+  return what(**values) if isinstance(what, type) else dataclasses.replace(what, **values)
+
+
 def _program_uop(call: dict, lib: bytes):
   from tinygrad.helpers import Target
   from tinygrad.uop.ops import KernelInfo, Ops, ProgramInfo, UOp
@@ -257,9 +263,9 @@ def _program_uop(call: dict, lib: bytes):
   for name, compact_slot, dtype, shape in call["signature"]:
     parameter = UOp.param(call["globals"][compact_slot], _dtype(dtype), math.prod(shape))
     image = (shape[0], shape[1]) if len(shape) == 3 and shape[2] == 4 else None
-    parameters.append(parameter.replace(arg=dataclasses.replace(parameter.arg, name=name, image=image)))
-  info = ProgramInfo(global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), vars=(), globals=tuple(call["globals"]),
-                     outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=Target(**call["target"]))
+    parameters.append(parameter.replace(arg=_fields(parameter.arg, name=name, image=image)))
+  info = _fields(ProgramInfo, global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), globals=tuple(call["globals"]),
+                 outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=_fields(Target, **call["target"]))
   return UOp(Ops.PROGRAM, src=(UOp(Ops.SINK, arg=KernelInfo(name=call["name"])), UOp(Ops.LINEAR, src=tuple(parameters)),
                                UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
 

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from collections.abc import Callable
+from functools import partial
 import gc
 import os
 os.environ['GMMU'] = '0'
@@ -39,6 +40,7 @@ from openpilot.selfdrive.modeld.modeld import ChestnutGpuState
 
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
+from openpilot.sunnypilot.modeld_v2.blendful import Blendful
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
@@ -228,7 +230,8 @@ class ModelState(ModelStateBase):
     return outputs
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+                            lat_action_t: float, long_action_t: float, v_ego: float,
+                            blendful: Callable[[float], float] | None = None) -> log.ModelDataV2.Action:
     if 'action' not in model_output:
       plan = model_output['plan'][0]
       desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
@@ -240,6 +243,8 @@ class ModelState(ModelStateBase):
     else:
       desired_accel = model_output['action'][0, 1]
       desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
+    if blendful is not None:
+      desired_curvature += blendful(desired_curvature)
 
     stop = v_ego < 0.3 and desired_accel < 0.1
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
@@ -366,6 +371,8 @@ def main(demo=False):
   DH = DesireHelper()
   meta_constants = load_meta_constants()
   RELC = RoadEdgeLaneChangeController()
+  blendful = Blendful()
+  blendful_enabled = False
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -409,6 +416,7 @@ def main(demo=False):
       model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
+      blendful_enabled = params.get_bool("Blendful")
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
@@ -482,7 +490,9 @@ def main(demo=False):
 
       if not sm['carControl'].latActive:
         prev_action.desiredCurvature = sm['controlsState'].curvature
-      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
+      blendful_active = desire == log.Desire.none and DH.lane_change_state == log.LaneChangeState.off
+      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego,
+                                           partial(blendful.update, model_output, v_ego, blendful_active, enabled=blendful_enabled))
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -499,6 +509,13 @@ def main(demo=False):
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
       mdv2sp_send.valid = modelv2_send.valid
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
+      mdv2sp_send.modelDataV2SP.blendfulCurvature = blendful.curvature
+      mdv2sp_send.modelDataV2SP.blendfulTrust = float(blendful.trust)
+      mdv2sp_send.modelDataV2SP.modelCurvature = float(blendful.model_curvature)
+      mdv2sp_send.modelDataV2SP.blendfulGoingAround = bool(blendful.going_around)
+      mdv2sp_send.modelDataV2SP.blendfulLeftProb = blendful.l_prob
+      mdv2sp_send.modelDataV2SP.blendfulRightProb = blendful.r_prob
+      mdv2sp_send.modelDataV2SP.blendfulLaneWidth = float(blendful.lane_width.x)
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 

openpilot/sunnypilot/modeld_v2/plain_artifact_compiler.py

@@ -23,7 +23,7 @@ def record_kernel_linear():
   recorded, hcq_compile, compile_linear = [], realize.hcq_compile, jit.compile_linear
 
   def recording_compile_linear(*args, **kwargs):
-    with mock.patch.object(realize, "hcq_compile", lambda linear, *a, **k: (recorded.append(linear), hcq_compile(linear, *a, **k))[1]):
+    with mock.patch.object(realize, "hcq_compile", lambda linear, *a, **k: (linear.src and recorded.append(linear), hcq_compile(linear, *a, **k))[1]):
       return compile_linear(*args, **kwargs)
 
   with mock.patch.object(jit, "compile_linear", recording_compile_linear):
@@ -38,6 +38,18 @@ def capture_frame(jit, kwargs: dict, output_container: str | None = None):
   return {"inputs": inputs, "outputs": [tensor.numpy().copy() for tensor in outputs], "output_container": output_container}, result
 
 
+def kernel_signature(ast, elf) -> list:
+  from tinygrad.dtype import AddrSpace
+  if hasattr(ast, "kernel_params"):
+    if any(p.arg.addrspace is AddrSpace.ALU for p in ast.kernel_params):
+      raise ValueError(f"{elf.name} takes a variable, which plain artifacts don't support")
+    compact = {slot: i for i, slot in enumerate(ast.arg.globals)}
+    return [[p.arg.name, compact[p.arg.slot], repr(p.dtype), [int(x) for x in p._shape]] for p in ast.kernel_params]
+  if not all(isinstance(slot, int) for _, slot, _, _ in elf.signature):
+    raise ValueError("TinyELF.signature lost its slots and this tinygrad has no UOp.kernel_params: update kernel_signature")
+  return [[name, slot, repr(dtype), [int(x) for x in shape]] for name, slot, dtype, shape in elf.signature]
+
+
 def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict, memoryview]:
   from tinygrad.uop.ops import Ops
   sink = tempfile.TemporaryFile(dir=".")
@@ -51,6 +63,12 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,
     if uop.op is Ops.PARAM:
       input_specs.setdefault(uop.arg.slot, {"dtype": repr(uop.dtype), "numel": int(uop.max_numel()), "device": uop.device})
       return {"input": uop.arg.slot}
+    root, offset = uop, 0
+    while root.op in (Ops.AFTER, Ops.BITCAST, Ops.SHRINK):
+      offset, root = offset + (root.src[1].arg * root.src[0].dtype.itemsize if root.op is Ops.SHRINK else 0), root.src[0]
+    if root.op is Ops.ALLOC:
+      base = bases.setdefault(id(root), (len(bases), root, root.dtype))
+      return {"buffer": base[0], "offset": offset, "nbytes": int(uop.max_numel()) * uop.dtype.itemsize, "dtype": repr(uop.dtype)}
     buffer = uop.buffer
     root = buffer._base if buffer._base is not None else buffer
     base = bases.setdefault(id(root), (len(bases), root, uop.base.dtype if buffer._base is None else uop.dtype))
@@ -63,7 +81,7 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,
       elf, info = ast.to_elf(), ast.arg
       global_size, local_size = info.launch_dims({})
       calls.append({"kind": "program", "name": elf.name, "lib": blob.add(bytes(elf.lib)), "target": dataclasses.asdict(elf.target),
-                    "signature": [[name, slot, repr(dtype), [int(x) for x in shape]] for name, slot, dtype, shape in elf.signature],
+                    "signature": kernel_signature(ast, elf),
                     "global_size": [int(x) for x in global_size], "local_size": [int(x) for x in local_size],
                     "globals": list(info.globals), "outs": list(info.outs), "ins": list(info.ins), "args": arguments})
       outs, ins = info.outs, info.ins
@@ -77,7 +95,9 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,
 
   ret = jit.captured.ret
   returns = {"kind": type(ret).__name__, "tensors": [describe(t.uop.base) | {"shape": [int(x) for x in t.shape]} for t in flatten(ret)]}
-  buffers = [{"nbytes": base.nbytes, "device": base.device, "dtype": repr(dtype)}
+  from tinygrad.device import Buffer
+  assert not [base for index, base, _ in bases.values() if index in needs_init and not isinstance(base, Buffer)], "a kernel reads a scratch before writing it"
+  buffers = [{"nbytes": base.nbytes if isinstance(base, Buffer) else int(base.max_numel()) * dtype.itemsize, "device": base.device, "dtype": repr(dtype)}
              | ({"init": blob.add(base.as_memoryview())} if index in needs_init else {}) for index, base, dtype in bases.values()]
   names = list(jit.captured.expected_names)
   if check is not None:

openpilot/sunnypilot/modeld_v2/tests/test_blendful.py

@@ -0,0 +1,112 @@
+"""
+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 numpy as np
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.modeld_v2.blendful import Blendful
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+X = np.array(ModelConstants.X_IDXS)
+BUILD, RELEASE = 0.5, 2.0
+
+
+def frame(center=0.0, plan=0.0, k=0.0, probs=(0.9, 0.9), stds=(0.1, 0.1), width=3.5):
+  road = k * X ** 2 / 2
+  lines = np.zeros((1, 4, 33, 2))
+  lane_stds = np.ones((1, 4, 33, 2))
+  for i, off in enumerate((-1.5 * width, -width / 2, width / 2, 1.5 * width)):
+    lines[0, i, :, 0] = road + center + off
+  lane_stds[0, 1, :, 0], lane_stds[0, 2, :, 0] = stds
+  lane_probs = np.zeros((1, 8))
+  lane_probs[0, 3], lane_probs[0, 5] = probs
+  path = np.zeros((1, 33, 3))
+  path[0, :, 0] = X
+  path[0, :, 1] = road + plan * np.clip(X / 10, 0, 1)
+  return {'lane_lines': lines, 'lane_lines_stds': lane_stds, 'lane_lines_prob': lane_probs, 'plan': path}
+
+
+def drive(bf, seconds, v=20.0, k=0.0, **kw):
+  out = [bf.update(frame(k=k, **kw), v, True, k) for _ in range(int(seconds / DT_MDL))]
+  return np.array(out) * v ** 2  # m/s^2
+
+
+class TestBlendful(OpenpilotTestCase):
+  def setup_method(self):
+    self.bf = Blendful()
+
+  def test_centered_adds_nothing(self):
+    push = drive(self.bf, 5.0)
+    assert self.bf.trust > 0.9
+    assert np.abs(push).max() < 1e-3
+
+  def test_pulls_toward_lane_center(self):
+    push = drive(self.bf, 5.0, center=0.5)
+    assert push[-1] > 0.02  # + y side, where the lane center is
+    assert self.bf.trust > 0.9
+    assert np.all(np.diff(push) <= BUILD * DT_MDL + 1e-9)
+
+  def test_flipping_sides_builds_slowly(self):
+    k = 0.002  # 0.8 m/s^2 at 20 m/s
+    drive(self.bf, 5.0, k=k, center=0.5)
+    push = drive(self.bf, 5.0, k=k, center=-0.5)
+    rate = np.diff(push) / DT_MDL
+    assert push[-1] < 0
+    assert np.all(rate >= -RELEASE - 1e-6)
+    assert np.all(rate[push[:-1] <= 0] >= -BUILD - 1e-6)  # once past zero it builds
+    crossing = push[1:][(push[:-1] > 0) & (push[1:] <= 0)]
+    assert len(crossing) and np.all(crossing >= -BUILD * DT_MDL - 1e-9)
+
+  def test_weak_lines_drive_laneless(self):
+    clear = drive(Blendful(), 5.0, center=0.5)[-1]
+    faint = Blendful()
+    push = drive(faint, 5.0, center=0.5, probs=(0.1, 0.1))
+    assert faint.trust < 0.25 and abs(push[-1]) < 0.25 * clear  # faint lines = trust and push scale down
+    blurry = Blendful()
+    push = drive(blurry, 5.0, center=0.5, stds=(0.8, 0.8))
+    assert blurry.trust == 0.0 and np.abs(push).max() < 1e-6  # lines too uncertain = laneless
+
+  def test_lone_line_holds_through_a_blink_in_a_curve(self):
+    k, v = 1 / 20, 6.0
+    drive(self.bf, 6.0, v=v, k=k, plan=0.4, probs=(0.9, 0.05))
+    before = self.bf.trust
+    drive(self.bf, 0.25, v=v, k=k, plan=0.4, probs=(0.1, 0.05), stds=(1.0, 0.1))
+    bottom = self.bf.trust
+    drive(self.bf, 2.0, v=v, k=k, plan=0.4, probs=(0.9, 0.05))
+    assert before > 0.5
+    assert bottom > 0.5 * before  # keeps latched through flicker
+    assert self.bf.trust > 0.85 * before
+
+  def test_yields_when_the_model_goes_around(self):
+    drive(self.bf, 6.0)
+    push = drive(self.bf, 3.0, plan=0.8)
+    assert self.bf.going_around
+    assert self.bf.trust < 0.05
+    assert abs(push[-1]) < 0.01
+
+  def test_fit_does_not_grow_while_trust_falls(self):
+    drive(self.bf, 5.0, center=0.3)
+    for i in range(40):
+      dk, trust = self.bf.dk, self.bf.trust
+      p = 0.9 - 0.02 * i
+      self.bf.update(frame(center=0.3, plan=-0.02 * i, probs=(p, p)), 20.0, True, 0.0)
+      if self.bf.trust < trust:
+        assert abs(self.bf.dk) <= abs(dk) + 1e-12
+
+  def test_toggle_off_returns_zero_and_resets(self):
+    drive(self.bf, 5.0, center=0.5)
+    assert self.bf.curvature != 0.0
+    assert self.bf.update(frame(center=0.5), 20.0, True, 0.0, enabled=False) == 0.0
+    assert self.bf.curvature == 0.0 and self.bf.trust == 0.0
+
+  def test_fades_below_min_speed(self):
+    drive(self.bf, 5.0, v=10.0, center=0.5)
+    start = self.bf.curvature
+    out = np.array([self.bf.update(frame(center=0.5), 4.0, True, 0.0) for _ in range(100)])
+    assert self.bf.trust == 0.0
+    assert abs(out[0]) < abs(start)
+    assert abs(out[-1]) < 1e-6

openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py

@@ -0,0 +1,121 @@
+"""
+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 os
+import re
+import sys
+import tempfile
+import unittest
+from unittest import mock
+import numpy as np
+
+os.environ.setdefault("CHECK_OOB", "0")
+os.environ.setdefault("GMMU", "0")
+if sys.platform == "darwin" and os.environ.get("DEV", "").startswith("MOCKUSB"):  # the mock's VRAM is a memfd, which macOS lacks: an unlinked file is the same
+  from tinygrad.runtime.autogen import libc
+
+  def _memfd_create(name, flags):
+    fd, path = tempfile.mkstemp()
+    os.unlink(path)
+    return fd
+  libc.memfd_create = _memfd_create
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.modeld_v2 import convert_upstream_pkl
+from openpilot.sunnypilot.modeld_v2.convert_upstream_pkl import convert
+from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, load_model
+from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame
+
+IMG, DESIRE, STATE, OUT = (6, 8, 8), (8,), (4, 16), (1, 32)
+
+
+class TestConvertUpstreamPkl(OpenpilotTestCase):
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if not os.environ.get("TINYGRAD_TESTS"):
+      raise unittest.SkipTest("TINYGRAD_TESTS not set. skipping converter test")
+    from tinygrad import Device, Tensor
+    assert Device.DEFAULT == "AMD" and getattr(Device["AMD"], "is_usb", False), f"{Device.DEFAULT} is not an AMD device behind the USB bridge"
+    assert (Tensor([1, 2, 3]) * 2).tolist() == [2, 4, 6]
+    cls.tmp = tempfile.TemporaryDirectory()
+    cls.rng = np.random.default_rng(0)
+    cls.weights = Tensor(cls.rng.standard_normal((16, 32)).astype(np.float32)).realize()
+    cls.bias = Tensor(cls.rng.standard_normal((1, 32)).astype(np.float32)).realize()
+    cls.input_specs = {"input_imgs": (IMG, "uint8", Device.DEFAULT), "desire": (DESIRE, "float32", Device.DEFAULT),
+                       "features": (STATE, "float32", Device.DEFAULT)}
+    cls.output_specs = {"outputs": (OUT, "float32", Device.DEFAULT), "next_features": (STATE, "float32", Device.DEFAULT)}
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmp.cleanup()
+    super().tearDownClass()
+
+  def model(self, input_imgs, desire, features, output_buffers):
+    from tinygrad import Tensor
+    feat = features.mean(axis=0).reshape(1, 16) + input_imgs.float().mean() + desire.sum()
+    Tensor.realize(output_buffers["outputs"].assign((feat @ self.weights + self.bias).relu()),
+                   output_buffers["next_features"].assign(features[1:].cat(feat * 2)))
+
+  def inputs(self, seed: int) -> dict:
+    from examples.openpilot.helpers import allocate_inputs
+    rng = np.random.default_rng(seed)
+
+    def initialize(arrays: dict):
+      for value in arrays.values():
+        value[...] = rng.standard_normal(value.shape) if value.dtype.kind == "f" else rng.integers(0, 256, value.shape)
+    return allocate_inputs(self.input_specs, initialize) | {"output_buffers": allocate_inputs(self.output_specs)}
+
+  def jit(self):
+    from tinygrad import TinyJit
+    run = TinyJit(self.model, prune=True)
+    kwargs = self.inputs(1)
+    run(**kwargs)
+    run(**kwargs)
+    return run
+
+  def assert_matches_eager(self, plain, seed: int):
+    fresh, expected = self.inputs(seed), self.inputs(seed)
+    plain(**fresh)
+    self.model(**expected)
+    for name in self.output_specs:
+      assert np.array_equal(fresh["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
+
+  def convert(self, jit) -> tuple[dict, memoryview]:
+    from tinygrad import Device
+    kwargs = self.inputs(2)
+    frame, _ = capture_frame(jit, kwargs, "output_buffers")
+    header, blob = convert(jit, kwargs, frame, Device[Device.DEFAULT].renderer.target)
+    kernels = jit.captured._linear.src[0].without_after.arg.aux.kernels
+    assert [call["name"] for call in header["calls"]] == [re.sub(r"\x1b\[[0-9;]*m", "", kernel[1]) for kernel in kernels]
+    assert all(re.fullmatch(r"\w+", call["name"]) for call in header["calls"]), "kernel names: failure point 1"
+    assert [(tuple(call["outs"]), tuple(call["ins"])) for call in header["calls"]] == [tuple(kernel[6]) for kernel in kernels], "outs/ins: failure point 1"
+    bound = {argument["input"] for call in header["calls"] for argument in call["args"] if "input" in argument}
+    assert bound == {spec["slot"] for spec in header["inputs"]}, f"input slots bound by pokes {sorted(bound)}: failure point 4"
+    assert [spec["name"] for spec in header["inputs"]][:len(self.input_specs)] == sorted(self.input_specs)
+    return header, blob
+
+  def test_converted_jit_matches_eager(self):  # the submit decoded into plain calls, replayed against its own frame
+    jit = self.jit()
+    plain = PlainJit(*self.convert(jit))
+    self.assert_matches_eager(plain, 3)
+    self.assert_matches_eager(plain, 4)
+
+  def test_pickle_round_trip_through_main(self):
+    from examples.openpilot.helpers import dump_pickle, load_pickle
+    from tinygrad.engine.realize import lower_and_compile
+    pkl, out = os.path.join(self.tmp.name, "tiny_tinygrad.pkl"), os.path.join(self.tmp.name, "tiny_plain.pkl")
+    dump_pickle({"run": self.jit(), "input_specs": self.input_specs, "output_specs": self.output_specs, "metadata": {"name": "tiny"}}, pkl)
+
+    artifact = load_pickle(pkl, out_of_band=True)
+    artifact["run"].captured._linear = lower_and_compile(artifact["run"].captured._linear)
+    self.assert_matches_eager(PlainJit(*self.convert(artifact["run"])), 5)
+
+    with mock.patch.object(sys, "argv", ["convert_upstream_pkl", pkl, out]):
+      convert_upstream_pkl.main()
+    bundle = load_model(out, cache=False, verify=True)
+    assert bundle["metadata"] == {"name": "tiny"} and bundle["input_specs"] == self.input_specs and bundle["output_specs"] == self.output_specs
+    self.assert_matches_eager(bundle["run"], 6)

openpilot/sunnypilot/modeld_v2/tests/test_plain_artifact.py

@@ -0,0 +1,162 @@
+"""
+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 dataclasses
+import functools
+import inspect
+import os
+import sys
+import tempfile
+from unittest import mock
+import numpy as np
+import unittest
+
+import openpilot.sunnypilot.modeld_v2.helpers as helpers
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.modeld_v2 import compile_warp
+from openpilot.sunnypilot.modeld_v2.frame_fusion import frame_part, pack_layout
+from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, cache_is_fresh, load_model, read_parts, write_bundle
+from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame, record_kernel_linear, serialize_jit
+
+CAM_W, CAM_H, MODEL_W, MODEL_H = 32, 16, 16, 8
+FRAME = f"{CAM_W},{CAM_H},{CAM_W},{CAM_H},{CAM_H // 2},{CAM_W * CAM_H * 3 // 2}"
+FRAME_SIZE = CAM_W * CAM_H * 3 // 2
+HOST = {"desire": (8,), "traffic_convention": (2,)}
+STATE, OUT = (4, 16), (1, 32)
+
+
+def compile_jit(fn, inputs: dict, output_container: str | None = None) -> tuple[dict, memoryview]:
+  from tinygrad import TinyJit
+  run = TinyJit(fn, prune=True)
+  with record_kernel_linear() as recorded:
+    run(**inputs)
+    run(**inputs)
+    check, _ = capture_frame(run, inputs, output_container)
+  assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
+  return serialize_jit(run, recorded[0], check)
+
+
+class TestPlainArtifact(OpenpilotTestCase):
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if not os.environ.get("TINYGRAD_TESTS"):
+      raise unittest.SkipTest("TINYGRAD_TESTS env var not set, skipping artifact test.")
+    from tinygrad import Tensor
+    cls.tmp = tempfile.TemporaryDirectory()
+    cls.rng = np.random.default_rng(0)
+    cls.weights = Tensor(cls.rng.standard_normal((16, 32)).astype(np.float32)).realize()
+    cls.bias = Tensor(cls.rng.standard_normal((1, 32)).astype(np.float32)).realize()
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmp.cleanup()
+    super().tearDownClass()
+
+  def model(self, x, h):  # a two input, one weight model: the shape of a policy without the size
+    return ((x @ self.weights + self.bias).relu() + h.mean()).contiguous()
+
+  def tensors(self, seed: int):
+    from tinygrad import Tensor
+    rng = np.random.default_rng(seed)
+    return {"x": Tensor(rng.standard_normal((1, 16)).astype(np.float32)).realize(), "h": Tensor(rng.standard_normal((4, 16)).astype(np.float32)).realize()}
+
+  def artifact(self, name: str = "model") -> str:
+    path = os.path.join(self.tmp.name, f"{name}_tinygrad.pkl")
+    if not os.path.exists(path):
+      write_bundle(path, {"run": compile_jit(self.model, self.tensors(1))}, {"metadata": {"name": name}})
+    return path
+
+  def test_round_trip_matches_jit(self):  # compiler -> bundle -> PlainJit, replay verified, then fresh inputs bit exact with eager tinygrad
+    bundle = load_model(self.artifact(), cache=False, verify=True)
+    assert bundle["metadata"] == {"name": "model"} and isinstance(bundle["run"], PlainJit)
+    fresh = self.tensors(2)
+    assert np.array_equal(bundle["run"](**fresh).numpy(), self.model(**fresh).numpy())
+
+  def test_replay_check_catches_a_changed_kernel(self):
+    parts, extras = read_parts(self.artifact())
+    header, blob = parts["run"]
+    poisoned = dict(header, check=dict(header["check"], outputs=[header["check"]["inputs"][0][1]]))
+    with self.assertRaises(helpers.ArtifactMismatch):
+      PlainJit(poisoned, blob)
+
+  def test_cache_round_trip_holds_no_weights_and_is_rebuilt_when_stale(self):
+    path = self.artifact("cached")
+    expected = load_model(path, cache=False, verify=False)["run"](**self.tensors(3)).numpy()
+    load_model(path)
+    assert cache_is_fresh(path)
+    with open(f"{path}.cache", "rb") as file:
+      cache = file.read()
+    assert self.weights.numpy().tobytes() not in cache and len(cache) < os.path.getsize(path)
+    with mock.patch.object(helpers, "PlainJit", side_effect=AssertionError("a fresh cache must not rebuild")):
+      cached = load_model(path)
+    assert np.array_equal(cached["run"](**self.tensors(3)).numpy(), expected)
+    with mock.patch.object(helpers, "tinygrad_identity", return_value="another tinygrad"):
+      assert not cache_is_fresh(path)
+      assert isinstance(load_model(path)["run"], PlainJit)
+      assert cache_is_fresh(path)
+    assert not cache_is_fresh(path)  # keyed on the tinygrad that wrote it, so the next boot after a bump rebuilds once
+    os.utime(path)
+    with mock.patch.object(helpers, "tinygrad_identity", return_value="another tinygrad"):
+      assert not cache_is_fresh(path)
+
+  def test_fused_with_warp_matches_warp_then_model(self):
+    from tinygrad import Tensor
+    warp_path = os.path.join(self.tmp.name, "warp_tinygrad.pkl")
+    with mock.patch.object(sys, "argv", ["compile_warp", "--frame", FRAME, "--warp-to", f"{MODEL_W}x{MODEL_H}", "--output", warp_path]):
+      compile_warp.main()
+    warp = load_model(warp_path, cache=False)["run"]
+
+    def native(new_img, desire, traffic_convention, state_feat_q, output_buffers):
+      feat = state_feat_q.mean(axis=0).reshape(1, 16) + new_img.float().mean() + desire.sum() + traffic_convention[0]
+      Tensor.realize(output_buffers["outputs"].assign((feat @ self.weights + self.bias).relu()),
+                     output_buffers["next_state_feat_q"].assign(state_feat_q[1:].cat(feat * 2)))
+
+    def model_inputs(new_img):
+      return {"new_img": new_img} | {name: Tensor(np.ones(shape, np.float32) * 0.5).realize() for name, shape in HOST.items()} | \
+             {"state_feat_q": Tensor(self.rng.standard_normal(STATE).astype(np.float32)).realize(),
+              "output_buffers": {"outputs": Tensor.zeros(OUT).contiguous().realize(), "next_state_feat_q": Tensor.zeros(STATE).contiguous().realize()}}
+    frames = Tensor(self.rng.integers(0, 256, (2, FRAME_SIZE), dtype=np.uint8)).realize()
+    tfm = Tensor(np.tile(np.eye(3, dtype=np.float32), (2, 1, 1))).realize()
+    path = os.path.join(self.tmp.name, "native_tinygrad.pkl")
+    part = compile_jit(native, model_inputs(warp(input_frame=frames, M_inv=tfm).realize()), "output_buffers")
+    extras = {"input_specs": {"new_img": ((2, 6, MODEL_H // 2, MODEL_W // 2), "|u1", "CPU"), "state_feat_q": (STATE, "<f4", "CPU")}
+              | {name: (shape, "<f4", "CPU") for name, shape in HOST.items()},
+              "output_specs": {"outputs": (OUT, "<f4", "CPU"), "next_state_feat_q": (STATE, "<f4", "CPU")},
+              "metadata": {"output_shapes": {"outputs": OUT, "next_state_feat_q": STATE}}}
+    write_bundle(path, {"run": part}, extras)
+
+    fused = load_model(path, cache=False, extend=functools.partial(frame_part, warp_path))
+    assert fused["run"].input_names == ["host", "state_feat_q"]
+    offsets, packed = pack_layout(HOST, FRAME_SIZE)
+    host = np.zeros(packed, np.uint8)
+    inputs = model_inputs(None)
+    for name, shape in ({"tfm": (2, 3, 3)} | HOST).items():
+      np.ndarray(shape, np.float32, host, offsets[name])[...] = tfm.numpy() if name == "tfm" else inputs[name].numpy()
+    host[offsets["frames"]:] = frames.numpy().ravel()
+    fused["run"](host=Tensor(host, device="NPY"), state_feat_q=inputs["state_feat_q"], output_buffers=inputs["output_buffers"])
+
+    expected = model_inputs(warp(input_frame=frames, M_inv=tfm).realize()) | {k: inputs[k] for k in ("state_feat_q",)}
+    native(**expected)
+    for name in ("outputs", "next_state_feat_q"):
+      assert np.array_equal(inputs["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
+
+  def test_tinygrad_api_the_loader_reads(self):
+    import tinygrad.engine.jit as jit
+    from tinygrad.device import Buffer, TinyELF
+    from tinygrad.helpers import Target
+    from tinygrad.uop.ops import ParamArg, ProgramInfo, UOp
+    fields = {cls: {f.name for f in dataclasses.fields(cls)} for cls in (ProgramInfo, ParamArg, Target)}
+    assert fields[ProgramInfo] >= {"global_size", "local_size", "globals", "outs", "ins", "target"}, "ProgramInfo changed: update helpers._program_uop"
+    assert fields[ParamArg] >= {"slot", "dtype", "name", "image"}, "ParamArg changed: update helpers._program_uop"
+    assert fields[Target] >= {"device", "renderer", "arch"}, "Target changed: update the 'target' key in plain_artifact_compiler.serialize_jit"
+    assert "signature" in getattr(TinyELF, "__annotations__", {}) or hasattr(UOp, "kernel_params"), \
+      "kernel signatures moved: update plain_artifact_compiler.serialize_jit"
+    assert callable(getattr(UOp, "param", None)) and callable(getattr(UOp, "from_buffer", None)), "UOp.param/from_buffer: update helpers.PlainJit"
+    assert callable(getattr(UOp, "store_call", None)) and callable(getattr(UOp, "call", None)), "UOp.call/store_call: update helpers.PlainJit"
+    assert callable(getattr(Buffer, "view", None)) and callable(getattr(Buffer, "ensure_allocated", None)), "Buffer.view: update helpers._upload"
+    assert callable(getattr(jit, "compile_linear", None)) and callable(getattr(jit, "_prepare_jit_inputs", None)), "engine.jit: update helpers._Jit"
+    assert "expected_names" in inspect.signature(jit.CapturedJit).parameters, "CapturedJit: update helpers.PlainJit and plain_artifact_compiler.serialize_jit"

openpilot/sunnypilot/models/manager.py

@@ -7,7 +7,10 @@ See the LICENSE.md file in the root directory for more details.
 
 import asyncio
 import os
+import re
+import threading
 import time
+from concurrent.futures import ThreadPoolExecutor
 
 import requests
 from openpilot.common.params import Params
@@ -22,12 +25,101 @@ from openpilot.sunnypilot.models.helpers import (ACTIVE_BUNDLE_KEYS, get_active_
 
 # (connect, read) seconds. read is per-request inactivity, not a total cap
 DOWNLOAD_TIMEOUT = (30, 30)
+# HuggingFace throttles each connection to ~1-2 MB/s but not the connection count; 12 saturates the device link
+MAX_CONCURRENT_PIECES = 12
+PIECE_SIZE = 8 * 1024 * 1024
+PIECE_ATTEMPTS = 3
+PIECE_BACKOFF = 1.0  # seconds, growing linearly: waits 1 s then 2 s between a piece's three attempts
+TRANSIENT_HTTP_STATUS = frozenset({408, 429, 500, 502, 503, 504})
+REPORT_INTERVAL = 0.5  # seconds between progress publications
+# byte ranges count encoded bytes but iter_content yields decoded ones, so ask for an unencoded body
+NO_COMPRESSION = {"Accept-Encoding": "identity"}
+SPEED_SMOOTHING = 0.7  # weight of the previous speed sample in the published speed
+SPEED_FLOOR = 0.05 * 1024 ** 2  # bytes/s; anything slower would only display as 0.0 MB/s, so it reads as no rate
 
 
 class DownloadCancelled(Exception):
   pass
 
 
+def _is_transient(e: BaseException) -> bool:
+  if isinstance(e, requests.HTTPError):
+    return e.response is not None and e.response.status_code in TRANSIENT_HTTP_STATUS
+  return isinstance(e, (requests.ConnectionError, requests.Timeout, requests.exceptions.ChunkedEncodingError))
+
+
+class _Progress:
+  def __init__(self):
+    self._bytes = 0
+    self._lock = threading.Lock()
+
+  def add_bytes(self, n: int) -> None:
+    with self._lock:
+      self._bytes += n
+
+  def snapshot(self) -> int:
+    with self._lock:
+      return self._bytes
+
+
+def _piece_ranges(total: int, piece_size: int) -> list[tuple[int, int]]:
+  return [(start, min(start + piece_size, total)) for start in range(0, total, piece_size)]
+
+
+def _prepare_target(path: str, total: int) -> None:
+  with open(path, "wb") as f:
+    f.truncate(total)
+
+
+def _content_range_total(response: requests.Response) -> int | None:
+  if response.status_code != 206:
+    return None
+  match = re.fullmatch(r"bytes \d+-\d+/(\d+)", response.headers.get("Content-Range", ""))
+  return int(match.group(1)) if match else None
+
+
+def _probe_size(url: str) -> tuple[int, bool]:
+  with requests.get(url, headers={**NO_COMPRESSION, "Range": "bytes=0-0"}, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
+    response.raise_for_status()
+    total = _content_range_total(response)
+    if total is not None:
+      return total, True
+    return int(response.headers.get("Content-Length", 0)), False
+
+
+def _fetch_piece(url: str, path: str, index: int, start: int, end: int | None, progress: _Progress,
+                 cancel: threading.Event, block_size: int) -> None:
+  headers = {**NO_COMPRESSION, "Range": f"bytes={start}-{end - 1}"} if end is not None else NO_COMPRESSION
+  label = f"{os.path.basename(path)} piece {index}"
+  for attempt in range(PIECE_ATTEMPTS):
+    written = 0
+    try:
+      with requests.get(url, headers=headers, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
+        response.raise_for_status()
+        if end is not None and response.status_code != 206:
+          raise ValueError(f"server ignored byte range for {label}")
+        with open(path, "r+b") as f:
+          f.seek(start)
+          for block in response.iter_content(chunk_size=block_size):
+            if cancel.is_set():
+              raise DownloadCancelled("Download cancelled")
+            f.write(block)
+            written += len(block)
+            progress.add_bytes(len(block))
+          if end is None:
+            f.truncate()  # unknown length: the body defines the file size
+          if end is not None and written != end - start:
+            raise requests.exceptions.ConnectionError(f"short read: {written} of {end - start} bytes")
+      return
+    except requests.RequestException as e:
+      progress.add_bytes(-written)  # the piece restarts from scratch
+      if not _is_transient(e) or attempt == PIECE_ATTEMPTS - 1:
+        raise
+      cloudlog.warning(f"retrying {label} after {type(e).__name__}: {e}")
+      if cancel.wait(PIECE_BACKOFF * (1 + attempt)):
+        raise DownloadCancelled("Download cancelled") from None
+
+
 class ModelManagerSP:
   """Manages model downloads and status reporting"""
 
@@ -41,7 +133,7 @@ class ModelManagerSP:
     self.source_models: dict[str, list[custom.ModelManagerSP.ModelBundle]] = {}
     self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
     self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
-    self._chunk_size = 128 * 1000  # 128 KB chunks
+    self._block_size = 128 * 1000  # 128 KB network read blocks
     self._download_start_times: dict[str, float] = {}  # Track start time per model
     self._download_ref: bytes | str | None = None
 
@@ -56,7 +148,6 @@ class ModelManagerSP:
     self._download_ref = None
 
   def _sync_artifact_progress(self, source_artifact) -> None:
-    """Mirror download progress to all artifacts sharing the same filename in the selected bundle."""
     if not self.selected_bundle:
       return
     for model in self.selected_bundle.models:
@@ -65,9 +156,9 @@ class ModelManagerSP:
         artifact.downloadProgress.status = source_artifact.downloadProgress.status
         artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
         artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+        artifact.downloadProgress.speed = source_artifact.downloadProgress.speed
 
   def _calculate_eta(self, filename: str, progress: float) -> int:
-    """Calculate ETA based on elapsed time and current progress"""
     if filename not in self._download_start_times or progress <= 0:
       return 60  # Default ETA for new downloads
 
@@ -75,39 +166,74 @@ class ModelManagerSP:
     if elapsed_time <= 0:
       return 60
 
-    # If we're at X% after Y seconds, we can estimate total time as (Y / X) * 100
     total_estimated_time = (elapsed_time / progress) * 100
     eta = total_estimated_time - elapsed_time
-
     return max(1, int(eta))  # Return at least 1 second if download is ongoing
 
-  async def _download_file(self, url: str, path: str, model) -> None:
-    """Downloads a file with progress tracking"""
-    self._download_start_times[model.fileName] = time.monotonic()
+  def _set_progress(self, artifact, status, progress: float, eta: int = 0, speed: float = 0.0) -> None:
+    artifact.downloadProgress.status = status
+    artifact.downloadProgress.progress = progress
+    artifact.downloadProgress.eta = eta
+    artifact.downloadProgress.speed = speed
+    self._sync_artifact_progress(artifact)
+    self._report_status()
 
-    with requests.get(url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:  # noqa: ASYNC210
-      response.raise_for_status()
-      total_size = int(response.headers.get("content-length", 0))
-      bytes_downloaded = 0
+  def _publish_progress(self, artifact, done_bytes: int, total: int, speed: float) -> None:
+    # held at 99 until the file passes its hash check
+    progress = min(99.0, done_bytes / total * 100) if total > 0 else 0.0
+    if speed > 0 and total > 0:
+      eta = max(1, int((total - done_bytes) / speed))
+    else:
+      eta = self._calculate_eta(artifact.fileName, progress)
+    self._set_progress(artifact, custom.ModelManagerSP.DownloadStatus.downloading, progress, eta, speed)
 
-      with open(path, 'wb') as f:  # noqa: ASYNC230
-        for chunk in response.iter_content(chunk_size=self._chunk_size):  # type: bytes
-          f.write(chunk)
-          bytes_downloaded += len(chunk)
+  async def _report_until_done(self, tasks: list[asyncio.Future], artifact, progress: _Progress, total: int,
+                               started: tuple[int, float]) -> None:
+    pending = set(tasks)
+    last_bytes, last_time = started
+    speed = 0.0
+    while pending:
+      done, pending = await asyncio.wait(pending, timeout=REPORT_INTERVAL)
+      for task in done:
+        task.result()  # re-raises a worker failure
+      if self._download_interrupted():
+        raise DownloadCancelled("Download cancelled")
+      now = time.monotonic()
+      done_bytes = progress.snapshot()
+      if (dt := now - last_time) > 0:
+        instant = max(0.0, (done_bytes - last_bytes) / dt)  # bytes/s this tick; clamped since retried pieces can lower the byte count
+        speed = instant if speed == 0 else SPEED_SMOOTHING * speed + (1 - SPEED_SMOOTHING) * instant
+        if speed < SPEED_FLOOR:  # a stall decays toward 0 without reaching it, and a near-0 speed overflows the eta
+          speed = 0.0
+      last_time, last_bytes = now, done_bytes
+      self._publish_progress(artifact, done_bytes, total, speed)
 
-          if self._download_interrupted():
-            raise DownloadCancelled("Download cancelled")
+  async def _download_file(self, url: str, path: str, artifact) -> None:
+    self._download_start_times[artifact.fileName] = time.monotonic()
+    loop = asyncio.get_running_loop()
 
-          if total_size > 0:
-            progress = (bytes_downloaded / total_size) * 100
-            model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
-            model.downloadProgress.progress = progress
-            model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
-            self._sync_artifact_progress(model)
-            self._report_status()
+    total, ranged = await loop.run_in_executor(None, _probe_size, url)
+    pieces: list[tuple[int, int | None]] = list(_piece_ranges(total, PIECE_SIZE)) if ranged else [(0, None)]
+    await loop.run_in_executor(None, _prepare_target, path, total)
+    progress = _Progress()
+    cancel = threading.Event()
+    started = progress.snapshot(), time.monotonic()  # before any worker can land bytes
 
-    # Clean up start time after download completes
-    del self._download_start_times[model.fileName]
+    with ThreadPoolExecutor(max_workers=MAX_CONCURRENT_PIECES) as pool:
+      tasks = [loop.run_in_executor(pool, _fetch_piece, url, path, i, start, end, progress, cancel, self._block_size)
+               for i, (start, end) in enumerate(pieces)]
+      try:
+        await self._report_until_done(tasks, artifact, progress, total, started)
+      except BaseException as e:
+        cancel.set()
+        if isinstance(e, DownloadCancelled):
+          artifact.downloadProgress.canceling = True
+          self._set_progress(artifact, custom.ModelManagerSP.DownloadStatus.downloading, artifact.downloadProgress.progress)
+        for task in tasks:
+          task.cancel()  # drops queued pieces; running ones see the event at their next block
+        await asyncio.gather(*tasks, return_exceptions=True)
+        raise
+    del self._download_start_times[artifact.fileName]
 
   async def _process_artifact(self, artifact, destination_path: str) -> None:
     if not artifact.downloadUri.uri:
@@ -119,33 +245,31 @@ class ModelManagerSP:
     expected_hash = artifact.downloadUri.sha256
     filename = artifact.fileName
     full_path = os.path.join(destination_path, filename)
+    status = custom.ModelManagerSP.DownloadStatus
+    artifact.downloadProgress.canceling = False
 
     try:
+      self._set_progress(artifact, status.verifying, 0)
       if await verify_file(full_path, expected_hash):
-        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-        artifact.downloadProgress.progress = 100
-        artifact.downloadProgress.eta = 0
-        self._sync_artifact_progress(artifact)
-        self._report_status()
+        self._set_progress(artifact, status.cached, 100)
         return
 
+      self._set_progress(artifact, status.downloading, 0)
       await self._download_file(url, full_path, artifact)
+      self._set_progress(artifact, status.verifying, 99)
       if not await verify_file(full_path, expected_hash):
         raise ValueError(f"Hash validation failed for {filename}")
 
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      artifact.downloadProgress.progress = 100
-      artifact.downloadProgress.eta = 0
-      self._sync_artifact_progress(artifact)
-      self._report_status()
+      self._set_progress(artifact, status.downloaded, 100)
 
     except DownloadCancelled:
       self._download_start_times.pop(artifact.fileName, None)
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.status = status.failed
       artifact.downloadProgress.eta = 0
+      artifact.downloadProgress.speed = 0
       self._sync_artifact_progress(artifact)
       if self.selected_bundle:
-        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+        self.selected_bundle.status = status.failed
       self._report_status()
       raise
 
@@ -153,11 +277,12 @@ class ModelManagerSP:
       cloudlog.error(f"Error downloading {filename}: {str(e)}")
       if os.path.isfile(full_path):  # noqa: ASYNC240
         os.remove(full_path)
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.status = status.failed
       artifact.downloadProgress.eta = 0
+      artifact.downloadProgress.speed = 0
       self._sync_artifact_progress(artifact)
       if self.selected_bundle:
-        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+        self.selected_bundle.status = status.failed
       self._report_status()
       self._download_start_times.pop(artifact.fileName, None)
       raise
@@ -197,6 +322,7 @@ class ModelManagerSP:
           artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
           artifact.downloadProgress.progress = 100
           artifact.downloadProgress.eta = 0
+          artifact.downloadProgress.speed = 0
         else:
           seen_artifacts.add(artifact.fileName)
           await self._process_artifact(artifact, destination_path)
@@ -272,12 +398,7 @@ class ModelManagerSP:
         rk.keep_time()
 
   def clear_model_cache(self) -> None:
-    """
-    Clears the model cache directory of all files except those in the active model bundle.
-    """
-
-    # Get list of files used by both slots' selected bundles (either may become
-    # the truly active bundle depending on hardware availability)
+    """ Clears the model cache directory of all files except those in the active model bundle."""
     active_files = []
     for source in ACTIVE_BUNDLE_KEYS:
       if selected_bundle := get_selected_bundle(self.params, source):
@@ -285,7 +406,6 @@ class ModelManagerSP:
           if model.artifact.fileName:
             active_files.append(model.artifact.fileName)
 
-    # Remove all files except active ones
     model_dir = Paths.model_root()
     try:
       for filename in os.listdir(model_dir):

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -126,6 +126,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
   keys.extend([
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaTSS2Smooth",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]

openpilot/sunnypilot/selfdrive/controls/lib/auto_lane_change.py

@@ -10,6 +10,8 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 
 
+
+
 class AutoLaneChangeMode:
   OFF = -1
   NUDGE = 0  # default
@@ -31,6 +33,7 @@ AUTO_LANE_CHANGE_TIMER = {
 }
 
 ONE_SECOND_DELAY = -1
+EDGE_DELAY = -2
 
 
 class AutoLaneChangeController:
@@ -48,6 +51,7 @@ class AutoLaneChangeController:
     self.prev_brake_pressed = False
     self.auto_lane_change_allowed = False
     self.prev_lane_change = False
+    self.lane_change_blocked = False
 
     self.read_params()
 
@@ -68,7 +72,7 @@ class AutoLaneChangeController:
       self.read_params()
     self.param_read_counter += 1
 
-  def update_lane_change_timers(self, blindspot_detected: bool) -> None:
+  def update_lane_change_timers(self, blindspot_detected: bool, edge_detected: bool) -> None:
     self.lane_change_delay = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer,
                                                         AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGE])
 
@@ -80,6 +84,12 @@ class AutoLaneChangeController:
       else:
         self.lane_change_wait_timer = self.lane_change_delay + ONE_SECOND_DELAY
 
+    if edge_detected and self.lane_change_delay > 0:
+      if self.lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]:
+        self.lane_change_wait_timer = min(self.lane_change_wait_timer, EDGE_DELAY)
+      else:
+        self.lane_change_wait_timer = min(self.lane_change_wait_timer, self.lane_change_delay + EDGE_DELAY)
+
   def update_allowed(self) -> bool:
     # Auto lane change allowed if:
     # 1. A valid delay is set (non-zero)
@@ -97,14 +107,23 @@ class AutoLaneChangeController:
 
     return bool(self.lane_change_wait_timer > self.lane_change_delay)
 
-  def update_lane_change(self, blindspot_detected: bool, brake_pressed: bool) -> None:
+  def update_lane_change(self, blindspot_detected: bool, edge_detected: bool, brake_pressed: bool,
+                         torque_applied: bool = False) -> None:
     if brake_pressed and not self.prev_brake_pressed:
       self.prev_brake_pressed = brake_pressed
 
-    self.update_lane_change_timers(blindspot_detected)
+    self.update_lane_change_timers(blindspot_detected, edge_detected)
 
     self.auto_lane_change_allowed = self.update_allowed()
 
+    # BSM always blocks. Edge blocks auto mode but nudge can override.
+    if blindspot_detected:
+      self.lane_change_blocked = True
+    elif edge_detected:
+      self.lane_change_blocked = not torque_applied
+    else:
+      self.lane_change_blocked = False
+
   def update_state(self):
     if self.DH.lane_change_state == log.LaneChangeState.laneChangeStarting:
       self.prev_lane_change = True

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

@@ -8,7 +8,7 @@ from openpilot.common.parameterized import parameterized
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
-  AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY
+  AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY, EDGE_DELAY
 from openpilot.common.test import OpenpilotTestCase
 
 AUTO_LANE_CHANGE_TIMER_COMBOS = [
@@ -61,7 +61,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     # Update controller
     num_updates = int(5.0 / DT_MDL)
     for _ in range(num_updates):  # Run for 5 seconds
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # Mode should not allow lane change immediately
     assert not self.alc.auto_lane_change_allowed
@@ -74,11 +74,11 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     self.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGELESS
 
     # Update controller once to read params
-    self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+    self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # Update multiple times to exceed the timer threshold
     for _ in range(1):  # Should exceed 0.1s with multiple DT_MDL updates
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # Now lane change should be allowed
     assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
@@ -91,7 +91,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     self.alc.lane_change_set_timer = timer_state
 
     # Update controller once
-    self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+    self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # The timer should still be below the threshold after one update
     assert not self.alc.auto_lane_change_allowed
@@ -99,7 +99,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     # Update enough times to exceed the threshold (seconds / DT_MDL)
     num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # Now lane change should be allowed
     assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
@@ -116,7 +116,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
 
     # Update with brake pressed for 1 second
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=True)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=True)
 
     # Even though it is an auto lane change mode, lane change should be disallowed due to brake pressed prior initiating lane change
     assert not self.alc.auto_lane_change_allowed
@@ -126,7 +126,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
 
     # Even releasing brake shouldn't allow auto lane change
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     assert not self.alc.auto_lane_change_allowed
 
@@ -139,13 +139,13 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     self.alc.lane_change_set_timer = timer_state
 
     # Update with blindspot detected - this should prevent auto lane change
-    self.alc.update_lane_change(blindspot_detected=True, brake_pressed=False)
+    self.alc.update_lane_change(blindspot_detected=True, edge_detected=False, brake_pressed=False)
     assert not self.alc.auto_lane_change_allowed
 
     # Keep updating with blindspot detected - should still prevent auto lane change
     num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=True, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=True, edge_detected=False, brake_pressed=False)
     assert not self.alc.auto_lane_change_allowed
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
@@ -157,13 +157,13 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     self.alc.lane_change_set_timer = timer_state
 
     # First update with blindspot detected to set the negative timer
-    self.alc.update_lane_change(blindspot_detected=True, brake_pressed=False)
+    self.alc.update_lane_change(blindspot_detected=True, edge_detected=False, brake_pressed=False)
     assert not self.alc.auto_lane_change_allowed
 
     # Now update with blindspot cleared - should start incrementing timer from negative value
     num_updates = int((timer_delay + abs(ONE_SECOND_DELAY)) / DT_MDL) + 1
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # After sufficient updates with no blindspot, auto lane change should be allowed
     assert self.alc.auto_lane_change_allowed
@@ -177,7 +177,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
 
     # Update enough times to exceed the threshold (seconds / DT_MDL)
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # Now lane change should be allowed
     assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
@@ -193,7 +193,7 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
 
     # Update enough times to exceed the threshold (seconds / DT_MDL)
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     assert not self.alc.auto_lane_change_allowed
 
@@ -206,7 +206,86 @@ class TestAutoLaneChangeController(OpenpilotTestCase):
     # Simulate updates for a long period of time (e.g., 10 seconds)
     num_updates = int(10.0 / DT_MDL)
     for _ in range(num_updates):
-      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
 
     # Lane change should never be allowed
     assert not self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_edge_detected_delays_auto_lane_change(self, timer_state, timer_delay):
+    """Test that road edge detection adds delay to auto lane change."""
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = timer_state
+
+    # Update with edge detected - should prevent auto lane change
+    self.alc.update_lane_change(blindspot_detected=False, edge_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+    # Keep updating with edge detected - timer keeps resetting, should stay disallowed
+    num_updates = int(timer_delay / DT_MDL) + 1
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_edge_detected_then_cleared_allows_after_delay(self, timer_state, timer_delay):
+    """Test that auto lane change is allowed after edge clears plus extra delay."""
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = timer_state
+
+    # First update with edge detected to set the negative timer
+    self.alc.update_lane_change(blindspot_detected=False, edge_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+    # Now update with edge cleared - should start incrementing timer from negative value
+    num_updates = int((timer_delay + abs(EDGE_DELAY)) / DT_MDL) + 1
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
+
+    # After sufficient updates with no edge, auto lane change should be allowed
+    assert self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_edge_and_bsm_combined_uses_worst_delay(self, timer_state, timer_delay):
+    """Test that when both BSM and edge are detected, the worst (longest) delay wins."""
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = True
+    self.alc.lane_change_set_timer = timer_state
+
+    # Update with both blindspot and edge detected
+    self.alc.update_lane_change(blindspot_detected=True, edge_detected=True, brake_pressed=False)
+    assert not self.alc.auto_lane_change_allowed
+
+    # Clear both - need to wait out the worst delay
+    worst_delay = max(abs(ONE_SECOND_DELAY), abs(EDGE_DELAY))
+    num_updates = int((timer_delay + worst_delay) / DT_MDL) + 1
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, edge_detected=False, brake_pressed=False)
+
+    assert self.alc.auto_lane_change_allowed
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_nudge_overrides_edge_in_lane_change_blocked(self, timer_state, timer_delay):
+    """Test that lane_change_blocked is False when nudge applied with edge-only."""
+    self._reset_states()
+    self.alc.lane_change_set_timer = timer_state
+
+    # Edge detected, no nudge - should be blocked
+    self.alc.update_lane_change(blindspot_detected=False, edge_detected=True, brake_pressed=False, torque_applied=False)
+    assert self.alc.lane_change_blocked
+
+    # Edge detected, nudge applied - should NOT be blocked
+    self.alc.update_lane_change(blindspot_detected=False, edge_detected=True, brake_pressed=False, torque_applied=True)
+    assert not self.alc.lane_change_blocked
+
+  @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
+  def test_nudge_does_not_override_bsm_in_lane_change_blocked(self, timer_state, timer_delay):
+    """Test that lane_change_blocked stays True when BSM detected even with nudge."""
+    self._reset_states()
+    self.alc.lane_change_set_timer = timer_state
+
+    # BSM detected with nudge - should still be blocked
+    self.alc.update_lane_change(blindspot_detected=True, edge_detected=False, brake_pressed=False, torque_applied=True)
+    assert self.alc.lane_change_blocked

openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py

@@ -113,12 +113,56 @@ class TestDesireHelperIntegration(OpenpilotTestCase):
                 left_edge_detected=False, right_edge_detected=False)
     assert dh.desire == expected_desire
 
-  def test_edge_blocks_lane_change(self, set_lane_turn_params):
+  def test_nudge_overrides_edge_detection(self, set_lane_turn_params):
+    """Manual steering nudge should override road edge detection and allow lane change."""
     dh = DesireHelper()
     dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
     carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
     for _ in range(10):
       dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
-    assert dh.lane_change_state == LaneChangeState.preLaneChange
+    assert dh.lane_change_state == LaneChangeState.laneChangeStarting
     assert dh.lane_change_direction == LaneChangeDirection.left
+    assert dh.desire == log.Desire.laneChangeLeft
+
+  def test_nudge_does_not_override_bsm(self, set_lane_turn_params):
+    """Manual steering nudge must NOT override BSM blindspot detection."""
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    carstate = DummyCarState(vEgo=15, leftBlinker=True, leftBlindspot=True, steeringPressed=True, steeringTorque=1)
+    for _ in range(10):
+      dh.update(carstate, True, 1.0, left_edge_detected=False, right_edge_detected=False)
+    assert dh.lane_change_state == LaneChangeState.preLaneChange
     assert dh.desire == log.Desire.none
+
+  def test_edge_blocks_auto_lane_change(self, set_lane_turn_params):
+    """Road edge detection should still block auto (nudgeless) lane changes."""
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGELESS
+    dh.alc.param_read_counter = 1
+    carstate = DummyCarState(vEgo=15, leftBlinker=True)
+    for _ in range(10):
+      dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
+    assert dh.lane_change_state == LaneChangeState.preLaneChange
+    assert dh.desire == log.Desire.none
+
+  def test_auto_lane_change_allowed_without_edge(self, set_lane_turn_params):
+    """Auto lane change should proceed when no edge and no BSM detected."""
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGELESS
+    dh.alc.param_read_counter = 1
+    carstate = DummyCarState(vEgo=15, leftBlinker=True)
+    for _ in range(10):
+      dh.update(carstate, True, 1.0, left_edge_detected=False, right_edge_detected=False)
+    assert dh.lane_change_state == LaneChangeState.laneChangeStarting
+    assert dh.desire == log.Desire.laneChangeLeft
+
+  def test_right_edge_does_not_block_left_lane_change(self, set_lane_turn_params):
+    """Edge on opposite side should not affect lane change direction."""
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGELESS
+    dh.alc.param_read_counter = 1
+    carstate = DummyCarState(vEgo=15, leftBlinker=True)
+    for _ in range(10):
+      dh.update(carstate, True, 1.0, left_edge_detected=False, right_edge_detected=True)
+    assert dh.lane_change_state == LaneChangeState.laneChangeStarting
+    assert dh.desire == log.Desire.laneChangeLeft

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -32,7 +32,7 @@ from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MO
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
-from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
+from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS, CAR_CAPABILITY_FIELDS
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import generate_schema
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://athena.sunnylink.ai')
@@ -181,6 +181,7 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
+    schema["car_capability_fields"] = CAR_CAPABILITY_FIELDS
     schema["default_model"] = DEFAULT_MODEL
     schema["default_big_model"] = DEFAULT_BIG_MODEL
     schema["chestnut_active"] = params.get_bool("ChestnutActive")

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -10,6 +10,7 @@ from openpilot.cereal import custom, messaging
 from opendbc.car.structs import car
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
 from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
+from opendbc.car.toyota.values import CAR as TOYOTA_CAR, ToyotaFlags
 from opendbc.sunnypilot.car.interfaces import has_bsm
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.common.params import Params
@@ -43,6 +44,8 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
+  "toyota_tss2",
+  "custom_model_active",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -65,8 +68,29 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+  "toyota_tss2": "Toyota TSS2 platform",
+  "custom_model_active": "Non-Default model selected",
 }
 
+# Fields read from the car (CarParams*, CarPlatformBundle). Until a car is seen these stay at
+# their defaults, so a rule failing on one of them means "start the vehicle", not a real reason.
+CAR_CAPABILITY_FIELDS = (
+  "has_longitudinal_control",
+  "has_icbm",
+  "icbm_available",
+  "torque_allowed",
+  "brand",
+  "pcm_cruise",
+  "alpha_long_available",
+  "steer_control_type",
+  "has_bsm",
+  "tesla_has_vehicle_bus",
+  "has_stop_and_go",
+  "subaru_has_sng",
+  "hyundai_alpha_long_available",
+  "toyota_tss2",
+)
+
 # Explicit defaults for non-boolean capability fields
 CAPABILITY_DEFAULTS: dict[str, bool | str | int] = {
   "brand": "",
@@ -111,6 +135,15 @@ def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
       caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
       caps["has_stop_and_go"] = caps["subaru_has_sng"]
 
+  elif brand == "toyota":
+    if bundle_platform:
+      try:
+        caps["toyota_tss2"] = bool(TOYOTA_CAR[bundle_platform].config.flags & ToyotaFlags.TSS2)
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown toyota platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["toyota_tss2"] = bool(CP.flags & ToyotaFlags.TSS2)
+
 
 def generate_capabilities(params: Params | None = None) -> dict:
   """Generate a SettingsCapabilities dict from CarParams + boolean params.
@@ -133,6 +166,9 @@ def generate_capabilities(params: Params | None = None) -> dict:
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
 
+  # runner the manager launches (process_config.is_tinygrad_model); with a chestnut the big slot decides
+  caps["custom_model_active"] = params.get("ModelRunnerTypeCache") == custom.ModelManagerSP.Runner.tinygrad
+
   bundle = params.get("CarPlatformBundle")
   bundle_brand = _bundle_field(bundle, "brand")
   bundle_platform = _bundle_field(bundle, "platform")

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -2021,8 +2021,21 @@
         {
           "id": "model_behavior",
           "title": "Model Behavior",
-          "description": "Lane desire and lead-vehicle awareness tuning",
+          "description": "Lane desire, Blendful lane centering, and lead-vehicle awareness tuning",
           "items": [
+            {
+              "key": "Blendful",
+              "widget": "toggle",
+              "title": "Blendful (Alpha)",
+              "description": "Adds a gentle nudge toward lane center on top of the model's own steering, stronger when lane lines are clear. Yields around obstacles. Not available with the Default model.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "custom_model_active",
+                  "equals": true
+                }
+              ]
+            },
             {
               "key": "LaneTurnDesire",
               "widget": "toggle",
@@ -2324,6 +2337,33 @@
               "equals": false
             }
           ]
+        },
+        {
+          "key": "ToyotaTSS2Smooth",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "TSS2 Smooth Longitudinal (Alpha)",
+          "description": "Enable smoother longitudinal control for TSS2 vehicles. Uses a custom speed-dependent integral gain curve for smoother traffic driving.",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            },
+            {
+              "type": "capability",
+              "field": "has_longitudinal_control",
+              "equals": true
+            },
+            {
+              "type": "param",
+              "key": "ToyotaEnforceStockLongitudinal",
+              "equals": false
+            },
+            {
+              "type": "capability",
+              "field": "toyota_tss2",
+              "equals": true
+            }
+          ]
         }
       ]
     }

openpilot/sunnypilot/sunnylink/settings_ui_src/_macros.yaml

@@ -63,3 +63,7 @@ macros:
   release_branches_hide:
     - type: not
       condition: {type: capability, field: is_sp_release, equals: true}
+
+  # Gate for custom model features based on active source.
+  custom_model:
+    - { type: capability, field: custom_model_active, equals: true }

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/models.yaml

@@ -9,8 +9,14 @@ description: Driving model behavior and camera calibration
 sections:
 - id: model_behavior
   title: Model Behavior
-  description: Lane desire and lead-vehicle awareness tuning
+  description: Lane desire, Blendful lane centering, and lead-vehicle awareness tuning
   items:
+  - key: Blendful
+    widget: toggle
+    title: Blendful (Alpha)
+    description: Adds a gentle nudge toward lane center on top of the model's own steering, stronger when lane lines are clear. Yields around obstacles. Not available with the Default model.
+    enablement:
+      - $ref: '#/macros/custom_model'
   - key: LaneTurnDesire
     widget: toggle
     title: Use Lane Turn Desires

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -101,3 +101,18 @@ sections:
     - type: param
       key: ToyotaEnforceStockLongitudinal
       equals: false
+  - key: ToyotaTSS2Smooth
+    widget: toggle
+    needs_onroad_cycle: true
+    title: TSS2 Smooth Longitudinal (Alpha)
+    description: Enable smoother longitudinal control for TSS2 vehicles. Uses a custom speed-dependent integral gain curve
+      for smoother traffic driving.
+    enablement:
+    - $ref: '#/macros/not_engaged'
+    - $ref: '#/macros/longitudinal'
+    - type: param
+      key: ToyotaEnforceStockLongitudinal
+      equals: false
+    - type: capability
+      field: toyota_tss2
+      equals: true

openpilot/sunnypilot/sunnylink/tests/test_capabilities.py

@@ -17,6 +17,7 @@ from openpilot.sunnypilot.sunnylink.capabilities import (
   CAPABILITY_DEFAULTS,
   CAPABILITY_FIELDS,
   CAPABILITY_LABELS,
+  CAR_CAPABILITY_FIELDS,
   PROTOCOL_VERSION,
   generate_capabilities,
 )
@@ -75,6 +76,12 @@ class TestOpaquePerBrandFlags(OpenpilotTestCase):
   def test_hyundai_alpha_long_available_default_false(self, caps):
     assert caps["hyundai_alpha_long_available"] is False
 
+  def test_toyota_tss2_field_present(self):
+    assert "toyota_tss2" in CAPABILITY_FIELDS
+
+  def test_toyota_tss2_default_false(self, caps):
+    assert caps["toyota_tss2"] is False
+
 
 class TestCapabilitiesShape(OpenpilotTestCase):
   def test_all_fields_present(self, caps):
@@ -85,6 +92,10 @@ class TestCapabilitiesShape(OpenpilotTestCase):
     for field in CAPABILITY_FIELDS:
       assert field in CAPABILITY_LABELS, f"CAPABILITY_LABELS missing {field}"
 
+  def test_car_fields_are_capabilities(self):
+    assert set(CAR_CAPABILITY_FIELDS) <= set(CAPABILITY_FIELDS)
+    assert "custom_model_active" not in CAR_CAPABILITY_FIELDS
+
   def test_string_defaults_are_strings(self, caps):
     assert isinstance(caps["brand"], str)
     assert isinstance(caps["steer_control_type"], str)

openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py

@@ -207,6 +207,7 @@ class TestNotEngagedReplacement(OpenpilotTestCase):
     "AlphaLongitudinalEnabled",
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
+    "ToyotaTSS2Smooth",
   ], names=["key"])
   def test_offroad_only_replaced_with_not_engaged(self, schema, key):
     """These items should use not_engaged, not offroad_only."""

openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py

@@ -286,6 +286,7 @@ class TestKnownVehicleSettings(OpenpilotTestCase):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("toyota"))}
     assert "ToyotaEnforceStockLongitudinal" in keys
     assert "ToyotaStopAndGoHack" in keys
+    assert "ToyotaTSS2Smooth" in keys
 
   def test_tesla_has_coop_steering(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("tesla"))}

openpilot/system/ui/sunnypilot/widgets/download_status.py

@@ -57,7 +57,7 @@ class DownloadStatusAction(ItemAction):
     self.icon: str | None = None
     self.icon_color: rl.Color | None = None
     self._font = gui_app.font(FontWeight.NORMAL)
-    # raw progress arrives in steps, one per 128KB chunk the manager publishes
+    # raw progress arrives in steps, one per progress report from the manager
     self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
     # integrated per frame; (t * speed) % span jumps whenever the fill width changes
     self._sweep = 0.0