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6 Commits
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1
.gitmodules
vendored
1
.gitmodules
vendored
@@ -4,7 +4,6 @@
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[submodule "opendbc"]
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path = opendbc_repo
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url = https://github.com/sunnypilot/opendbc.git
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branch = tn
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[submodule "msgq"]
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path = msgq_repo
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url = https://github.com/commaai/msgq.git
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@@ -1,6 +1,6 @@
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Version 0.11.2 (2026-06-15)
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========================
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* Acceleration Profile: select Eco, Normal, or Sport personality to shape acceleration briskness and gentle (ACC) deceleration
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Version 0.11.1 (2026-05-18)
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========================
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@@ -194,7 +194,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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aTarget @5 :Float32;
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events @6 :List(OnroadEventSP.Event);
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e2eAlerts @7 :E2eAlerts;
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acceleration @8 :Acceleration;
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struct DynamicExperimentalControl {
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state @0 :DynamicExperimentalControlState;
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@@ -297,18 +296,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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greenLightAlert @0 :Bool;
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leadDepartAlert @1 :Bool;
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}
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struct Acceleration {
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personality @0 :AccelerationPersonality;
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enabled @1 :Bool;
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maxAccel @2 :Float32;
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}
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enum AccelerationPersonality {
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eco @0;
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normal @1;
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sport @2;
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}
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}
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struct OnroadEventSP @0xda96579883444c35 {
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@@ -355,7 +342,6 @@ struct OnroadEventSP @0xda96579883444c35 {
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speedLimitChanged @21;
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speedLimitPending @22;
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e2eChime @23;
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laneChangeRoadEdge @24;
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}
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}
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@@ -462,8 +448,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
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struct ModelDataV2SP @0xa1680744031fdb2d {
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laneTurnDirection @0 :TurnDirection;
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leftLaneChangeEdgeBlock @1 :Bool;
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rightLaneChangeEdgeBlock @2 :Bool;
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enum TurnDirection {
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none @0;
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@@ -179,19 +179,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
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// toyota specific params
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{"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
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// MADS params
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{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
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{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
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@@ -233,9 +226,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"AccelPersonality", {PERSISTENT | BACKUP, INT, "1"}},
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{"RadarDistance", {PERSISTENT | BACKUP, BOOL, "0"}},
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{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
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// sunnypilot model params
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|
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236
docs/CARS.md
236
docs/CARS.md
@@ -4,24 +4,24 @@
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|
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 340 Supported Cars
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# 341 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
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@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
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|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
|
||||
@@ -279,8 +280,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -312,60 +313,61 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Submodule opendbc_repo updated: d552186903...b9712d20ef
@@ -10,7 +10,7 @@ from cereal import car, log, custom
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
@@ -121,13 +121,7 @@ class Car:
|
||||
self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
|
||||
self.RI = RI
|
||||
|
||||
# set alternative experiences from parameters
|
||||
sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
|
||||
self.CP.alternativeExperience = 0
|
||||
if sp_toyota_auto_brake_hold:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
|
||||
|
||||
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.honda.values import HondaFlags
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.structs import car
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from opendbc.car.values import Platform, PLATFORMS
|
||||
@@ -358,7 +358,13 @@ class TestCarModelBase(unittest.TestCase):
|
||||
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
|
||||
|
||||
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
|
||||
self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
|
||||
brake_pressed = False
|
||||
|
||||
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
|
||||
|
||||
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
@@ -442,7 +448,12 @@ class TestCarModelBase(unittest.TestCase):
|
||||
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
|
||||
angle_can < (self.safety.get_angle_meas_min() - 1))
|
||||
|
||||
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
|
||||
|
||||
|
||||
@@ -56,7 +56,7 @@ class DesireHelper:
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
@@ -88,8 +88,8 @@ 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)
|
||||
|
||||
|
||||
@@ -70,9 +70,6 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
|
||||
raise NotImplementedError("Longitudinal personality not supported")
|
||||
|
||||
|
||||
T_FOLLOW_MIN = 0.9 # safety floor for follow time after any sunnypilot tier offset
|
||||
|
||||
|
||||
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
|
||||
if personality==log.LongitudinalPersonality.relaxed:
|
||||
return 1.75
|
||||
|
||||
@@ -110,7 +110,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
accel_clip = [ACCEL_MIN, self.accel.get_max_accel(v_ego)]
|
||||
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
|
||||
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
|
||||
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
|
||||
|
||||
@@ -138,8 +138,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
radarstate = self.smooth_radarstate(sm['radarState'])
|
||||
self.mpc.update(radarstate, v_cruise, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -161,8 +160,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
is_e2e = self.is_e2e(sm)
|
||||
if is_e2e:
|
||||
if self.is_e2e(sm):
|
||||
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
|
||||
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
|
||||
if output_a_target < output_a_target_mpc:
|
||||
@@ -171,13 +169,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
|
||||
output_a_target = self.accel.smooth_target_accel(output_a_target, self.a_desired_trajectory, CONTROL_N_T_IDX,
|
||||
self.output_should_stop or force_slow_decel, reset=reset_state, stock_brake=is_e2e)
|
||||
|
||||
# Lower (braking) bound and the ceiling's downward slew stay at the stock rate; only the ceiling's
|
||||
# upward slew is tier-dependent (Acceleration Personality).
|
||||
accel_clip[0] = np.clip(accel_clip[0], self.prev_accel_clip[0] - 0.05, self.prev_accel_clip[0] + 0.05)
|
||||
accel_clip[1] = np.clip(accel_clip[1], self.prev_accel_clip[1] - 0.05, self.prev_accel_clip[1] + self.accel.get_rise_rate())
|
||||
for idx in range(2):
|
||||
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
|
||||
self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
|
||||
self.prev_accel_clip = accel_clip
|
||||
|
||||
|
||||
@@ -321,16 +321,9 @@ class SelfdriveD(CruiseHelper):
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
direction = self.sm['modelV2'].meta.laneChangeDirection
|
||||
mdv2sp = self.sm['modelDataV2SP']
|
||||
|
||||
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
self.events.add(EventName.laneChangeBlocked)
|
||||
|
||||
elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
|
||||
(mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
|
||||
|
||||
else:
|
||||
if direction == LaneChangeDirection.left:
|
||||
self.events.add(EventName.preLaneChangeLeft)
|
||||
|
||||
@@ -35,13 +35,6 @@ DESCRIPTIONS = {
|
||||
'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
|
||||
"IsMetric": tr_noop("Display speed in km/h instead of mph."),
|
||||
"RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
|
||||
"AccelPersonalityEnabled": tr_noop(
|
||||
"Enable the Acceleration Profile selector below. When off, sunnypilot uses its default (Normal) acceleration and deceleration behavior."
|
||||
),
|
||||
"AccelPersonality": tr_noop(
|
||||
"Sets how sunnypilot accelerates and eases into comfort braking. Eco is gentler, Normal matches the default profile, " +
|
||||
"and Sport responds more briskly while still smoothing non-emergency deceleration."
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
@@ -71,12 +64,6 @@ class TogglesLayout(Widget):
|
||||
"disengage_on_accelerator.png",
|
||||
False,
|
||||
),
|
||||
"AccelPersonalityEnabled": (
|
||||
lambda: tr("Enable Acceleration Profile"),
|
||||
DESCRIPTIONS["AccelPersonalityEnabled"],
|
||||
"speed_limit.png",
|
||||
False,
|
||||
),
|
||||
"IsLdwEnabled": (
|
||||
lambda: tr("Enable Lane Departure Warnings"),
|
||||
DESCRIPTIONS["IsLdwEnabled"],
|
||||
@@ -119,16 +106,6 @@ class TogglesLayout(Widget):
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._accel_personality_setting = multiple_button_item(
|
||||
lambda: tr("Acceleration Profile"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonality"]),
|
||||
buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
|
||||
button_width=300,
|
||||
callback=self._set_accel_personality,
|
||||
selected_index=self._params.get("AccelPersonality", return_default=True),
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._toggles = {}
|
||||
self._locked_toggles = set()
|
||||
for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
|
||||
@@ -162,10 +139,6 @@ class TogglesLayout(Widget):
|
||||
if param == "DisengageOnAccelerator":
|
||||
self._toggles["LongitudinalPersonality"] = self._long_personality_setting
|
||||
|
||||
# insert acceleration profile selector after its enable toggle
|
||||
if param == "AccelPersonalityEnabled":
|
||||
self._toggles["AccelPersonality"] = self._accel_personality_setting
|
||||
|
||||
self._update_experimental_mode_icon()
|
||||
self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
|
||||
|
||||
@@ -203,13 +176,11 @@ class TogglesLayout(Widget):
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(True)
|
||||
self._toggles["ExperimentalMode"].set_description(e2e_description)
|
||||
self._long_personality_setting.action_item.set_enabled(True)
|
||||
self._accel_personality_setting.action_item.set_enabled(True)
|
||||
else:
|
||||
# no long for now
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(False)
|
||||
self._toggles["ExperimentalMode"].action_item.set_state(False)
|
||||
self._long_personality_setting.action_item.set_enabled(False)
|
||||
self._accel_personality_setting.action_item.set_enabled(False)
|
||||
self._params.remove("ExperimentalMode")
|
||||
|
||||
unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
|
||||
@@ -276,6 +247,3 @@ class TogglesLayout(Widget):
|
||||
|
||||
def _set_longitudinal_personality(self, button_index: int):
|
||||
self._params.put("LongitudinalPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_personality(self, button_index: int):
|
||||
self._params.put("AccelPersonality", button_index, block=True)
|
||||
|
||||
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView
|
||||
|
||||
ONROAD_DELAY = 2.5 # seconds
|
||||
|
||||
@@ -119,15 +118,13 @@ class MiciMainLayout(Scroller):
|
||||
|
||||
# FIXME: these two pops can interrupt user interacting in the settings
|
||||
if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
|
||||
if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
self._onroad_time_delay = None
|
||||
|
||||
# When car leaves standstill, pop nav stack and scroll to onroad
|
||||
CS = ui_state.sm["carState"]
|
||||
if not CS.standstill and self._prev_standstill:
|
||||
if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
self._prev_standstill = CS.standstill
|
||||
|
||||
def _on_interactive_timeout(self):
|
||||
|
||||
@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
|
||||
|
||||
enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
|
||||
nnlc_enabled = self._nnlc_toggle.action_item.get_state()
|
||||
if enforce_torque_enabled and nnlc_enabled:
|
||||
self._torque_control_toggle.action_item.set_state(False)
|
||||
self._nnlc_toggle.action_item.set_state(False)
|
||||
enforce_torque_enabled = False
|
||||
nnlc_enabled = False
|
||||
self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
|
||||
self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
|
||||
self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
|
||||
|
||||
@@ -51,17 +51,11 @@ class LaneChangeSettingsLayout(Widget):
|
||||
description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
|
||||
"(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
|
||||
)
|
||||
self._road_edge_block = toggle_item_sp(
|
||||
param="RoadEdgeLaneChangeEnabled",
|
||||
title=lambda: tr("Block Lane Change: Road Edge Detection"),
|
||||
description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
|
||||
)
|
||||
|
||||
items = [
|
||||
self._lane_change_timer,
|
||||
LineSeparatorSP(40),
|
||||
self._bsm_delay,
|
||||
self._road_edge_block,
|
||||
]
|
||||
|
||||
return items
|
||||
|
||||
@@ -1,13 +0,0 @@
|
||||
"""
|
||||
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.
|
||||
"""
|
||||
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
|
||||
|
||||
class MiciMainLayoutSP(MiciMainLayout):
|
||||
def _should_auto_scroll_to_onroad(self) -> bool:
|
||||
return not self._onroad_layout.is_on_info_panel()
|
||||
@@ -1,63 +0,0 @@
|
||||
"""
|
||||
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 pyray as rl
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
|
||||
|
||||
CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
|
||||
HORIZONTAL_SETTLE_PX = 5
|
||||
HORIZONTAL_RESET_RATIO = 0.5
|
||||
|
||||
|
||||
class OnroadViewContainerSP(ScrollerSP):
|
||||
def __init__(self, bookmark_callback=None):
|
||||
super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
|
||||
self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
|
||||
self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self.road_view,
|
||||
self.onroad_info_panel,
|
||||
])
|
||||
self._scroller.set_reset_scroll_at_show(False)
|
||||
self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
|
||||
|
||||
for child in (self.road_view, self.onroad_info_panel):
|
||||
inner_touch_valid = child._touch_valid_callback
|
||||
child.set_touch_valid_callback(
|
||||
lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
|
||||
)
|
||||
|
||||
def set_rect(self, rect: rl.Rectangle):
|
||||
super().set_rect(rect)
|
||||
self.road_view.set_rect(rect)
|
||||
self.onroad_info_panel.set_rect(rect)
|
||||
return self
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
|
||||
|
||||
def set_click_callback(self, callback) -> None:
|
||||
self.road_view.set_click_callback(callback)
|
||||
self.onroad_info_panel.set_click_callback(callback)
|
||||
|
||||
def is_on_info_panel(self) -> bool:
|
||||
"""True when scrolled past halfway toward onroad_info_panel (used by main layout
|
||||
to skip auto-pop-back-to-camera while user is reading the info panel)."""
|
||||
return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
|
||||
self._scroller.scroll_panel.set_offset(0)
|
||||
|
||||
vertical_offset = self._scroller.scroll_panel.get_offset()
|
||||
show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
|
||||
self.road_view.set_show_confidence_ball(show_ball)
|
||||
|
||||
super()._render(rect)
|
||||
@@ -1,324 +0,0 @@
|
||||
"""
|
||||
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 pyray as rl
|
||||
from dataclasses import dataclass
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.application import MousePos
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
|
||||
|
||||
METER_TO_KM = 0.001
|
||||
METER_TO_MILE = 0.000621371
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class OnroadInfoPanelColors:
|
||||
white: rl.Color = rl.WHITE
|
||||
black: rl.Color = rl.BLACK
|
||||
red: rl.Color = rl.Color(255, 0, 0, 255)
|
||||
green: rl.Color = rl.Color(0, 255, 0, 255)
|
||||
grey: rl.Color = rl.Color(190, 195, 190, 255)
|
||||
light_grey: rl.Color = rl.Color(200, 200, 200, 255)
|
||||
dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
|
||||
bg_dark: rl.Color = rl.Color(0, 0, 0, 255)
|
||||
card_bg: rl.Color = rl.Color(50, 50, 50, 200)
|
||||
badge_bg: rl.Color = rl.Color(60, 60, 60, 255)
|
||||
|
||||
|
||||
COLORS = OnroadInfoPanelColors()
|
||||
|
||||
|
||||
class OnroadInfoPanel(Widget):
|
||||
def __init__(self, bookmark_callback=None):
|
||||
super().__init__()
|
||||
self.speed_limit: float = 0.0
|
||||
self.speed_limit_valid: bool = False
|
||||
self.speed_limit_offset: float = 0.0
|
||||
self.next_speed_limit: float = 0.0
|
||||
self.next_speed_limit_distance: float = 0.0
|
||||
self.road_name: str = ""
|
||||
self.current_speed: float = 0.0
|
||||
self.set_speed: float = 0.0
|
||||
self.cruise_enabled: bool = False
|
||||
|
||||
self._sign_slide: float = 0.0
|
||||
|
||||
self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
|
||||
self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
|
||||
|
||||
self._marquee_offset: float = 0.0
|
||||
self._marquee_direction: int = 1
|
||||
self._marquee_pause_timer: float = 0.0
|
||||
self._marquee_speed: float = 40.0
|
||||
self._marquee_pause_duration: float = 1.5
|
||||
|
||||
self._alert_renderer = AlertRenderer()
|
||||
self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
|
||||
|
||||
self._bookmark_icon = BookmarkIcon(bookmark_callback)
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
return self._bookmark_icon.is_swiping_left()
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
|
||||
# Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
|
||||
if not self._bookmark_icon.interacting():
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _update_state(self) -> None:
|
||||
sm = ui_state.sm
|
||||
speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
|
||||
|
||||
if sm.valid["longitudinalPlanSP"]:
|
||||
lp_sp = sm["longitudinalPlanSP"]
|
||||
resolver = lp_sp.speedLimit.resolver
|
||||
self.speed_limit = resolver.speedLimit * speed_conv
|
||||
self.speed_limit_valid = resolver.speedLimitValid
|
||||
self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
|
||||
|
||||
if sm.valid["liveMapDataSP"]:
|
||||
lmd = sm["liveMapDataSP"]
|
||||
self.next_speed_limit = lmd.speedLimitAhead * speed_conv
|
||||
self.next_speed_limit_distance = lmd.speedLimitAheadDistance
|
||||
self.road_name = lmd.roadName
|
||||
|
||||
if sm.updated["carState"]:
|
||||
self.current_speed = sm["carState"].vEgo * speed_conv
|
||||
|
||||
if sm.valid["carState"] and sm.valid["controlsState"]:
|
||||
self.cruise_enabled = sm["carState"].cruiseState.enabled
|
||||
v_cruise_cluster = sm["carState"].vCruiseCluster
|
||||
set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
self._update_state()
|
||||
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
|
||||
margin = 20
|
||||
mid_y = rect.y + rect.height / 2
|
||||
|
||||
left_x = rect.x + margin
|
||||
|
||||
if self.cruise_enabled:
|
||||
unit = tr("MAX")
|
||||
display_speed = self.set_speed
|
||||
else:
|
||||
unit = tr("km/h") if ui_state.is_metric else tr("MPH")
|
||||
display_speed = self.current_speed
|
||||
|
||||
speed_val = str(round(display_speed))
|
||||
if self.speed_limit_valid and display_speed > self.speed_limit:
|
||||
speed_color = COLORS.red
|
||||
else:
|
||||
speed_color = COLORS.white
|
||||
|
||||
rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, mid_y - 95), 38, 0, COLORS.grey)
|
||||
rl.draw_text_ex(self._font_bold, speed_val, rl.Vector2(left_x, mid_y - 60), 110, 0, speed_color)
|
||||
|
||||
sign_width = 135
|
||||
sign_height = 135 if ui_state.is_metric else 175
|
||||
|
||||
has_next = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
|
||||
target_slide = 1.0 if has_next else 0.0
|
||||
slide_speed = 3.0 * rl.get_frame_time()
|
||||
if self._sign_slide < target_slide:
|
||||
self._sign_slide = min(self._sign_slide + slide_speed, target_slide)
|
||||
elif self._sign_slide > target_slide:
|
||||
self._sign_slide = max(self._sign_slide - slide_speed, target_slide)
|
||||
|
||||
next_w = int(sign_width * 0.7)
|
||||
next_h = int(sign_height * 0.7)
|
||||
next_peek = int(next_w * 0.85) + 5
|
||||
centered_x = rect.x + rect.width - sign_width - margin
|
||||
shifted_x = rect.x + rect.width - sign_width - margin - next_peek
|
||||
sign_x = centered_x + (shifted_x - centered_x) * self._sign_slide
|
||||
sign_y = rect.y + (rect.height - sign_height) / 2
|
||||
|
||||
road_y = mid_y + 55
|
||||
road_width = sign_x - left_x - margin
|
||||
self._draw_road_name(left_x, road_y, road_width)
|
||||
|
||||
if has_next and self._sign_slide > 0.01:
|
||||
next_val = str(round(self.next_speed_limit))
|
||||
dist_str = self._format_distance(self.next_speed_limit_distance)
|
||||
next_x = sign_x + sign_width - int(next_w * 0.15)
|
||||
next_y = sign_y + (sign_height - next_h) / 2
|
||||
|
||||
next_speed_color = COLORS.black
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
|
||||
else:
|
||||
self._draw_mutcd_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
|
||||
|
||||
dist_size = measure_text_cached(self._font_medium, dist_str, 24)
|
||||
rl.draw_text_ex(self._font_medium, dist_str, rl.Vector2(next_x + next_w / 2 - dist_size.x / 2, next_y + next_h + 4), 24, 0, COLORS.grey)
|
||||
|
||||
self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
|
||||
|
||||
if self.speed_limit_offset != 0 and self.speed_limit_valid:
|
||||
offset_val = str(abs(round(self.speed_limit_offset)))
|
||||
badge_sz = 42
|
||||
badge_x = sign_x + sign_width - badge_sz * 0.85
|
||||
badge_y = sign_y - badge_sz * 0.25
|
||||
|
||||
if ui_state.is_metric:
|
||||
badge_r = badge_sz / 2
|
||||
badge_cx = badge_x + badge_r
|
||||
badge_cy = badge_y + badge_r
|
||||
rl.draw_circle(int(badge_cx), int(badge_cy), badge_r + 2, COLORS.dark_grey)
|
||||
rl.draw_circle(int(badge_cx), int(badge_cy), badge_r, COLORS.badge_bg)
|
||||
self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(badge_cx, badge_cy), COLORS.white)
|
||||
else:
|
||||
mutcd_badge_x = sign_x + sign_width - badge_sz * 0.65
|
||||
mutcd_badge_y = sign_y - badge_sz * 0.50
|
||||
badge_rect = rl.Rectangle(mutcd_badge_x, mutcd_badge_y, badge_sz, badge_sz)
|
||||
rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
|
||||
rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
|
||||
self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(mutcd_badge_x + badge_sz / 2, mutcd_badge_y + badge_sz / 2), COLORS.white)
|
||||
|
||||
# SCC
|
||||
speed_size = measure_text_cached(self._font_bold, speed_val, 110)
|
||||
scc_x = left_x + speed_size.x + 30
|
||||
scc_y = mid_y - 50
|
||||
self._draw_scc_icons(scc_x, scc_y)
|
||||
|
||||
self._bookmark_icon.render(rect)
|
||||
|
||||
if ui_state.started:
|
||||
alert_obj, no_alert = self._alert_renderer.will_render()
|
||||
self._alert_alpha_filter.update(0 if no_alert else 1)
|
||||
alpha = self._alert_alpha_filter.x
|
||||
if alpha > 0.01:
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
|
||||
self._alert_renderer.render(rect)
|
||||
|
||||
def _draw_scc_icons(self, x: float, y: float) -> None:
|
||||
sm = ui_state.sm
|
||||
if not sm.valid["longitudinalPlanSP"]:
|
||||
return
|
||||
scc = sm["longitudinalPlanSP"].smartCruiseControl
|
||||
|
||||
box_w, box_h = 100, 36
|
||||
gap = 6
|
||||
drawn = 0
|
||||
|
||||
for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
|
||||
if not active:
|
||||
continue
|
||||
bx = x
|
||||
by = y + drawn * (box_h + gap)
|
||||
rl.draw_rectangle_rounded(rl.Rectangle(bx, by, box_w, box_h), 0.3, 10, COLORS.green)
|
||||
self._draw_text_centered(self._font_bold, label, 20, rl.Vector2(bx + box_w / 2, by + box_h / 2), COLORS.black)
|
||||
drawn += 1
|
||||
|
||||
def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
|
||||
speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
|
||||
speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
|
||||
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
else:
|
||||
self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
|
||||
def _draw_road_name(self, x: float, y: float, width: float) -> None:
|
||||
road_display = self.road_name if self.road_name else "--"
|
||||
font_size = 30
|
||||
road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
|
||||
text_width = road_size.x
|
||||
|
||||
if text_width <= width:
|
||||
self._marquee_offset = 0.0
|
||||
self._marquee_direction = 1
|
||||
self._marquee_pause_timer = 0.0
|
||||
rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
|
||||
else:
|
||||
overflow = text_width - width
|
||||
dt = rl.get_frame_time()
|
||||
|
||||
if self._marquee_pause_timer > 0:
|
||||
self._marquee_pause_timer -= dt
|
||||
else:
|
||||
self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
|
||||
|
||||
if self._marquee_offset >= overflow:
|
||||
self._marquee_offset = overflow
|
||||
self._marquee_direction = -1
|
||||
self._marquee_pause_timer = self._marquee_pause_duration
|
||||
elif self._marquee_offset <= 0:
|
||||
self._marquee_offset = 0
|
||||
self._marquee_direction = 1
|
||||
self._marquee_pause_timer = self._marquee_pause_duration
|
||||
|
||||
rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
|
||||
text_pos = rl.Vector2(x - self._marquee_offset, y)
|
||||
rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
|
||||
rl.end_scissor_mode()
|
||||
|
||||
def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
center = rl.Vector2(x + width / 2, y + height / 2)
|
||||
outer_radius = min(width, height) / 2
|
||||
|
||||
rl.draw_circle_v(center, outer_radius, COLORS.white)
|
||||
ring_width = outer_radius * 0.18
|
||||
rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
|
||||
|
||||
font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
|
||||
text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
|
||||
text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
|
||||
|
||||
def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
sign_rect = rl.Rectangle(x, y, width, height)
|
||||
rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
|
||||
|
||||
inset = max(4, width * 0.05)
|
||||
inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
|
||||
outer_radius = 0.35 * width / 2.0
|
||||
inner_radius = outer_radius - inset
|
||||
inner_roundness = inner_radius / (inner_rect.width / 2.0)
|
||||
rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
|
||||
|
||||
mid_x = x + width / 2
|
||||
label_size = max(18, int(width * 0.26))
|
||||
if is_upcoming:
|
||||
self._draw_text_centered(self._font_bold, tr("AHEAD"), label_size, rl.Vector2(mid_x, y + height * 0.27), COLORS.black)
|
||||
else:
|
||||
self._draw_text_centered(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black)
|
||||
self._draw_text_centered(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black)
|
||||
|
||||
speed_font_size = int(width * 0.52) if len(speed_str) >= 3 else int(width * 0.62)
|
||||
self._draw_text_centered(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color)
|
||||
|
||||
def _draw_text_centered(self, font, text, size, pos_center, color):
|
||||
sz = measure_text_cached(font, text, size)
|
||||
rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
|
||||
|
||||
def _format_distance(self, distance: float) -> str:
|
||||
if ui_state.is_metric:
|
||||
if distance < 50:
|
||||
return tr("Near")
|
||||
if distance >= 1000:
|
||||
return f"{distance * METER_TO_KM:.1f}" + tr("km")
|
||||
if distance < 200:
|
||||
rounded = max(10, int(distance / 10) * 10)
|
||||
else:
|
||||
rounded = int(distance / 100) * 100
|
||||
return str(rounded) + tr("m")
|
||||
else:
|
||||
distance_mi = distance * METER_TO_MILE
|
||||
if distance_mi < 0.1:
|
||||
return tr("Near")
|
||||
return f"{distance_mi:.1f}" + tr("mi")
|
||||
@@ -1,30 +0,0 @@
|
||||
"""
|
||||
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 pyray as rl
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
|
||||
|
||||
|
||||
class _SuppressedConfidenceBall:
|
||||
def render(self, *_):
|
||||
pass
|
||||
|
||||
|
||||
class AugmentedRoadViewSP(AugmentedRoadView):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._show_confidence_ball: bool = True
|
||||
self._real_confidence_ball = self._confidence_ball
|
||||
self._confidence_ball = _SuppressedConfidenceBall()
|
||||
|
||||
def set_show_confidence_ball(self, show: bool) -> None:
|
||||
self._show_confidence_ball = show
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
super()._render(rect)
|
||||
if self._show_confidence_ball:
|
||||
self._real_confidence_ball.render(self.rect)
|
||||
@@ -1,34 +0,0 @@
|
||||
"""
|
||||
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 pyray as rl
|
||||
from openpilot.system.ui.lib.application import MouseEvent
|
||||
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
|
||||
|
||||
|
||||
class GuiScrollPanel2SP(GuiScrollPanel2):
|
||||
"""Reject orthogonal-dominant drags so nested scrollers (outer horizontal +
|
||||
inner vertical) don't both engage on a slightly diagonal swipe.
|
||||
|
||||
Implemented as a post-super state rollback rather than reimplementing the
|
||||
PRESSED state machine — keeps stock behaviour authoritative."""
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
|
||||
content_size: float) -> None:
|
||||
pre_state = self._state
|
||||
super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
|
||||
|
||||
if self._state == ScrollState.MANUAL_SCROLL and pre_state == ScrollState.PRESSED and \
|
||||
self._initial_click_event is not None:
|
||||
diff_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
|
||||
diff_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
|
||||
along = diff_x if self._horizontal else diff_y
|
||||
anti = diff_y if self._horizontal else diff_x
|
||||
if anti > along:
|
||||
self._state = ScrollState.STEADY
|
||||
self._velocity = 0.0
|
||||
self._velocity_buffer.clear()
|
||||
@@ -1,16 +0,0 @@
|
||||
"""
|
||||
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.
|
||||
"""
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class ScrollerSP(Scroller):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
inner = self._scroller
|
||||
inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)
|
||||
@@ -179,6 +179,10 @@ class UIStateSP:
|
||||
CP = self.CP
|
||||
|
||||
if CP is not None:
|
||||
if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
|
||||
self.params.put_bool("EnforceTorqueControl", False, block=True)
|
||||
self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
|
||||
|
||||
# Angle steering: no torque-based lateral controls
|
||||
if CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
|
||||
@@ -10,9 +10,6 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
|
||||
|
||||
BIG_UI = gui_app.big_ui()
|
||||
|
||||
|
||||
|
||||
@@ -188,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
n_frames = img_shape[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
|
||||
|
||||
npy_keys = {}
|
||||
numpy_keys = {}
|
||||
queue_keys = {}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
@@ -196,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
continue
|
||||
if len(shape) == 3 and shape[1] > 1:
|
||||
if key.startswith('desire'):
|
||||
npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
queue_keys[f'{key}_q'] = Tensor(
|
||||
np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
@@ -205,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
else:
|
||||
npy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
elif len(shape) == 2:
|
||||
npy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
if 'traffic_convention' not in npy_keys:
|
||||
if 'traffic_convention' not in numpy_keys:
|
||||
tc_shape = input_shapes.get('traffic_convention', (1, 2))
|
||||
npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
|
||||
npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**queue_keys,
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
|
||||
}
|
||||
return input_queues, npy_keys
|
||||
return input_queues, numpy_keys
|
||||
|
||||
|
||||
def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
|
||||
|
||||
@@ -40,7 +40,6 @@ from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelp
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
|
||||
|
||||
@@ -63,11 +62,6 @@ def _find_driving_pkl(bundle):
|
||||
if _pkl_exists(pkl_path):
|
||||
return pkl_path
|
||||
|
||||
fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
|
||||
if _pkl_exists(fallback):
|
||||
return fallback
|
||||
return None
|
||||
|
||||
|
||||
class FrameMeta:
|
||||
frame_id: int = 0
|
||||
@@ -126,7 +120,7 @@ class ModelState(ModelStateBase):
|
||||
self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
|
||||
frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
|
||||
self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
else:
|
||||
vision_metadata = metadata['vision']
|
||||
policy_keys = [k for k in metadata if k != 'vision']
|
||||
@@ -144,7 +138,7 @@ class ModelState(ModelStateBase):
|
||||
policy_input_shapes = first_policy_metadata['input_shapes']
|
||||
self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
|
||||
frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
|
||||
self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
|
||||
@@ -184,7 +178,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
@property
|
||||
def desire_key(self) -> str:
|
||||
return next(k for k in self.npy if k.startswith('desire'))
|
||||
return next(k for k in self.numpy_inputs if k.startswith('desire'))
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
@@ -200,16 +194,16 @@ class ModelState(ModelStateBase):
|
||||
|
||||
desire_key = self.desire_key
|
||||
inputs[desire_key][0] = 0
|
||||
self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.prev_desire[:] = inputs[desire_key]
|
||||
for key in ('traffic_convention', 'lateral_control_params'):
|
||||
if key in self.npy and key in inputs:
|
||||
self.npy[key][:] = inputs[key]
|
||||
if key in self.numpy_inputs and key in inputs:
|
||||
self.numpy_inputs[key][:] = inputs[key]
|
||||
|
||||
road_key = next(n for n in bufs if 'big' not in n)
|
||||
wide_key = next(n for n in bufs if 'big' in n)
|
||||
self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
|
||||
if prepare_only:
|
||||
self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
@@ -237,8 +231,8 @@ class ModelState(ModelStateBase):
|
||||
if 'planplus' in outputs and 'plan' in outputs:
|
||||
outputs['plan'] = outputs['plan'] + outputs['planplus']
|
||||
|
||||
if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
|
||||
buf = self.npy['prev_desired_curv']
|
||||
if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
|
||||
buf = self.numpy_inputs['prev_desired_curv']
|
||||
buf[0, :-1] = buf[0, 1:]
|
||||
buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
|
||||
|
||||
@@ -330,7 +324,6 @@ def main(demo=False):
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
DH = DesireHelper()
|
||||
RELC = RoadEdgeLaneChangeController(DH)
|
||||
meta_constants = load_meta_constants()
|
||||
|
||||
while True:
|
||||
@@ -411,7 +404,7 @@ def main(demo=False):
|
||||
'traffic_convention': traffic_convention,
|
||||
}
|
||||
|
||||
if 'lateral_control_params' in model.npy:
|
||||
if 'lateral_control_params' in model.numpy_inputs:
|
||||
inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
@@ -435,10 +428,7 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
|
||||
mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
|
||||
mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
## Neural networks in openpilot
|
||||
To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
|
||||
|
||||
## Supercombo
|
||||
### Supercombo input format (Full size: 799906 x float32)
|
||||
* **image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **wide image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **desire**
|
||||
* one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
|
||||
* **traffic convention**
|
||||
* one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
|
||||
* **feature buffer**
|
||||
* A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
|
||||
|
||||
|
||||
### Supercombo output format (Full size: XXX x float32)
|
||||
Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
|
||||
|
||||
|
||||
## Driver Monitoring Model
|
||||
* .onnx model can be run with onnx runtimes
|
||||
* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
|
||||
|
||||
### input format
|
||||
* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
|
||||
* full input size is 1440 * 960 = 1382400
|
||||
* normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
|
||||
* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
|
||||
|
||||
### output format
|
||||
* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
|
||||
* for each person in the front seats (2 * 41)
|
||||
* face pose: 12 = 6 + 6
|
||||
* face orientation [pitch, yaw, roll] in camera frame: 3
|
||||
* face position [dx, dy] relative to image center: 2
|
||||
* normalized face size: 1
|
||||
* standard deviations for above outputs: 6
|
||||
* face visible probability: 1
|
||||
* eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
|
||||
* eye position and size, and their standard deviations: 8
|
||||
* eye visible probability: 1
|
||||
* eye closed probability: 1
|
||||
* wearing sunglasses probability: 1
|
||||
* face occluded probability: 1
|
||||
* touching wheel probability: 1
|
||||
* paying attention probability: 1
|
||||
* (deprecated) distracted probabilities: 2
|
||||
* using phone probability: 1
|
||||
* distracted probability: 1
|
||||
* common outputs 2
|
||||
* poor camera vision probability: 1
|
||||
* left hand drive probability: 1
|
||||
@@ -1,101 +0,0 @@
|
||||
// clang++ -O2 repro.cc && ./a.out
|
||||
|
||||
#include <sched.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <ctime>
|
||||
|
||||
static inline double millis_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
|
||||
}
|
||||
|
||||
#define MODEL_WIDTH 320
|
||||
#define MODEL_HEIGHT 640
|
||||
|
||||
// null function still breaks it
|
||||
#define input_lambda(x) x
|
||||
|
||||
// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
|
||||
void inner(uint8_t *resized_buf, float *net_input_buf) {
|
||||
int resized_width = MODEL_WIDTH;
|
||||
int resized_height = MODEL_HEIGHT;
|
||||
|
||||
// one shot conversion, O(n) anyway
|
||||
// yuvframe2tensor, normalize
|
||||
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
|
||||
for (int c = 0; c < MODEL_WIDTH/2; c++) {
|
||||
// Y_ul
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
|
||||
// Y_ur
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
|
||||
// Y_dl
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
|
||||
// Y_dr
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
|
||||
// U
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
|
||||
// V
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float trial() {
|
||||
int resized_width = MODEL_WIDTH;
|
||||
int resized_height = MODEL_HEIGHT;
|
||||
|
||||
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
|
||||
|
||||
// allocate the buffers
|
||||
uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
|
||||
float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
|
||||
printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
|
||||
|
||||
// test for bad buffers
|
||||
static int CNT = 20;
|
||||
float avg = 0.0;
|
||||
for (int i = 0; i < CNT; i++) {
|
||||
double s4 = millis_since_boot();
|
||||
inner(resized_buf, net_input_buf);
|
||||
double s5 = millis_since_boot();
|
||||
avg += s5-s4;
|
||||
}
|
||||
avg /= CNT;
|
||||
|
||||
// once it's bad, it's reliably bad
|
||||
if (avg > 10) {
|
||||
printf("HIT %f\n", avg);
|
||||
printf("BAD\n");
|
||||
|
||||
for (int i = 0; i < 200; i++) {
|
||||
double s4 = millis_since_boot();
|
||||
inner(resized_buf, net_input_buf);
|
||||
double s5 = millis_since_boot();
|
||||
printf("%.2f ", s5-s4);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
// don't free so we get a different buffer each time
|
||||
//free(resized_buf);
|
||||
//free(net_input_buf);
|
||||
|
||||
return avg;
|
||||
}
|
||||
|
||||
int main() {
|
||||
while (true) {
|
||||
float ret = trial();
|
||||
printf("got %f\n", ret);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -46,16 +46,6 @@ class TestFindDrivingPkl:
|
||||
assert result is not None
|
||||
assert 'driving_fof_tinygrad.pkl' in result
|
||||
|
||||
def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
|
||||
(tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
|
||||
from openpilot.system.hardware import hw
|
||||
monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
|
||||
|
||||
bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
|
||||
result = _find_driving_pkl(bundle)
|
||||
assert result is not None
|
||||
assert 'driving_tinygrad.pkl' in result
|
||||
|
||||
|
||||
# Init — assertion guard
|
||||
|
||||
@@ -84,8 +74,8 @@ class TestStockEquivalence:
|
||||
skip_keys = {'action_t'}
|
||||
assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
|
||||
f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
|
||||
assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
|
||||
f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
|
||||
assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
|
||||
f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
|
||||
|
||||
def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
|
||||
@@ -188,16 +178,16 @@ class TestInputQueueCreation:
|
||||
def test_npy_contains_transforms(self, archetype_name, model_state_factory):
|
||||
arch = ARCHETYPES[archetype_name]
|
||||
state = model_state_factory(arch)
|
||||
assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
|
||||
assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
|
||||
assert state.npy['tfm'].shape == (3, 3)
|
||||
assert state.npy['big_tfm'].shape == (3, 3)
|
||||
assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
|
||||
assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
|
||||
assert state.numpy_inputs['tfm'].shape == (3, 3)
|
||||
assert state.numpy_inputs['big_tfm'].shape == (3, 3)
|
||||
|
||||
@pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
|
||||
def test_npy_contains_desire(self, archetype_name, model_state_factory):
|
||||
arch = ARCHETYPES[archetype_name]
|
||||
state = model_state_factory(arch)
|
||||
assert arch.expected_desire_key in state.npy, \
|
||||
assert arch.expected_desire_key in state.numpy_inputs, \
|
||||
f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
|
||||
|
||||
|
||||
|
||||
@@ -1,2 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
|
||||
@@ -1,69 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include "tensorflow/c/c_api.h"
|
||||
|
||||
void* read_file(const char* path, size_t* out_len) {
|
||||
FILE* f = fopen(path, "r");
|
||||
if (!f) {
|
||||
return NULL;
|
||||
}
|
||||
fseek(f, 0, SEEK_END);
|
||||
long f_len = ftell(f);
|
||||
rewind(f);
|
||||
|
||||
char* buf = (char*)calloc(f_len, 1);
|
||||
assert(buf);
|
||||
|
||||
size_t num_read = fread(buf, f_len, 1, f);
|
||||
fclose(f);
|
||||
|
||||
if (num_read != 1) {
|
||||
free(buf);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (out_len) {
|
||||
*out_len = f_len;
|
||||
}
|
||||
|
||||
return buf;
|
||||
}
|
||||
|
||||
static void DeallocateBuffer(void* data, size_t) {
|
||||
free(data);
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
TF_Buffer* buf;
|
||||
TF_Graph* graph;
|
||||
TF_Status* status;
|
||||
char *path = argv[1];
|
||||
|
||||
// load model
|
||||
{
|
||||
size_t model_size;
|
||||
char tmp[1024];
|
||||
snprintf(tmp, sizeof(tmp), "%s.pb", path);
|
||||
printf("loading model %s\n", tmp);
|
||||
uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
|
||||
buf = TF_NewBuffer();
|
||||
buf->data = model_data;
|
||||
buf->length = model_size;
|
||||
buf->data_deallocator = DeallocateBuffer;
|
||||
printf("loaded model of size %d\n", model_size);
|
||||
}
|
||||
|
||||
// import graph
|
||||
status = TF_NewStatus();
|
||||
graph = TF_NewGraph();
|
||||
TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
|
||||
TF_GraphImportGraphDef(graph, buf, opts, status);
|
||||
TF_DeleteImportGraphDefOptions(opts);
|
||||
TF_DeleteBuffer(buf);
|
||||
if (TF_GetCode(status) != TF_OK) {
|
||||
printf("FAIL: %s\n", TF_Message(status));
|
||||
} else {
|
||||
printf("SUCCESS\n");
|
||||
}
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import tensorflow as tf
|
||||
|
||||
with open(sys.argv[1], "rb") as f:
|
||||
graph_def = tf.compat.v1.GraphDef()
|
||||
graph_def.ParseFromString(f.read())
|
||||
#tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
|
||||
@@ -1,38 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import os
|
||||
import time
|
||||
import numpy as np
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
|
||||
|
||||
N = int(os.getenv("N", "5"))
|
||||
TIME = int(os.getenv("TIME", "30"))
|
||||
|
||||
if __name__ == "__main__":
|
||||
sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
|
||||
|
||||
execution_times = []
|
||||
|
||||
for _ in range(N):
|
||||
os.environ['LOGPRINT'] = 'debug'
|
||||
managed_processes['modeld'].start()
|
||||
time.sleep(5)
|
||||
|
||||
t = []
|
||||
start = time.monotonic()
|
||||
while time.monotonic() - start < TIME:
|
||||
msgs = messaging.drain_sock(sock, wait_for_one=True)
|
||||
for m in msgs:
|
||||
t.append(m.modelV2.modelExecutionTime)
|
||||
|
||||
execution_times.append(np.array(t[10:]) * 1000)
|
||||
managed_processes['modeld'].stop()
|
||||
|
||||
print("\n\n")
|
||||
print(f"ran modeld {N} times for {TIME}s each")
|
||||
for _, t in enumerate(execution_times):
|
||||
print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
|
||||
print("\n\n")
|
||||
@@ -6,80 +6,138 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import hashlib
|
||||
import os
|
||||
import pickle
|
||||
from pathlib import Path
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from pathlib import Path
|
||||
|
||||
# see the README.md for more details on the model selector versioning
|
||||
CURRENT_SELECTOR_VERSION = 15
|
||||
REQUIRED_MIN_SELECTOR_VERSION = 14
|
||||
|
||||
# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
|
||||
REQUIRED_JSON_VERSION = 15
|
||||
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
|
||||
|
||||
ModelManager = custom.ModelManagerSP
|
||||
_LAST_VALIDATED_RAW = None
|
||||
|
||||
|
||||
def _compute_hash(file_path: str) -> str | None:
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
try:
|
||||
return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
|
||||
except FileNotFoundError:
|
||||
return None
|
||||
|
||||
|
||||
async def verify_file(file_path: str, expected_hash: str) -> bool:
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
try:
|
||||
data = read_file_chunked(file_path)
|
||||
except FileNotFoundError:
|
||||
return False
|
||||
return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
|
||||
file_hash = _compute_hash(file_path)
|
||||
return file_hash == expected_hash.lower() if file_hash else False
|
||||
|
||||
|
||||
def _verify_file(file_path: str, expected_hash: str) -> bool:
|
||||
file_hash = _compute_hash(file_path)
|
||||
return file_hash == expected_hash.lower() if file_hash else False
|
||||
|
||||
|
||||
def is_bundle_version_compatible(bundle: dict) -> bool:
|
||||
"""
|
||||
Checks whether the model bundle is compatible with the current selector version constraints.
|
||||
|
||||
The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
|
||||
The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
|
||||
required to load the model. This function ensures that:
|
||||
|
||||
1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
|
||||
2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
|
||||
|
||||
This allows the selector to enforce both a minimum and maximum range of supported models,
|
||||
even if a model would otherwise be compatible.
|
||||
|
||||
:param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
|
||||
:type bundle: Dict
|
||||
:return: True if the selector version is within the accepted range for the bundle; otherwise False.
|
||||
:rtype: Bool
|
||||
the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
|
||||
"""
|
||||
return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
|
||||
return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
|
||||
|
||||
|
||||
def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
|
||||
"""Gets the active model bundle from cache"""
|
||||
if params is None:
|
||||
params = Params()
|
||||
def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
|
||||
artifacts = []
|
||||
for model in getattr(bundle, 'models', []) or []:
|
||||
for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
|
||||
if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
|
||||
sha256 = getattr(artifact.downloadUri, 'sha256', None)
|
||||
if sha256:
|
||||
artifacts.append((artifact.fileName, sha256))
|
||||
return artifacts
|
||||
|
||||
|
||||
def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
|
||||
model_root = Paths.model_root()
|
||||
return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
|
||||
for file_name, expected_hash in _bundle_artifacts(bundle))
|
||||
|
||||
|
||||
def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
|
||||
if active_bundle is None:
|
||||
return False
|
||||
|
||||
if available_bundles is not None:
|
||||
matching_bundle = None
|
||||
for bundle in available_bundles:
|
||||
if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
|
||||
if active_bundle.ref == bundle.ref:
|
||||
matching_bundle = bundle
|
||||
break
|
||||
elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
|
||||
matching_bundle = bundle
|
||||
break
|
||||
|
||||
if matching_bundle is None:
|
||||
return True
|
||||
if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
|
||||
return True
|
||||
|
||||
active_runner = getattr(active_bundle, 'runner', None)
|
||||
matching_runner = getattr(matching_bundle, 'runner', None)
|
||||
if active_runner is not None and matching_runner is not None:
|
||||
if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
|
||||
return True
|
||||
if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
|
||||
return True
|
||||
|
||||
return not _bundle_is_valid_locally(active_bundle)
|
||||
|
||||
|
||||
def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
|
||||
global _LAST_VALIDATED_RAW
|
||||
|
||||
raw_bundle = params.get("ModelManager_ActiveBundle")
|
||||
if not raw_bundle:
|
||||
return
|
||||
|
||||
if raw_bundle == _LAST_VALIDATED_RAW:
|
||||
return
|
||||
|
||||
active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
|
||||
if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
|
||||
cloudlog.warning("Active model bundle invalid; resetting to default")
|
||||
params.remove("ModelManager_ActiveBundle")
|
||||
params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
|
||||
_LAST_VALIDATED_RAW = None
|
||||
else:
|
||||
_LAST_VALIDATED_RAW = raw_bundle
|
||||
|
||||
|
||||
def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
|
||||
params = params or Params()
|
||||
try:
|
||||
if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
|
||||
return custom.ModelManagerSP.ModelBundle(**active_bundle)
|
||||
active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
|
||||
if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
|
||||
return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
return None
|
||||
|
||||
|
||||
def get_active_model_runner(params: Params = None, force_check=False) -> int:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
|
||||
params = params or Params()
|
||||
cached_runner_type = params.get("ModelRunnerTypeCache")
|
||||
if cached_runner_type is not None and not force_check:
|
||||
return cached_runner_type
|
||||
|
||||
runner_type = custom.ModelManagerSP.Runner.stock
|
||||
|
||||
if active_bundle := get_active_bundle(params):
|
||||
runner_type = active_bundle.runner.raw
|
||||
|
||||
@@ -88,66 +146,40 @@ def get_active_model_runner(params: Params = None, force_check=False) -> int:
|
||||
|
||||
return runner_type
|
||||
|
||||
|
||||
def _get_model():
|
||||
if bundle := get_active_bundle():
|
||||
drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
|
||||
return drive_model
|
||||
|
||||
return None
|
||||
|
||||
def load_metadata():
|
||||
metadata_path = METADATA_PATH
|
||||
|
||||
if model := _get_model():
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
|
||||
def load_metadata():
|
||||
model = _get_model()
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
|
||||
|
||||
with open(metadata_path, 'rb') as f:
|
||||
return pickle.load(f)
|
||||
|
||||
|
||||
def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
|
||||
# img buffers are managed in openCL transform code so we don't pass them as inputs
|
||||
inputs = {
|
||||
k: np.zeros(v, dtype=np.float32).flatten()
|
||||
for k, v in model_metadata['input_shapes'].items()
|
||||
if 'img' not in k
|
||||
def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
|
||||
return {
|
||||
key: np.zeros(shape, dtype=np.float32).flatten()
|
||||
for key, shape in model_metadata['input_shapes'].items()
|
||||
if 'img' not in key
|
||||
}
|
||||
|
||||
return inputs
|
||||
|
||||
def load_meta_constants(model_metadata: dict):
|
||||
""" Loads the appropriate meta model class based on key shapes"""
|
||||
if 'sim_pose' in model_metadata['input_shapes']:
|
||||
return MetaSimPose
|
||||
|
||||
def load_meta_constants(model_metadata):
|
||||
"""
|
||||
Determines and loads the appropriate meta model class based on the metadata provided. The function checks
|
||||
specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
|
||||
model class to return.
|
||||
meta_slice = model_metadata['output_slices']['meta']
|
||||
if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
|
||||
return MetaTombRaider
|
||||
|
||||
:param model_metadata: Dictionary containing metadata about the model. It includes
|
||||
details such as input shapes, output slices, and other configurations for identifying
|
||||
metadata-dependent meta model classes.
|
||||
:type model_metadata: dict
|
||||
:return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
|
||||
based on the conditions and metadata provided.
|
||||
:rtype: type
|
||||
"""
|
||||
meta = Meta # Default Meta
|
||||
|
||||
if 'sim_pose' in model_metadata['input_shapes'].keys():
|
||||
# Meta for models with sim_pose input
|
||||
meta = MetaSimPose
|
||||
else:
|
||||
# Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
|
||||
meta_slice = model_metadata['output_slices']['meta']
|
||||
meta_tf_slice = slice(5868, 5921, None)
|
||||
|
||||
if (
|
||||
meta_slice.start == meta_tf_slice.start and
|
||||
meta_slice.stop == meta_tf_slice.stop and
|
||||
meta_slice.step == meta_tf_slice.step
|
||||
):
|
||||
meta = MetaTombRaider
|
||||
|
||||
return meta
|
||||
return Meta
|
||||
|
||||
|
||||
# The following method(s) are modeld helper methods
|
||||
|
||||
@@ -17,7 +17,7 @@ from openpilot.system.hardware.hw import Paths
|
||||
|
||||
from cereal import messaging, custom
|
||||
from openpilot.sunnypilot.models.fetcher import ModelFetcher
|
||||
from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
|
||||
|
||||
|
||||
class ModelManagerSP:
|
||||
@@ -239,6 +239,7 @@ class ModelManagerSP:
|
||||
while True:
|
||||
try:
|
||||
self.available_models = self.model_fetcher.get_available_bundles()
|
||||
validate_active_bundle(self.params, self.available_models)
|
||||
self.active_bundle = get_active_bundle(self.params)
|
||||
|
||||
if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
|
||||
@@ -252,8 +253,8 @@ class ModelManagerSP:
|
||||
self.selected_bundle = None
|
||||
|
||||
if self.params.get("ModelManager_ClearCache"):
|
||||
self.clear_model_cache()
|
||||
self.params.remove("ModelManager_ClearCache")
|
||||
self.clear_model_cache()
|
||||
self.params.remove("ModelManager_ClearCache")
|
||||
|
||||
self._report_status()
|
||||
rk.keep_time()
|
||||
|
||||
@@ -1,146 +0,0 @@
|
||||
"""
|
||||
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.
|
||||
"""
|
||||
|
||||
from collections.abc import Sequence
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import messaging
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot import get_sanitize_int_param
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
|
||||
NORMAL, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, A_CRUISE_MAX_V, RISE_RATE, SMOOTH_DECEL_BP, SMOOTH_DECEL_V, \
|
||||
BRAKE_DEEPENING_JERK, BRAKE_RELEASE_JERK, ACCEL_RISE_JERK, SMOOTH_DECEL_LOOKAHEAD_T, MIN_SMOOTH_BRAKE_NEED, \
|
||||
HARD_BRAKE_TARGET_ACCEL, HARD_BRAKE_NEED
|
||||
|
||||
_ZERO_ACCEL_EPS = 1e-6
|
||||
|
||||
|
||||
class AccelController:
|
||||
def __init__(self, CP: structs.CarParams, mpc, params=None):
|
||||
self._CP = CP
|
||||
self._mpc = mpc
|
||||
self._params = params or Params()
|
||||
self._frame = 0
|
||||
self._enabled: bool = self._params.get_bool("AccelPersonalityEnabled")
|
||||
self._personality = NORMAL # cereal AccelerationPersonality ordinal
|
||||
self._v_ego = 0.0
|
||||
self._last_target_accel = 0.0
|
||||
self._brake_need = 0.0
|
||||
self._smooth_active = False
|
||||
self._bypassed = False
|
||||
self._read_params()
|
||||
|
||||
def _read_params(self) -> None:
|
||||
self._enabled = self._params.get_bool("AccelPersonalityEnabled")
|
||||
if not self._enabled:
|
||||
self._personality = NORMAL
|
||||
return
|
||||
|
||||
self._personality = get_sanitize_int_param("AccelPersonality", PERSONALITY_MIN, PERSONALITY_MAX, self._params)
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
if self._frame % int(1. / DT_MDL) == 0:
|
||||
self._read_params()
|
||||
self._v_ego = sm['carState'].vEgo
|
||||
self._frame += 1
|
||||
|
||||
def get_max_accel(self, v_ego: float) -> float:
|
||||
return float(np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_V[self._personality]))
|
||||
|
||||
def get_rise_rate(self) -> float:
|
||||
return RISE_RATE[self._personality]
|
||||
|
||||
def get_decel_target(self, brake_need: float) -> float:
|
||||
return float(np.interp(max(0.0, float(brake_need)), SMOOTH_DECEL_BP, SMOOTH_DECEL_V[self._personality]))
|
||||
|
||||
def smooth_target_accel(self, raw_target_accel: float, accel_trajectory: Sequence[float], t_idxs: Sequence[float],
|
||||
should_stop: bool, reset: bool = False, stock_brake: bool = False) -> float:
|
||||
raw_target_accel = float(raw_target_accel)
|
||||
self._brake_need = self._compute_brake_need(raw_target_accel, accel_trajectory, t_idxs)
|
||||
|
||||
if reset or not self._enabled:
|
||||
self._bypassed = False
|
||||
return self._passthrough(raw_target_accel)
|
||||
|
||||
if stock_brake and (raw_target_accel < 0.0 or self._brake_need >= MIN_SMOOTH_BRAKE_NEED):
|
||||
self._bypassed = False
|
||||
return self._passthrough(raw_target_accel)
|
||||
|
||||
self._bypassed = self._emergency_bypass(raw_target_accel, should_stop)
|
||||
if self._bypassed:
|
||||
return self._passthrough(raw_target_accel)
|
||||
|
||||
if self._brake_need < MIN_SMOOTH_BRAKE_NEED:
|
||||
self._smooth_active = False
|
||||
return self._slew(raw_target_accel)
|
||||
|
||||
self._smooth_active = True
|
||||
return self._slew(self.get_decel_target(self._brake_need))
|
||||
|
||||
def _compute_brake_need(self, raw_target_accel: float, accel_trajectory: Sequence[float], t_idxs: Sequence[float]) -> float:
|
||||
min_accel = float(raw_target_accel)
|
||||
for accel, t in zip(accel_trajectory, t_idxs, strict=False):
|
||||
if float(t) <= SMOOTH_DECEL_LOOKAHEAD_T:
|
||||
min_accel = min(min_accel, float(accel))
|
||||
return max(0.0, -min_accel)
|
||||
|
||||
def _emergency_bypass(self, raw_target_accel: float, should_stop: bool) -> bool:
|
||||
return (self._mpc.crash_cnt > 0 or should_stop or
|
||||
raw_target_accel <= HARD_BRAKE_TARGET_ACCEL or self._brake_need >= HARD_BRAKE_NEED)
|
||||
|
||||
def _passthrough(self, target_accel: float) -> float:
|
||||
target_accel = self._clean_accel(target_accel)
|
||||
self._last_target_accel = target_accel
|
||||
self._smooth_active = False
|
||||
return target_accel
|
||||
|
||||
def _slew(self, target_accel: float) -> float:
|
||||
target_accel = float(target_accel)
|
||||
if target_accel > self._last_target_accel:
|
||||
smoothed = self._slew_up(target_accel)
|
||||
else:
|
||||
step = BRAKE_DEEPENING_JERK[self._personality] * DT_MDL
|
||||
smoothed = self._clean_accel(max(target_accel, self._last_target_accel - step))
|
||||
self._last_target_accel = smoothed
|
||||
return smoothed
|
||||
|
||||
def _slew_up(self, target_accel: float) -> float:
|
||||
if self._last_target_accel < 0.0:
|
||||
released = min(target_accel, self._last_target_accel + BRAKE_RELEASE_JERK * DT_MDL)
|
||||
if released <= 0.0:
|
||||
return self._clean_accel(released)
|
||||
return self._clean_accel(min(target_accel, ACCEL_RISE_JERK[self._personality] * DT_MDL))
|
||||
|
||||
step = ACCEL_RISE_JERK[self._personality] * DT_MDL
|
||||
return self._clean_accel(min(target_accel, self._last_target_accel + step))
|
||||
|
||||
@staticmethod
|
||||
def _clean_accel(accel: float) -> float:
|
||||
accel = float(accel)
|
||||
return 0.0 if abs(accel) < _ZERO_ACCEL_EPS else accel
|
||||
|
||||
def enabled(self) -> bool:
|
||||
return self._enabled
|
||||
|
||||
def personality(self):
|
||||
return self._personality # cereal AccelerationPersonality ordinal
|
||||
|
||||
def max_accel(self) -> float:
|
||||
# Cached value for publishing; publish_longitudinal_plan_sp has no v_ego in scope.
|
||||
return self.get_max_accel(self._v_ego)
|
||||
|
||||
def brake_need(self) -> float:
|
||||
return self._brake_need
|
||||
|
||||
def smooth_active(self) -> bool:
|
||||
return self._smooth_active
|
||||
|
||||
def bypassed(self) -> bool:
|
||||
return self._bypassed
|
||||
@@ -1,61 +0,0 @@
|
||||
"""
|
||||
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.
|
||||
"""
|
||||
|
||||
from cereal import custom
|
||||
|
||||
# Profile ids come from cereal: eco @0, normal @1, sport @2.
|
||||
AccelerationPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
|
||||
ECO = AccelerationPersonality.eco
|
||||
NORMAL = AccelerationPersonality.normal
|
||||
SPORT = AccelerationPersonality.sport
|
||||
|
||||
PERSONALITY_MIN = min(AccelerationPersonality.schema.enumerants.values())
|
||||
PERSONALITY_MAX = max(AccelerationPersonality.schema.enumerants.values())
|
||||
|
||||
A_CRUISE_MAX_BP = [0., 10., 25., 40.]
|
||||
|
||||
# Stock openpilot acceleration ceiling. Normal and disabled mode intentionally match this path.
|
||||
STOCK_A_CRUISE_MAX_V = [1.6, 1.2, 0.8, 0.6]
|
||||
STOCK_RISE_RATE = 0.05
|
||||
|
||||
# Eco softens launch and cruise/highway roll-on.
|
||||
A_CRUISE_MAX_V = {
|
||||
ECO: [1.25, 0.90, 0.45, 0.30],
|
||||
NORMAL: STOCK_A_CRUISE_MAX_V,
|
||||
SPORT: [1.8, 1.40, 1.00, 0.75],
|
||||
}
|
||||
|
||||
RISE_RATE = {
|
||||
ECO: 0.02,
|
||||
NORMAL: STOCK_RISE_RATE,
|
||||
SPORT: 0.10,
|
||||
}
|
||||
|
||||
# Positive predicted brake need -> comfort accel target.
|
||||
SMOOTH_DECEL_BP = [0.0, 0.4, 0.8, 1.2, 1.6, 2.0, 2.4]
|
||||
SMOOTH_DECEL_V = {
|
||||
ECO: [0.00, -0.12, -0.28, -0.50, -0.78, -1.05, -1.30],
|
||||
NORMAL: [0.00, -0.15, -0.35, -0.65, -0.95, -1.25, -1.55],
|
||||
SPORT: [0.00, -0.18, -0.45, -0.80, -1.15, -1.45, -1.75],
|
||||
}
|
||||
|
||||
BRAKE_DEEPENING_JERK = {
|
||||
ECO: 0.7,
|
||||
NORMAL: 0.9,
|
||||
SPORT: 1.1,
|
||||
}
|
||||
|
||||
BRAKE_RELEASE_JERK = 2.0
|
||||
ACCEL_RISE_JERK = {
|
||||
ECO: 0.6,
|
||||
NORMAL: BRAKE_RELEASE_JERK,
|
||||
SPORT: BRAKE_RELEASE_JERK,
|
||||
}
|
||||
SMOOTH_DECEL_LOOKAHEAD_T = 2.5
|
||||
MIN_SMOOTH_BRAKE_NEED = 0.05
|
||||
HARD_BRAKE_TARGET_ACCEL = -2.0
|
||||
HARD_BRAKE_NEED = 2.6
|
||||
@@ -1,215 +0,0 @@
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
|
||||
AccelerationPersonality, ECO, NORMAL, SPORT, STOCK_RISE_RATE, SMOOTH_DECEL_BP, SMOOTH_DECEL_V, BRAKE_DEEPENING_JERK, \
|
||||
BRAKE_RELEASE_JERK, ACCEL_RISE_JERK, HARD_BRAKE_TARGET_ACCEL, HARD_BRAKE_NEED
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
|
||||
# Stock openpilot accel ceiling, duplicated independently here so the test fails if the normal tier ever drifts.
|
||||
STOCK_BP = [0., 10., 25., 40.]
|
||||
STOCK_V = [1.6, 1.2, 0.8, 0.6]
|
||||
V_EGO_GRID = [0.0, 5.0, 10.0, 17.0, 25.0, 33.0, 40.0, 50.0]
|
||||
|
||||
|
||||
class MockParams:
|
||||
def __init__(self, enabled=False, personality=NORMAL):
|
||||
self._vals = {"AccelPersonalityEnabled": enabled, "AccelPersonality": int(personality)}
|
||||
|
||||
def get_bool(self, key):
|
||||
return bool(self._vals.get(key, False))
|
||||
|
||||
def get(self, key, return_default=False):
|
||||
return self._vals.get(key, 0)
|
||||
|
||||
def put(self, key, val, block=False):
|
||||
self._vals[key] = int(val)
|
||||
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0):
|
||||
self.vEgo = vEgo
|
||||
|
||||
|
||||
def make_sm(v_ego=0.0):
|
||||
return {'carState': MockCarState(vEgo=v_ego)}
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
return MPC()
|
||||
|
||||
|
||||
def stock_max_accel(v_ego):
|
||||
return float(np.interp(v_ego, STOCK_BP, STOCK_V))
|
||||
|
||||
|
||||
def test_disabled_matches_stock(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=False, personality=SPORT))
|
||||
for v in V_EGO_GRID:
|
||||
assert c.get_max_accel(v) == pytest.approx(stock_max_accel(v))
|
||||
assert c.get_rise_rate() == STOCK_RISE_RATE
|
||||
assert c.personality() == AccelerationPersonality.normal
|
||||
assert not c.enabled()
|
||||
assert c.smooth_target_accel(-0.5, [-2.0], [1.0], should_stop=False) == -0.5
|
||||
|
||||
|
||||
def test_normal_matches_stock(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
|
||||
for v in V_EGO_GRID:
|
||||
assert c.get_max_accel(v) == pytest.approx(stock_max_accel(v))
|
||||
assert c.get_rise_rate() == STOCK_RISE_RATE
|
||||
assert c.personality() == AccelerationPersonality.normal
|
||||
|
||||
|
||||
def test_eco_is_gentler(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
|
||||
for v in V_EGO_GRID:
|
||||
assert c.get_max_accel(v) <= stock_max_accel(v) + 1e-6
|
||||
assert c.get_rise_rate() < STOCK_RISE_RATE
|
||||
assert c.personality() == AccelerationPersonality.eco
|
||||
|
||||
|
||||
def test_sport_is_brisker(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=SPORT))
|
||||
for v in V_EGO_GRID:
|
||||
assert c.get_max_accel(v) >= stock_max_accel(v) - 1e-6
|
||||
assert c.get_rise_rate() > STOCK_RISE_RATE
|
||||
assert c.personality() == AccelerationPersonality.sport
|
||||
|
||||
|
||||
def test_param_clamp(mock_cp, mock_mpc):
|
||||
# Out-of-range int must clamp to the max tier (sport), not raise.
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=9))
|
||||
assert c.personality() == AccelerationPersonality.sport
|
||||
|
||||
|
||||
@pytest.mark.parametrize("personality", [ECO, NORMAL, SPORT])
|
||||
def test_profile_decel_tables(mock_cp, mock_mpc, personality):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=personality))
|
||||
for bp, expected in zip(SMOOTH_DECEL_BP, SMOOTH_DECEL_V[personality], strict=True):
|
||||
assert c.get_decel_target(bp) == pytest.approx(expected)
|
||||
|
||||
|
||||
def test_profile_jerk_limits_match_plan():
|
||||
assert BRAKE_DEEPENING_JERK[ECO] == pytest.approx(0.7)
|
||||
assert BRAKE_DEEPENING_JERK[NORMAL] == pytest.approx(0.9)
|
||||
assert BRAKE_DEEPENING_JERK[SPORT] == pytest.approx(1.1)
|
||||
assert BRAKE_RELEASE_JERK == pytest.approx(2.0)
|
||||
assert ACCEL_RISE_JERK[ECO] < ACCEL_RISE_JERK[NORMAL]
|
||||
|
||||
|
||||
def test_zero_accel_outputs_positive_zero(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
|
||||
|
||||
out = c.smooth_target_accel(-0.0, [-0.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
assert out == 0.0
|
||||
assert not np.signbit(out)
|
||||
|
||||
|
||||
def test_future_brake_need_starts_decel_before_raw_target_brakes(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
|
||||
c.smooth_target_accel(0.2, [0.2], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(0.2, [0.2, -1.2], [0.0, 1.0], should_stop=False)
|
||||
|
||||
assert c.brake_need() == pytest.approx(1.2)
|
||||
assert c.smooth_active()
|
||||
assert out < 0.2
|
||||
|
||||
|
||||
def test_brake_deepening_is_jerk_limited(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
|
||||
c.smooth_target_accel(0.0, [0.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(0.0, [-1.2], [1.0], should_stop=False)
|
||||
|
||||
assert out == pytest.approx(-BRAKE_DEEPENING_JERK[NORMAL] * DT_MDL)
|
||||
|
||||
|
||||
def test_brake_release_is_faster_than_deepening(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
|
||||
c.smooth_target_accel(-1.0, [-1.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(0.5, [0.5], [0.0], should_stop=False)
|
||||
|
||||
assert out == pytest.approx(-1.0 + BRAKE_RELEASE_JERK * DT_MDL)
|
||||
assert BRAKE_RELEASE_JERK > BRAKE_DEEPENING_JERK[NORMAL]
|
||||
|
||||
|
||||
def test_eco_positive_accel_rise_is_smooth(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
|
||||
c.smooth_target_accel(0.0, [0.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(1.0, [1.0], [0.0], should_stop=False)
|
||||
|
||||
assert out == pytest.approx(ACCEL_RISE_JERK[ECO] * DT_MDL)
|
||||
|
||||
|
||||
def test_eco_brake_release_does_not_jump_to_gas(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
|
||||
c.smooth_target_accel(-0.01, [-0.01], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(1.0, [1.0], [0.0], should_stop=False)
|
||||
|
||||
assert out == pytest.approx(ACCEL_RISE_JERK[ECO] * DT_MDL)
|
||||
|
||||
|
||||
def test_blended_stock_brake_passthrough(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
|
||||
c.smooth_target_accel(0.0, [0.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(-1.0, [-1.0], [0.0], should_stop=False, stock_brake=True)
|
||||
|
||||
assert out == pytest.approx(-1.0)
|
||||
assert not c.smooth_active()
|
||||
|
||||
|
||||
def test_blended_future_brake_need_passthrough(mock_cp, mock_mpc):
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=ECO))
|
||||
c.smooth_target_accel(0.0, [0.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(0.1, [0.1, -1.0], [0.0, 1.0], should_stop=False, stock_brake=True)
|
||||
|
||||
assert out == pytest.approx(0.1)
|
||||
assert not c.smooth_active()
|
||||
|
||||
|
||||
@pytest.mark.parametrize("raw_target, accel_trajectory, should_stop, crash_cnt", [
|
||||
(HARD_BRAKE_TARGET_ACCEL - 0.1, [-0.5], False, 0),
|
||||
(-0.5, [-HARD_BRAKE_NEED], False, 0),
|
||||
(-0.5, [-0.5], True, 0),
|
||||
(-0.5, [-0.5], False, 1),
|
||||
])
|
||||
def test_emergency_bypass_passthrough(mock_cp, mock_mpc, raw_target, accel_trajectory, should_stop, crash_cnt):
|
||||
mock_mpc.crash_cnt = crash_cnt
|
||||
c = AccelController(mock_cp, mock_mpc, params=MockParams(enabled=True, personality=NORMAL))
|
||||
c.smooth_target_accel(0.0, [0.0], [0.0], should_stop=False, reset=True)
|
||||
|
||||
out = c.smooth_target_accel(raw_target, accel_trajectory, [1.0], should_stop=should_stop)
|
||||
|
||||
assert out == raw_target
|
||||
assert c.bypassed()
|
||||
|
||||
|
||||
def test_frame_gated_read(mock_cp, mock_mpc):
|
||||
params = MockParams(enabled=True, personality=NORMAL)
|
||||
c = AccelController(mock_cp, mock_mpc, params=params)
|
||||
c.update(make_sm()) # frame 0 -> reads, picks up normal
|
||||
params._vals["AccelPersonality"] = int(SPORT)
|
||||
for _ in range(19): # frames 1..19, none on the 20-frame gate boundary
|
||||
c.update(make_sm())
|
||||
assert c.personality() == AccelerationPersonality.normal
|
||||
c.update(make_sm()) # frame 20 -> reads, picks up sport
|
||||
assert c.personality() == AccelerationPersonality.sport
|
||||
@@ -1,46 +1,17 @@
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
|
||||
|
||||
class WMACConstants:
|
||||
TRAJECTORY_SIZE = 33
|
||||
PARAM_READ_FRAMES = max(1, int(round(1.0 / DT_MDL)))
|
||||
# Lead detection parameters
|
||||
LEAD_WINDOW_SIZE = 6 # Stable detection window
|
||||
LEAD_PROB = 0.45 # Balanced threshold for lead detection
|
||||
|
||||
EMERGENCY_HOLD_FRAMES = max(1, int(round(0.75 / DT_MDL)))
|
||||
MIN_MODE_DURATION = {'acc': max(1, int(round(0.6 / DT_MDL))), 'blended': max(1, int(round(0.5 / DT_MDL)))}
|
||||
ENTER_BLENDED_FRAMES = max(1, int(round(0.4 / DT_MDL)))
|
||||
EXIT_BLENDED_FRAMES = max(1, int(round(0.35 / DT_MDL)))
|
||||
STANDSTILL_FRAMES = max(1, int(round(0.2 / DT_MDL)))
|
||||
# Slow down detection parameters
|
||||
SLOW_DOWN_WINDOW_SIZE = 5 # Responsive but stable
|
||||
SLOW_DOWN_PROB = 0.3 # Balanced threshold for slow down scenarios
|
||||
|
||||
LEAD_PROB = 0.45
|
||||
LEAD_EXIT_PROB = 0.25
|
||||
LEAD_RISE_RATE = 1.0
|
||||
LEAD_FALL_RATE = 0.35
|
||||
RADAR_LEAD_ACC_PROB = 0.5
|
||||
RADAR_LEAD_ACC_EXIT_PROB = 0.4
|
||||
RADAR_LEAD_ACC_RISE_RATE = 1.0
|
||||
RADAR_LEAD_ACC_FALL_RATE = 0.25
|
||||
RADAR_LEAD_ACC_MAX_DREL = 80.0
|
||||
RADAR_LEAD_ACC_MAX_TTC = 6.0
|
||||
RADAR_LEAD_ACC_MIN_CLOSING_SPEED = -0.5
|
||||
|
||||
SLOW_DOWN_PROB = 0.5
|
||||
SLOW_DOWN_EXIT_PROB = 0.4
|
||||
SLOW_DOWN_RISE_RATE = 0.65
|
||||
SLOW_DOWN_FALL_RATE = 0.15
|
||||
# Optimized slow down distance curve - smooth and progressive
|
||||
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
|
||||
SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
|
||||
URGENT_SLOW_DOWN_PROB = 0.85
|
||||
|
||||
MODEL_DECEL_START = -0.5
|
||||
MODEL_DECEL_RANGE = 2.0
|
||||
ENDPOINT_URGENCY_GAIN = 1.3
|
||||
CRITICAL_ENDPOINT_FACTOR = 0.3
|
||||
CRITICAL_URGENCY_GAIN = 1.5
|
||||
SPEED_URGENCY_MIN = 25.0
|
||||
SPEED_URGENCY_RANGE = 80.0
|
||||
|
||||
SLOWNESS_PROB = 0.55
|
||||
SLOWNESS_EXIT_PROB = 0.45
|
||||
SLOWNESS_RISE_RATE = 0.35
|
||||
SLOWNESS_FALL_RATE = 0.5
|
||||
SLOWNESS_CRUISE_OFFSET = 1.025
|
||||
# Slowness detection parameters
|
||||
SLOWNESS_WINDOW_SIZE = 10 # Stable slowness detection
|
||||
SLOWNESS_PROB = 0.55 # Clear threshold for slowness
|
||||
SLOWNESS_CRUISE_OFFSET = 1.025 # Conservative cruise speed offset
|
||||
|
||||
@@ -6,116 +6,129 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
# Version = 2025-6-30
|
||||
|
||||
from cereal import messaging
|
||||
from opendbc.car import structs
|
||||
from numpy import interp
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
|
||||
from typing import Literal
|
||||
|
||||
from cereal import messaging
|
||||
from numpy import interp
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
|
||||
# d-e2e, from modeldata.h
|
||||
TRAJECTORY_SIZE = 33
|
||||
SET_MODE_TIMEOUT = 15
|
||||
|
||||
# Define the valid mode types
|
||||
ModeType = Literal['acc', 'blended']
|
||||
|
||||
|
||||
def clip01(value: float) -> float:
|
||||
return max(0.0, min(1.0, float(value)))
|
||||
class SmoothKalmanFilter:
|
||||
"""Enhanced Kalman filter with smoothing for stable decision making."""
|
||||
|
||||
def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
|
||||
alpha=1.0, smoothing_factor=0.85):
|
||||
self.x = initial_value
|
||||
self.P = 1.0
|
||||
self.R = measurement_noise
|
||||
self.Q = process_noise
|
||||
self.alpha = alpha
|
||||
self.smoothing_factor = smoothing_factor
|
||||
self.initialized = False
|
||||
self.history = []
|
||||
self.max_history = 10
|
||||
self.confidence = 0.0
|
||||
|
||||
class SmoothedSignal:
|
||||
def __init__(self, rise_rate: float, fall_rate: float, initial_value: float = 0.0):
|
||||
self.rise_rate = clip01(rise_rate)
|
||||
self.fall_rate = clip01(fall_rate)
|
||||
self.value = clip01(initial_value)
|
||||
def add_data(self, measurement):
|
||||
if len(self.history) >= self.max_history:
|
||||
self.history.pop(0)
|
||||
self.history.append(measurement)
|
||||
|
||||
def update(self, measurement: float) -> float:
|
||||
measurement = clip01(measurement)
|
||||
rate = self.rise_rate if measurement > self.value else self.fall_rate
|
||||
self.value += (measurement - self.value) * rate
|
||||
return self.value
|
||||
if not self.initialized:
|
||||
self.x = measurement
|
||||
self.initialized = True
|
||||
self.confidence = 0.1
|
||||
return
|
||||
|
||||
def reset(self, value: float = 0.0) -> None:
|
||||
self.value = clip01(value)
|
||||
self.P = self.alpha * self.P + self.Q
|
||||
|
||||
K = self.P / (self.P + self.R)
|
||||
effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
|
||||
|
||||
class HysteresisSignal:
|
||||
def __init__(self, enter_threshold: float, exit_threshold: float, rise_rate: float, fall_rate: float):
|
||||
self.enter_threshold = clip01(enter_threshold)
|
||||
self.exit_threshold = clip01(exit_threshold)
|
||||
self.filter = SmoothedSignal(rise_rate, fall_rate)
|
||||
self.active = False
|
||||
innovation = measurement - self.x
|
||||
self.x = self.x + effective_K * innovation
|
||||
self.P = (1 - effective_K) * self.P
|
||||
|
||||
def update(self, measurement: float) -> bool:
|
||||
value = self.filter.update(measurement)
|
||||
threshold = self.exit_threshold if self.active else self.enter_threshold
|
||||
self.active = value > threshold
|
||||
return self.active
|
||||
if abs(innovation) < 0.1:
|
||||
self.confidence = min(1.0, self.confidence + 0.05)
|
||||
else:
|
||||
self.confidence = max(0.1, self.confidence - 0.02)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.filter.reset()
|
||||
self.active = False
|
||||
def get_value(self):
|
||||
return self.x if self.initialized else None
|
||||
|
||||
@property
|
||||
def value(self) -> float:
|
||||
return self.filter.value
|
||||
def get_confidence(self):
|
||||
return self.confidence
|
||||
|
||||
def reset_data(self):
|
||||
self.initialized = False
|
||||
self.history = []
|
||||
self.confidence = 0.0
|
||||
|
||||
|
||||
class ModeTransitionManager:
|
||||
"""Manages smooth transitions between driving modes with hysteresis."""
|
||||
|
||||
def __init__(self):
|
||||
self.current_mode: ModeType = 'acc'
|
||||
self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
|
||||
self.transition_timeout = 0
|
||||
self.min_mode_duration = 10
|
||||
self.mode_duration = 0
|
||||
self._pending_mode: ModeType = 'acc'
|
||||
self._pending_count = 0
|
||||
self._blended_hold_frames = 0
|
||||
self.emergency_override = False
|
||||
|
||||
def request_mode(self, mode: ModeType, immediate: bool = False, hold_frames: int = 0, cancel_hold: bool = False) -> None:
|
||||
if immediate:
|
||||
self._blended_hold_frames = max(self._blended_hold_frames, hold_frames)
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
self._switch_mode(mode)
|
||||
def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
|
||||
# Emergency override for critical situations (stops, collisions)
|
||||
if emergency:
|
||||
self.emergency_override = True
|
||||
self.current_mode = mode
|
||||
self.transition_timeout = SET_MODE_TIMEOUT
|
||||
self.mode_duration = 0
|
||||
return
|
||||
|
||||
if cancel_hold and mode == 'acc':
|
||||
self._blended_hold_frames = 0
|
||||
self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
|
||||
for m in self.mode_confidence:
|
||||
if m != mode:
|
||||
self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
|
||||
|
||||
if self._blended_hold_frames > 0:
|
||||
mode = 'blended'
|
||||
|
||||
if mode == self.current_mode:
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
# Require minimum duration in current mode (unless emergency)
|
||||
if self.mode_duration < self.min_mode_duration and not self.emergency_override:
|
||||
return
|
||||
|
||||
if mode != self._pending_mode:
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 1
|
||||
else:
|
||||
self._pending_count += 1
|
||||
# Hysteresis: higher threshold for mode changes
|
||||
confidence_threshold = 0.6 if mode != self.current_mode else 0.3 # Lower threshold for faster response
|
||||
|
||||
if self.mode_duration < WMACConstants.MIN_MODE_DURATION[self.current_mode]:
|
||||
return
|
||||
if self.mode_confidence[mode] > confidence_threshold:
|
||||
if mode != self.current_mode and self.transition_timeout == 0:
|
||||
self.transition_timeout = SET_MODE_TIMEOUT
|
||||
self.current_mode = mode
|
||||
self.mode_duration = 0
|
||||
|
||||
required_count = WMACConstants.ENTER_BLENDED_FRAMES if mode == 'blended' else WMACConstants.EXIT_BLENDED_FRAMES
|
||||
if self._pending_count >= required_count:
|
||||
self._switch_mode(mode)
|
||||
|
||||
def update(self) -> None:
|
||||
if self._blended_hold_frames > 0:
|
||||
self._blended_hold_frames -= 1
|
||||
def update(self):
|
||||
if self.transition_timeout > 0:
|
||||
self.transition_timeout -= 1
|
||||
self.mode_duration += 1
|
||||
|
||||
# Reset emergency override after some time
|
||||
if self.emergency_override and self.mode_duration > 20:
|
||||
self.emergency_override = False
|
||||
|
||||
# Gradual confidence decay
|
||||
for mode in self.mode_confidence:
|
||||
self.mode_confidence[mode] *= 0.98
|
||||
|
||||
def get_mode(self) -> ModeType:
|
||||
return self.current_mode
|
||||
|
||||
def _switch_mode(self, mode: ModeType) -> None:
|
||||
if mode == self.current_mode:
|
||||
return
|
||||
|
||||
self.current_mode = mode
|
||||
self.mode_duration = 0
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
|
||||
|
||||
class DynamicExperimentalController:
|
||||
def __init__(self, CP: structs.CarParams, mpc, params=None):
|
||||
@@ -129,33 +142,35 @@ class DynamicExperimentalController:
|
||||
|
||||
self._mode_manager = ModeTransitionManager()
|
||||
|
||||
self._lead_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.LEAD_PROB,
|
||||
exit_threshold=WMACConstants.LEAD_EXIT_PROB,
|
||||
rise_rate=WMACConstants.LEAD_RISE_RATE,
|
||||
fall_rate=WMACConstants.LEAD_FALL_RATE,
|
||||
)
|
||||
self._radar_acc_lead_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.RADAR_LEAD_ACC_PROB,
|
||||
exit_threshold=WMACConstants.RADAR_LEAD_ACC_EXIT_PROB,
|
||||
rise_rate=WMACConstants.RADAR_LEAD_ACC_RISE_RATE,
|
||||
fall_rate=WMACConstants.RADAR_LEAD_ACC_FALL_RATE,
|
||||
)
|
||||
self._slow_down_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.SLOW_DOWN_PROB,
|
||||
exit_threshold=WMACConstants.SLOW_DOWN_EXIT_PROB,
|
||||
rise_rate=WMACConstants.SLOW_DOWN_RISE_RATE,
|
||||
fall_rate=WMACConstants.SLOW_DOWN_FALL_RATE,
|
||||
)
|
||||
self._slowness_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.SLOWNESS_PROB,
|
||||
exit_threshold=WMACConstants.SLOWNESS_EXIT_PROB,
|
||||
rise_rate=WMACConstants.SLOWNESS_RISE_RATE,
|
||||
fall_rate=WMACConstants.SLOWNESS_FALL_RATE,
|
||||
# Smooth filters for stable decision making with faster response for critical scenarios
|
||||
self._lead_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.15,
|
||||
process_noise=0.05,
|
||||
alpha=1.02,
|
||||
smoothing_factor=0.8
|
||||
)
|
||||
|
||||
self._slow_down_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.1,
|
||||
process_noise=0.1,
|
||||
alpha=1.05,
|
||||
smoothing_factor=0.7
|
||||
)
|
||||
|
||||
self._slowness_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.1,
|
||||
process_noise=0.06,
|
||||
alpha=1.015,
|
||||
smoothing_factor=0.92
|
||||
)
|
||||
|
||||
self._mpc_fcw_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.2,
|
||||
process_noise=0.1,
|
||||
alpha=1.1,
|
||||
smoothing_factor=0.5
|
||||
)
|
||||
self._has_lead_filtered = False
|
||||
self._has_radar_acc_lead = False
|
||||
self._has_slow_down = False
|
||||
self._has_slowness = False
|
||||
self._has_mpc_fcw = False
|
||||
@@ -164,14 +179,13 @@ class DynamicExperimentalController:
|
||||
self._has_standstill = False
|
||||
self._mpc_fcw_crash_cnt = 0
|
||||
self._standstill_count = 0
|
||||
|
||||
# debug
|
||||
self._endpoint_x = float('inf')
|
||||
self._expected_distance = 0.0
|
||||
self._trajectory_valid = False
|
||||
self._raw_urgency = 0.0
|
||||
|
||||
def _read_params(self) -> None:
|
||||
if self._frame % WMACConstants.PARAM_READ_FRAMES == 0:
|
||||
if self._frame % int(1. / DT_MDL) == 0:
|
||||
self._enabled = self._params.get_bool("DynamicExperimentalControl")
|
||||
|
||||
def mode(self) -> str:
|
||||
@@ -184,6 +198,7 @@ class DynamicExperimentalController:
|
||||
return self._active
|
||||
|
||||
def set_mpc_fcw_crash_cnt(self) -> None:
|
||||
"""Set MPC FCW crash count"""
|
||||
self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
|
||||
|
||||
def _update_calculations(self, sm: messaging.SubMaster) -> None:
|
||||
@@ -195,109 +210,179 @@ class DynamicExperimentalController:
|
||||
self._v_cruise_kph = car_state.vCruise
|
||||
self._has_standstill = car_state.standstill
|
||||
|
||||
# standstill detection
|
||||
if self._has_standstill:
|
||||
self._standstill_count = min(WMACConstants.STANDSTILL_FRAMES * 3, self._standstill_count + 1)
|
||||
self._standstill_count = min(20, self._standstill_count + 1)
|
||||
else:
|
||||
self._standstill_count = max(0, self._standstill_count - 1)
|
||||
|
||||
self._has_lead_filtered = self._lead_tracker.update(float(lead_one.status))
|
||||
self._has_radar_acc_lead = self._radar_acc_lead_tracker.update(self._radar_acc_lead_score(lead_one))
|
||||
self._has_mpc_fcw = self._mpc_fcw_crash_cnt > 0
|
||||
# Lead detection
|
||||
self._lead_filter.add_data(float(lead_one.status))
|
||||
lead_value = self._lead_filter.get_value() or 0.0
|
||||
self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
|
||||
|
||||
# MPC FCW detection
|
||||
fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
|
||||
self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
|
||||
self._has_mpc_fcw = fcw_filtered_value > 0.5
|
||||
|
||||
# Slow down detection
|
||||
self._calculate_slow_down(md)
|
||||
|
||||
if self._standstill_count > WMACConstants.STANDSTILL_FRAMES or self._has_slow_down:
|
||||
self._slowness_tracker.reset()
|
||||
self._has_slowness = False
|
||||
else:
|
||||
# Slowness detection
|
||||
if not (self._standstill_count > 5) and not self._has_slow_down:
|
||||
current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
|
||||
self._has_slowness = self._slowness_tracker.update(current_slowness)
|
||||
self._slowness_filter.add_data(current_slowness)
|
||||
slowness_value = self._slowness_filter.get_value() or 0.0
|
||||
|
||||
def _calculate_slow_down(self, md) -> None:
|
||||
# Hysteresis for slowness
|
||||
threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
|
||||
self._has_slowness = slowness_value > threshold
|
||||
|
||||
def _calculate_slow_down(self, md):
|
||||
"""Calculate urgency based on trajectory endpoint vs expected distance."""
|
||||
|
||||
# Reset to safe defaults
|
||||
urgency = 0.0
|
||||
self._endpoint_x = float('inf')
|
||||
self._expected_distance = 0.0
|
||||
self._trajectory_valid = False
|
||||
|
||||
urgency = self._model_action_urgency(md)
|
||||
position_valid = len(md.position.x) == WMACConstants.TRAJECTORY_SIZE
|
||||
#Require exact trajectory size
|
||||
position_valid = len(md.position.x) == TRAJECTORY_SIZE
|
||||
orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
|
||||
|
||||
if position_valid:
|
||||
self._trajectory_valid = True
|
||||
self._endpoint_x = md.position.x[WMACConstants.TRAJECTORY_SIZE - 1]
|
||||
self._expected_distance = interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST)
|
||||
urgency = max(urgency, self._endpoint_urgency(self._endpoint_x, self._expected_distance))
|
||||
if not (position_valid and orientation_valid):
|
||||
# Invalid trajectory - this itself might indicate a stop scenario
|
||||
# Apply moderate urgency for incomplete trajectories at speed
|
||||
if self._v_ego_kph > 20.0:
|
||||
urgency = 0.3
|
||||
|
||||
self._raw_urgency = clip01(urgency)
|
||||
self._has_slow_down = self._slow_down_tracker.update(self._raw_urgency)
|
||||
self._urgency = self._slow_down_tracker.value
|
||||
self._slow_down_filter.add_data(urgency)
|
||||
urgency_filtered = self._slow_down_filter.get_value() or 0.0
|
||||
self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
|
||||
self._urgency = urgency_filtered
|
||||
return
|
||||
|
||||
def _radar_acc_lead_score(self, lead_one) -> float:
|
||||
if not lead_one.status:
|
||||
return 0.0
|
||||
# We have a valid full trajectory
|
||||
self._trajectory_valid = True
|
||||
|
||||
d_rel = float(getattr(lead_one, 'dRel', float('inf')))
|
||||
v_rel = float(getattr(lead_one, 'vRel', 0.0))
|
||||
if d_rel <= WMACConstants.RADAR_LEAD_ACC_MAX_DREL:
|
||||
return 1.0
|
||||
if v_rel <= WMACConstants.RADAR_LEAD_ACC_MIN_CLOSING_SPEED and d_rel / max(-v_rel, 0.1) <= WMACConstants.RADAR_LEAD_ACC_MAX_TTC:
|
||||
return 1.0
|
||||
return 0.0
|
||||
# Use the exact endpoint (33rd point, index 32)
|
||||
endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
|
||||
self._endpoint_x = endpoint_x
|
||||
|
||||
def _model_action_urgency(self, md) -> float:
|
||||
action = getattr(md, 'action', None)
|
||||
if action is None:
|
||||
return 0.0
|
||||
# Get expected distance based on current speed using tuned constants
|
||||
expected_distance = interp(self._v_ego_kph,
|
||||
WMACConstants.SLOW_DOWN_BP,
|
||||
WMACConstants.SLOW_DOWN_DIST)
|
||||
self._expected_distance = expected_distance
|
||||
|
||||
urgency = 1.0 if getattr(action, 'shouldStop', False) else 0.0
|
||||
desired_accel = getattr(action, 'desiredAcceleration', 0.0)
|
||||
if desired_accel < WMACConstants.MODEL_DECEL_START:
|
||||
urgency = max(urgency, min(1.0, (WMACConstants.MODEL_DECEL_START - desired_accel) / WMACConstants.MODEL_DECEL_RANGE))
|
||||
return urgency
|
||||
# Calculate urgency based on trajectory shortage
|
||||
if endpoint_x < expected_distance:
|
||||
shortage = expected_distance - endpoint_x
|
||||
shortage_ratio = shortage / expected_distance
|
||||
|
||||
def _endpoint_urgency(self, endpoint_x: float, expected_distance: float) -> float:
|
||||
if endpoint_x >= expected_distance:
|
||||
return 0.0
|
||||
# Base urgency on shortage ratio
|
||||
urgency = min(1.0, shortage_ratio * 2.0)
|
||||
|
||||
shortage_ratio = (expected_distance - endpoint_x) / expected_distance
|
||||
urgency = min(1.0, shortage_ratio * WMACConstants.ENDPOINT_URGENCY_GAIN)
|
||||
# Increase urgency for very short trajectories (imminent stops)
|
||||
critical_distance = expected_distance * 0.3
|
||||
if endpoint_x < critical_distance:
|
||||
urgency = min(1.0, urgency * 2.0)
|
||||
|
||||
if endpoint_x < expected_distance * WMACConstants.CRITICAL_ENDPOINT_FACTOR:
|
||||
urgency = min(1.0, urgency * WMACConstants.CRITICAL_URGENCY_GAIN)
|
||||
# Speed-based urgency adjustment
|
||||
if self._v_ego_kph > 25.0:
|
||||
speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
|
||||
urgency = min(1.0, urgency * speed_factor)
|
||||
|
||||
if self._v_ego_kph > WMACConstants.SPEED_URGENCY_MIN:
|
||||
speed_factor = 1.0 + (self._v_ego_kph - WMACConstants.SPEED_URGENCY_MIN) / WMACConstants.SPEED_URGENCY_RANGE
|
||||
urgency = min(1.0, urgency * speed_factor)
|
||||
# Apply filtering but with less smoothing for stops
|
||||
self._slow_down_filter.add_data(urgency)
|
||||
urgency_filtered = self._slow_down_filter.get_value() or 0.0
|
||||
|
||||
return urgency
|
||||
# Update state with lower threshold for better stop detection
|
||||
self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
|
||||
self._urgency = urgency_filtered
|
||||
|
||||
def _desired_mode(self) -> tuple[ModeType, bool]:
|
||||
if not self._CP.radarUnavailable and self._has_radar_acc_lead:
|
||||
return 'acc', False
|
||||
def _radarless_mode(self) -> None:
|
||||
"""Radarless mode decision logic with emergency handling."""
|
||||
|
||||
# EMERGENCY: MPC FCW - immediate blended mode
|
||||
if self._has_mpc_fcw:
|
||||
return 'blended', True
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
return
|
||||
|
||||
standstill = self._standstill_count > WMACConstants.STANDSTILL_FRAMES
|
||||
urgent_slow_down = self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB
|
||||
# Standstill: use blended
|
||||
if self._standstill_count > 3:
|
||||
self._mode_manager.request_mode('blended', confidence=0.9)
|
||||
return
|
||||
|
||||
if self._CP.radarUnavailable:
|
||||
if standstill or self._has_slow_down:
|
||||
return 'blended', urgent_slow_down
|
||||
return 'acc', False
|
||||
# Slow down scenarios: emergency for high urgency, normal for lower urgency
|
||||
if self._has_slow_down:
|
||||
if self._urgency > 0.7:
|
||||
# Emergency: immediate blended mode for high urgency stops
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
else:
|
||||
# Normal: blended with urgency-based confidence
|
||||
confidence = min(1.0, self._urgency * 1.5)
|
||||
self._mode_manager.request_mode('blended', confidence=confidence)
|
||||
return
|
||||
|
||||
if standstill or self._has_slow_down:
|
||||
return 'blended', urgent_slow_down
|
||||
# Driving slow: use ACC (but not if actively slowing down)
|
||||
if self._has_slowness and not self._has_slow_down:
|
||||
self._mode_manager.request_mode('acc', confidence=0.8)
|
||||
return
|
||||
|
||||
return 'acc', False
|
||||
# Default: ACC
|
||||
self._mode_manager.request_mode('acc', confidence=0.7)
|
||||
|
||||
def _radar_mode(self) -> None:
|
||||
"""Radar mode with emergency handling."""
|
||||
|
||||
# EMERGENCY: MPC FCW - immediate blended mode
|
||||
if self._has_mpc_fcw:
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
return
|
||||
|
||||
# If lead detected and not in standstill: always use ACC
|
||||
if self._has_lead_filtered and not (self._standstill_count > 3):
|
||||
self._mode_manager.request_mode('acc', confidence=1.0)
|
||||
return
|
||||
|
||||
# Slow down scenarios: emergency for high urgency, normal for lower urgency
|
||||
if self._has_slow_down:
|
||||
if self._urgency > 0.7:
|
||||
# Emergency: immediate blended mode for high urgency stops
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
else:
|
||||
# Normal: blended with urgency-based confidence
|
||||
confidence = min(1.0, self._urgency * 1.3)
|
||||
self._mode_manager.request_mode('blended', confidence=confidence)
|
||||
return
|
||||
|
||||
# Standstill: use blended
|
||||
if self._standstill_count > 3:
|
||||
self._mode_manager.request_mode('blended', confidence=0.9)
|
||||
return
|
||||
|
||||
# Driving slow: use ACC (but not if actively slowing down)
|
||||
if self._has_slowness and not self._has_slow_down:
|
||||
self._mode_manager.request_mode('acc', confidence=0.8)
|
||||
return
|
||||
|
||||
# Default: ACC
|
||||
self._mode_manager.request_mode('acc', confidence=0.7)
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
self._read_params()
|
||||
|
||||
self.set_mpc_fcw_crash_cnt()
|
||||
|
||||
self._update_calculations(sm)
|
||||
|
||||
mode, immediate = self._desired_mode()
|
||||
self._mode_manager.request_mode(mode, immediate=immediate, hold_frames=WMACConstants.EMERGENCY_HOLD_FRAMES,
|
||||
cancel_hold=self._has_radar_acc_lead)
|
||||
self._mode_manager.update()
|
||||
if self._CP.radarUnavailable:
|
||||
self._radarless_mode()
|
||||
else:
|
||||
self._radar_mode()
|
||||
|
||||
self._mode_manager.update()
|
||||
self._active = sm['selfdriveState'].experimentalMode and self._enabled
|
||||
self._frame += 1
|
||||
|
||||
@@ -0,0 +1,94 @@
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
|
||||
|
||||
class MockLeadOne:
|
||||
def __init__(self, status=0.0):
|
||||
self.status = status
|
||||
|
||||
class MockRadarState:
|
||||
def __init__(self, status=0.0):
|
||||
self.leadOne = MockLeadOne(status=status)
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
|
||||
self.vEgo = vEgo
|
||||
self.vCruise = vCruise
|
||||
self.standstill = standstill
|
||||
|
||||
class MockModelData:
|
||||
def __init__(self, valid=True):
|
||||
size = 33 if valid else 10 # incomplete if invalid
|
||||
self.position = type("Pos", (), {"x": [0.0] * size})()
|
||||
self.orientation = type("Ori", (), {"x": [0.0] * size})()
|
||||
|
||||
class MockSelfDriveState:
|
||||
def __init__(self, experimentalMode=False):
|
||||
self.experimentalMode = experimentalMode
|
||||
|
||||
class MockParams:
|
||||
def get_bool(self, name):
|
||||
return True
|
||||
|
||||
@pytest.fixture
|
||||
def default_sm():
|
||||
sm = {
|
||||
'carState': MockCarState(vEgo=10.0, vCruise=20.0),
|
||||
'radarState': MockRadarState(status=1.0),
|
||||
'modelV2': MockModelData(valid=True),
|
||||
'selfdriveState': MockSelfDriveState(experimentalMode=True),
|
||||
}
|
||||
return sm
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
return MPC()
|
||||
|
||||
# Fake Kalman Filter that always returns a given value
|
||||
class FakeKalman:
|
||||
def __init__(self, value=1.0):
|
||||
self.value = value
|
||||
def add_data(self, v): pass
|
||||
def get_value(self): return self.value
|
||||
def get_confidence(self): return 1.0
|
||||
def reset_data(self): pass
|
||||
|
||||
def test_initial_mode_is_acc(mock_cp, mock_mpc):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['carState'].standstill = True
|
||||
for _ in range(10):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
mock_mpc.crash_cnt = 1 # simulate FCW
|
||||
for _ in range(2):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
|
||||
# Force conditions to simulate slowdown
|
||||
controller._slow_down_filter = FakeKalman(value=1.0) # Ensure urgency triggers slowdown
|
||||
controller._v_ego_kph = 35.0
|
||||
default_sm['modelV2'] = MockModelData(valid=False) # Incomplete trajectory
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
@@ -1,235 +0,0 @@
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, HysteresisSignal
|
||||
|
||||
|
||||
class MockLeadOne:
|
||||
def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
|
||||
self.status = status
|
||||
self.dRel = dRel
|
||||
self.vRel = vRel
|
||||
|
||||
|
||||
class MockRadarState:
|
||||
def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
|
||||
self.leadOne = MockLeadOne(status=status, dRel=dRel, vRel=vRel)
|
||||
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
|
||||
self.vEgo = vEgo
|
||||
self.vCruise = vCruise
|
||||
self.standstill = standstill
|
||||
|
||||
|
||||
class MockAction:
|
||||
def __init__(self, desiredAcceleration=0.0, shouldStop=False):
|
||||
self.desiredAcceleration = desiredAcceleration
|
||||
self.shouldStop = shouldStop
|
||||
|
||||
|
||||
class MockModelData:
|
||||
def __init__(self, valid=True, endpoint_x=200.0, orientation_valid=None, desired_acceleration=0.0, should_stop=False):
|
||||
position_size = 33 if valid else 10
|
||||
orientation_size = position_size if orientation_valid is None else (33 if orientation_valid else 10)
|
||||
position_x = [0.0] * position_size
|
||||
if position_x:
|
||||
position_x[-1] = endpoint_x
|
||||
self.position = type("Pos", (), {"x": position_x})()
|
||||
self.orientation = type("Ori", (), {"x": [0.0] * orientation_size})()
|
||||
self.acceleration = type("Accel", (), {"x": [0.0] * position_size})()
|
||||
self.action = MockAction(desired_acceleration, should_stop)
|
||||
|
||||
|
||||
class MockSelfDriveState:
|
||||
def __init__(self, experimentalMode=False):
|
||||
self.experimentalMode = experimentalMode
|
||||
|
||||
|
||||
class MockParams:
|
||||
def get_bool(self, name):
|
||||
return True
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def default_sm():
|
||||
sm = {
|
||||
'carState': MockCarState(vEgo=10.0, vCruise=20.0),
|
||||
'radarState': MockRadarState(status=1.0),
|
||||
'modelV2': MockModelData(valid=True),
|
||||
'selfdriveState': MockSelfDriveState(experimentalMode=True),
|
||||
}
|
||||
return sm
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
return MPC()
|
||||
|
||||
|
||||
def test_initial_mode_is_acc(mock_cp, mock_mpc):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['carState'].standstill = True
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
mock_mpc.crash_cnt = 1
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_valid_position_with_missing_orientation_can_trigger_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, orientation_valid=False)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._trajectory_valid
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_incomplete_position_does_not_trigger_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, endpoint_x=0.0)
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._trajectory_valid
|
||||
assert not controller._has_slow_down
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_slowdown_hysteresis_prevents_threshold_chatter():
|
||||
signal = HysteresisSignal(enter_threshold=0.5, exit_threshold=0.4, rise_rate=1.0, fall_rate=1.0)
|
||||
|
||||
assert signal.update(0.55)
|
||||
assert signal.update(0.45)
|
||||
assert not signal.update(0.35)
|
||||
|
||||
|
||||
def test_model_should_stop_triggers_blended_without_valid_trajectory(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._trajectory_valid
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radar_lead_keeps_acc_over_model_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_slow_down
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_far_radar_lead_allows_blended_until_acc_relevant(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_relevant_radar_lead_smoothly_returns_to_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=45.0, vRel=0.0)
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_closing_far_radar_lead_returns_to_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=-25.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_lead_keeps_acc_over_fcw_and_standstill(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
default_sm['carState'].standstill = True
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, should_stop=True)
|
||||
mock_mpc.crash_cnt = 1
|
||||
|
||||
for _ in range(10):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller._has_mpc_fcw
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_lead_flicker_hold_prevents_one_frame_mode_flip(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller.mode() == "acc"
|
||||
@@ -1,203 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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.
|
||||
"""
|
||||
|
||||
from collections import deque
|
||||
from dataclasses import dataclass
|
||||
|
||||
|
||||
_HOLD_FRAMES = 16
|
||||
_STATUS_WINDOW = 20
|
||||
_STABILITY_FLIPS_FULL = 6.0
|
||||
|
||||
# Fresh low-confidence close leads only get masked when they are not urgent.
|
||||
_URGENT_TTC_MIN = 4.0 # s, below this = urgent, no masking
|
||||
_URGENT_CLOSING_VREL = -8.0 # m/s, faster closing = no masking
|
||||
|
||||
# Phantom-lead mask: a fresh low-modelProb close lead is usually a radar ghost; mask it
|
||||
# so the MPC ignores it. Established/held leads are never masked (see smooth()).
|
||||
_PHANTOM_MODELPROB_MAX = 0.5
|
||||
_PHANTOM_DREL_MAX = 5.0
|
||||
|
||||
|
||||
@dataclass
|
||||
class _LeadSnap:
|
||||
dRel: float = 0.0
|
||||
yRel: float = 0.0
|
||||
vRel: float = 0.0
|
||||
vLead: float = 0.0
|
||||
aLeadK: float = 0.0
|
||||
aLeadTau: float = 0.0
|
||||
modelProb: float = 0.0
|
||||
aRel: float = 0.0
|
||||
fcw: bool = False
|
||||
|
||||
|
||||
class _LeadProxy:
|
||||
__slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'aLeadK', 'aLeadTau',
|
||||
'modelProb', 'aRel', 'fcw')
|
||||
|
||||
def __init__(self, snap: _LeadSnap):
|
||||
self.status = True
|
||||
self.dRel = snap.dRel
|
||||
self.yRel = snap.yRel
|
||||
self.vRel = snap.vRel
|
||||
self.vLead = snap.vLead
|
||||
self.aLeadK = snap.aLeadK
|
||||
self.aLeadTau = snap.aLeadTau
|
||||
self.modelProb = snap.modelProb
|
||||
self.aRel = snap.aRel
|
||||
self.fcw = snap.fcw
|
||||
|
||||
|
||||
class _LeadProxyMasked:
|
||||
__slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'aLeadK', 'aLeadTau',
|
||||
'modelProb', 'aRel', 'fcw')
|
||||
|
||||
def __init__(self):
|
||||
self.status = False
|
||||
self.dRel = 0.0
|
||||
self.yRel = 0.0
|
||||
self.vRel = 0.0
|
||||
self.vLead = 0.0
|
||||
self.aLeadK = 0.0
|
||||
self.aLeadTau = 0.0
|
||||
self.modelProb = 0.0
|
||||
self.aRel = 0.0
|
||||
self.fcw = False
|
||||
|
||||
|
||||
class _RadarStateProxy:
|
||||
__slots__ = ('_raw', '_lead_one', '_lead_two')
|
||||
|
||||
def __init__(self, raw, lead_one, lead_two):
|
||||
self._raw = raw
|
||||
self._lead_one = lead_one
|
||||
self._lead_two = lead_two
|
||||
|
||||
@property
|
||||
def leadOne(self):
|
||||
return self._lead_one if self._lead_one is not None else self._raw.leadOne
|
||||
|
||||
@property
|
||||
def leadTwo(self):
|
||||
return self._lead_two if self._lead_two is not None else self._raw.leadTwo
|
||||
|
||||
def __getattr__(self, name):
|
||||
return getattr(self._raw, name)
|
||||
|
||||
|
||||
class LeadPersistence:
|
||||
"""Internal helper. Hold last-known leadOne/leadTwo alive for HOLD_FRAMES
|
||||
after a status drop, so the MPC view of radarState ignores brief flicker.
|
||||
Also masks freshly-acquired close-range low-confidence phantom leads so the
|
||||
planner doesn't demand emergency brake on radar ghosts.
|
||||
No own param — owner (RadarDistanceController) gates via force_enabled."""
|
||||
|
||||
def __init__(self):
|
||||
self._last_one: _LeadSnap | None = None
|
||||
self._last_two: _LeadSnap | None = None
|
||||
self._alive_one = 0
|
||||
self._alive_two = 0
|
||||
|
||||
self._status_hist: deque[bool] = deque(maxlen=_STATUS_WINDOW)
|
||||
self._stability = 1.0
|
||||
|
||||
@property
|
||||
def stability(self) -> float:
|
||||
return self._stability
|
||||
|
||||
def reset(self) -> None:
|
||||
self._last_one = None
|
||||
self._last_two = None
|
||||
self._alive_one = 0
|
||||
self._alive_two = 0
|
||||
self._status_hist.clear()
|
||||
self._stability = 1.0
|
||||
|
||||
def update(self, radarstate, force_enabled: bool = True) -> None:
|
||||
if radarstate is None:
|
||||
return
|
||||
if not force_enabled:
|
||||
self.reset()
|
||||
return
|
||||
|
||||
one = radarstate.leadOne
|
||||
two = radarstate.leadTwo
|
||||
|
||||
# phantom counts as not-valid so hold-alive doesn't re-inject the ghost
|
||||
one_valid = bool(one.status) and not self._is_phantom(one)
|
||||
two_valid = bool(two.status) and not self._is_phantom(two)
|
||||
|
||||
if one_valid:
|
||||
self._last_one = self._snap(one)
|
||||
self._alive_one = _HOLD_FRAMES
|
||||
elif self._alive_one > 0:
|
||||
self._alive_one -= 1
|
||||
|
||||
if two_valid:
|
||||
self._last_two = self._snap(two)
|
||||
self._alive_two = _HOLD_FRAMES
|
||||
elif self._alive_two > 0:
|
||||
self._alive_two -= 1
|
||||
|
||||
self._status_hist.append(bool(one.status))
|
||||
if len(self._status_hist) >= 5:
|
||||
flips = sum(1 for i in range(1, len(self._status_hist))
|
||||
if self._status_hist[i] != self._status_hist[i - 1])
|
||||
self._stability = max(0.0, 1.0 - min(1.0, flips / _STABILITY_FLIPS_FULL))
|
||||
else:
|
||||
self._stability = 1.0
|
||||
|
||||
@staticmethod
|
||||
def _is_phantom(lead) -> bool:
|
||||
if not (bool(lead.status)
|
||||
and float(lead.modelProb) < _PHANTOM_MODELPROB_MAX
|
||||
and float(lead.dRel) < _PHANTOM_DREL_MAX):
|
||||
return False
|
||||
# don't mask an urgently-closing lead
|
||||
v_rel = float(lead.vRel)
|
||||
if v_rel <= _URGENT_CLOSING_VREL:
|
||||
return False
|
||||
ttc = float(lead.dRel) / max(0.1, -v_rel) if v_rel < 0.0 else float('inf')
|
||||
return ttc > _URGENT_TTC_MIN
|
||||
|
||||
def smooth(self, radarstate, force_enabled: bool = True):
|
||||
if not force_enabled or radarstate is None:
|
||||
return radarstate
|
||||
|
||||
l1 = None
|
||||
l2 = None
|
||||
|
||||
# mask only a fresh ghost (alive==0); never drop an established/held lead
|
||||
if self._is_phantom(radarstate.leadOne) and self._alive_one == 0:
|
||||
l1 = _LeadProxyMasked()
|
||||
elif not radarstate.leadOne.status and self._alive_one > 0 and self._last_one is not None:
|
||||
l1 = _LeadProxy(self._last_one)
|
||||
|
||||
if self._is_phantom(radarstate.leadTwo) and self._alive_two == 0:
|
||||
l2 = _LeadProxyMasked()
|
||||
elif not radarstate.leadTwo.status and self._alive_two > 0 and self._last_two is not None:
|
||||
l2 = _LeadProxy(self._last_two)
|
||||
|
||||
if l1 is None and l2 is None:
|
||||
return radarstate
|
||||
|
||||
return _RadarStateProxy(radarstate, l1, l2)
|
||||
|
||||
@staticmethod
|
||||
def _snap(lead) -> _LeadSnap:
|
||||
return _LeadSnap(
|
||||
dRel=float(lead.dRel),
|
||||
yRel=float(lead.yRel),
|
||||
vRel=float(lead.vRel),
|
||||
vLead=float(lead.vLead),
|
||||
aLeadK=float(lead.aLeadK),
|
||||
aLeadTau=float(lead.aLeadTau),
|
||||
modelProb=float(lead.modelProb),
|
||||
aRel=float(lead.aRel),
|
||||
fcw=bool(lead.fcw),
|
||||
)
|
||||
@@ -9,10 +9,8 @@ from cereal import messaging, custom
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import RadarDistanceController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
|
||||
@@ -28,8 +26,6 @@ class LongitudinalPlannerSP:
|
||||
self.events_sp = EventsSP()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.dec = DynamicExperimentalController(CP, mpc)
|
||||
self.accel = AccelController(CP, mpc)
|
||||
self.radar_distance = RadarDistanceController()
|
||||
self.scc = SmartCruiseControl()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.sla = SpeedLimitAssist(CP, CP_SP)
|
||||
@@ -39,14 +35,6 @@ class LongitudinalPlannerSP:
|
||||
|
||||
self.output_v_target = 0.
|
||||
self.output_a_target = 0.
|
||||
self._smoothed_radarstate = None
|
||||
|
||||
def smooth_radarstate(self, radarstate):
|
||||
# RadarDistance: hold leads through flicker, mask fresh close phantoms, and slew dRel across
|
||||
# lead target-switches so the MPC doesn't demand a catch-up hard brake. Cached per cycle.
|
||||
if self._smoothed_radarstate is None:
|
||||
self._smoothed_radarstate = self.radar_distance.smooth_radarstate(radarstate)
|
||||
return self._smoothed_radarstate
|
||||
|
||||
def is_e2e(self, sm: messaging.SubMaster) -> bool:
|
||||
experimental_mode = sm['selfdriveState'].experimentalMode
|
||||
@@ -86,11 +74,8 @@ class LongitudinalPlannerSP:
|
||||
return self.output_v_target, self.output_a_target
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
self._smoothed_radarstate = None
|
||||
self.events_sp.clear()
|
||||
self.dec.update(sm)
|
||||
self.accel.update(sm)
|
||||
self.radar_distance.update(sm)
|
||||
self.e2e_alerts_helper.update(sm, self.events_sp)
|
||||
|
||||
def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
|
||||
@@ -110,12 +95,6 @@ class LongitudinalPlannerSP:
|
||||
dec.enabled = self.dec.enabled()
|
||||
dec.active = self.dec.active()
|
||||
|
||||
# Acceleration Personality
|
||||
acceleration = longitudinalPlanSP.acceleration
|
||||
acceleration.personality = self.accel.personality()
|
||||
acceleration.enabled = self.accel.enabled()
|
||||
acceleration.maxAccel = float(self.accel.max_accel())
|
||||
|
||||
# Smart Cruise Control
|
||||
smartCruiseControl = longitudinalPlanSP.smartCruiseControl
|
||||
# Vision Control
|
||||
|
||||
@@ -1,58 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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.
|
||||
"""
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lead_persistence.lead_persistence import LeadPersistence
|
||||
|
||||
|
||||
_PARAM_REFRESH_FRAMES = max(1, int(1.0 / DT_MDL))
|
||||
|
||||
|
||||
class RadarDistanceController:
|
||||
"""Holds last-known radar leads alive through brief flicker and masks close-range
|
||||
phantom leads, so the MPC view of radarState stays stable. The behavior lives in
|
||||
LeadPersistence; this owns the RadarDistance param gate."""
|
||||
|
||||
def __init__(self):
|
||||
self.params = Params()
|
||||
self._frame = 0
|
||||
self._enabled = self.params.get_bool('RadarDistance')
|
||||
self._lead_persistence = LeadPersistence()
|
||||
|
||||
def is_enabled(self) -> bool:
|
||||
return self._enabled
|
||||
|
||||
def set_enabled(self, enabled: bool):
|
||||
self._enabled = bool(enabled)
|
||||
self.params.put_bool('RadarDistance', self._enabled)
|
||||
|
||||
def toggle(self) -> bool:
|
||||
self.set_enabled(not self._enabled)
|
||||
return self._enabled
|
||||
|
||||
def update(self, sm=None, sm_sp=None) -> None:
|
||||
self._frame += 1
|
||||
if self._frame % _PARAM_REFRESH_FRAMES == 0:
|
||||
self._enabled = self.params.get_bool('RadarDistance')
|
||||
|
||||
radarstate = None
|
||||
if sm is not None:
|
||||
try:
|
||||
radarstate = sm['radarState']
|
||||
except (KeyError, AttributeError, TypeError):
|
||||
radarstate = None
|
||||
|
||||
self._lead_persistence.update(radarstate, force_enabled=self._enabled)
|
||||
|
||||
def smooth_radarstate(self, radarstate):
|
||||
if not self._enabled:
|
||||
return radarstate
|
||||
return self._lead_persistence.smooth(radarstate, force_enabled=True)
|
||||
|
||||
def reset(self) -> None:
|
||||
self._lead_persistence.reset()
|
||||
@@ -1,84 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.common.params import Params
|
||||
|
||||
NEARSIDE_PROB = 0.2
|
||||
EDGE_PROB = 0.35
|
||||
EDGE_REACTION_TIME = 1.0
|
||||
EDGE_CLEAR_TIME = 0.3
|
||||
MIN_SPEED = 20 * CV.MPH_TO_MS
|
||||
|
||||
|
||||
class RoadEdgeLaneChangeController:
|
||||
def __init__(self, desire_helper):
|
||||
self.DH = desire_helper
|
||||
self.params = Params()
|
||||
self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
|
||||
self.param_read_counter = 0
|
||||
self.left_edge_detected = False
|
||||
self.right_edge_detected = False
|
||||
self.left_edge_timer = 0.0
|
||||
self.right_edge_timer = 0.0
|
||||
self.left_clear_timer = 0.0
|
||||
self.right_clear_timer = 0.0
|
||||
|
||||
def read_params(self) -> None:
|
||||
self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
|
||||
|
||||
def update_params(self) -> None:
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_params()
|
||||
self.param_read_counter += 1
|
||||
|
||||
def reset(self) -> None:
|
||||
self.left_edge_detected = False
|
||||
self.right_edge_detected = False
|
||||
self.left_edge_timer = 0.0
|
||||
self.right_edge_timer = 0.0
|
||||
self.left_clear_timer = 0.0
|
||||
self.right_clear_timer = 0.0
|
||||
|
||||
def update(self, road_edge_stds, lane_line_probs, v_ego: float) -> None:
|
||||
self.update_params()
|
||||
|
||||
if not self.enabled or v_ego < MIN_SPEED:
|
||||
self.reset()
|
||||
return
|
||||
|
||||
left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
|
||||
right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
|
||||
left_lane_prob = lane_line_probs[0]
|
||||
right_lane_prob = lane_line_probs[3]
|
||||
|
||||
left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and right_lane_prob >= left_lane_prob
|
||||
right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and left_lane_prob >= right_lane_prob
|
||||
|
||||
if left_cond:
|
||||
self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
|
||||
self.left_clear_timer = 0.0
|
||||
if self.left_edge_timer > EDGE_REACTION_TIME:
|
||||
self.left_edge_detected = True
|
||||
else:
|
||||
self.left_clear_timer += DT_MDL
|
||||
if self.left_clear_timer > EDGE_CLEAR_TIME:
|
||||
self.left_edge_timer = 0.0
|
||||
self.left_edge_detected = False
|
||||
|
||||
if right_cond:
|
||||
self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
|
||||
self.right_clear_timer = 0.0
|
||||
if self.right_edge_timer > EDGE_REACTION_TIME:
|
||||
self.right_edge_detected = True
|
||||
else:
|
||||
self.right_clear_timer += DT_MDL
|
||||
if self.right_clear_timer > EDGE_CLEAR_TIME:
|
||||
self.right_edge_timer = 0.0
|
||||
self.right_edge_detected = False
|
||||
@@ -5,8 +5,6 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
@@ -109,11 +107,7 @@ def set_lane_turn_params():
|
||||
])
|
||||
def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
|
||||
dh = DesireHelper()
|
||||
relc = RoadEdgeLaneChangeController(dh)
|
||||
relc.enabled = True
|
||||
dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
|
||||
for _ in range(10):
|
||||
dh.update(carstate, lateral_active, lane_change_prob,
|
||||
left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
|
||||
dh.update(carstate, lateral_active, lane_change_prob)
|
||||
assert dh.desire == expected_desire # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
|
||||
|
||||
|
||||
@@ -1,232 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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.
|
||||
"""
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lead_persistence.lead_persistence import (
|
||||
LeadPersistence,
|
||||
_HOLD_FRAMES,
|
||||
)
|
||||
|
||||
|
||||
class FakeLead:
|
||||
def __init__(self, status=False, d_rel=0.0, v_rel=0.0, v_lead=0.0,
|
||||
a_lead=0.0, a_tau=0.0, model_prob=0.0, y_rel=0.0, a_rel=0.0, fcw=False):
|
||||
self.status = status
|
||||
self.dRel = d_rel
|
||||
self.yRel = y_rel
|
||||
self.vRel = v_rel
|
||||
self.vLead = v_lead
|
||||
self.aLeadK = a_lead
|
||||
self.aLeadTau = a_tau
|
||||
self.modelProb = model_prob
|
||||
self.aRel = a_rel
|
||||
self.fcw = fcw
|
||||
|
||||
|
||||
class FakeRadarState:
|
||||
def __init__(self, lead_one=None, lead_two=None, extra='ok'):
|
||||
self.leadOne = lead_one or FakeLead()
|
||||
self.leadTwo = lead_two or FakeLead()
|
||||
self.extra = extra
|
||||
|
||||
|
||||
def _make():
|
||||
return LeadPersistence()
|
||||
|
||||
|
||||
class TestLeadPersistence:
|
||||
def test_disabled_passthrough(self):
|
||||
lp = _make()
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
lp.update(raw, force_enabled=False)
|
||||
out = lp.smooth(raw, force_enabled=False)
|
||||
assert out is raw
|
||||
|
||||
def test_status_true_passthrough(self):
|
||||
lp = _make()
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0, v_lead=20.0))
|
||||
for _ in range(3):
|
||||
lp.update(raw)
|
||||
out = lp.smooth(raw)
|
||||
# leadOne still truly present → passthrough (or wrapper with same .status=True)
|
||||
assert out.leadOne.status is True
|
||||
assert out.leadOne.dRel == 30.0
|
||||
|
||||
def test_dropout_held(self):
|
||||
lp = _make()
|
||||
raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0, v_lead=20.0, a_lead=-1.0))
|
||||
for _ in range(5):
|
||||
lp.update(raw_on)
|
||||
raw_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
lp.update(raw_off)
|
||||
out = lp.smooth(raw_off)
|
||||
assert out.leadOne.status is True
|
||||
assert out.leadOne.dRel == 30.0
|
||||
assert out.leadOne.aLeadK == -1.0
|
||||
|
||||
def test_dropout_expires(self):
|
||||
lp = _make()
|
||||
raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
for _ in range(5):
|
||||
lp.update(raw_on)
|
||||
raw_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
for _ in range(_HOLD_FRAMES + 2):
|
||||
lp.update(raw_off)
|
||||
out = lp.smooth(raw_off)
|
||||
assert out.leadOne.status is False
|
||||
|
||||
def test_reappearance_resets_hold(self):
|
||||
lp = _make()
|
||||
raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
for _ in range(5):
|
||||
lp.update(raw_on)
|
||||
raw_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
for _ in range(3):
|
||||
lp.update(raw_off)
|
||||
raw_on2 = FakeRadarState(lead_one=FakeLead(status=True, d_rel=28.0))
|
||||
lp.update(raw_on2)
|
||||
out = lp.smooth(raw_on2)
|
||||
assert out.leadOne.status is True
|
||||
assert out.leadOne.dRel == 28.0
|
||||
|
||||
def test_other_attrs_passthrough(self):
|
||||
lp = _make()
|
||||
raw_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0), extra='special')
|
||||
for _ in range(3):
|
||||
lp.update(raw_on)
|
||||
raw_off = FakeRadarState(lead_one=FakeLead(status=False), extra='special2')
|
||||
lp.update(raw_off)
|
||||
out = lp.smooth(raw_off)
|
||||
assert out.extra == 'special2'
|
||||
|
||||
def test_stability_high_on_solid_lead(self):
|
||||
lp = _make()
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
for _ in range(10):
|
||||
lp.update(raw)
|
||||
assert lp.stability >= 0.9
|
||||
|
||||
def test_stability_low_on_churn(self):
|
||||
lp = _make()
|
||||
on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
for _ in range(10):
|
||||
lp.update(on)
|
||||
lp.update(off)
|
||||
assert lp.stability < 0.5
|
||||
|
||||
def test_leadtwo_independent(self):
|
||||
lp = _make()
|
||||
raw_on = FakeRadarState(
|
||||
lead_one=FakeLead(status=True, d_rel=30.0),
|
||||
lead_two=FakeLead(status=True, d_rel=80.0),
|
||||
)
|
||||
for _ in range(5):
|
||||
lp.update(raw_on)
|
||||
raw_off2 = FakeRadarState(
|
||||
lead_one=FakeLead(status=True, d_rel=30.0),
|
||||
lead_two=FakeLead(status=False),
|
||||
)
|
||||
lp.update(raw_off2)
|
||||
out = lp.smooth(raw_off2)
|
||||
assert out.leadOne.status is True
|
||||
assert out.leadOne.dRel == 30.0
|
||||
assert out.leadTwo.status is True
|
||||
assert out.leadTwo.dRel == 80.0
|
||||
|
||||
def test_reset(self):
|
||||
lp = _make()
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
for _ in range(5):
|
||||
lp.update(raw)
|
||||
lp.reset()
|
||||
raw_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
lp.update(raw_off)
|
||||
out = lp.smooth(raw_off)
|
||||
assert out.leadOne.status is False
|
||||
|
||||
|
||||
def _step(lp, lead):
|
||||
raw = FakeRadarState(lead_one=lead)
|
||||
lp.update(raw)
|
||||
return lp.smooth(raw)
|
||||
|
||||
|
||||
class TestPhantomMask:
|
||||
def test_masked_when_not_urgent(self):
|
||||
lp = _make()
|
||||
# fresh, low modelProb, close, slow closing (TTC 8s) -> phantom ghost -> masked
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=4.0, v_rel=-0.5, model_prob=0.3))
|
||||
lp.update(raw)
|
||||
out = lp.smooth(raw)
|
||||
assert out.leadOne.status is False
|
||||
|
||||
def test_not_masked_when_urgent_ttc(self):
|
||||
lp = _make()
|
||||
# fresh, low modelProb, close, TTC 3s <= 4 -> real cut-in risk -> NOT masked
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=3.0, v_rel=-1.0, model_prob=0.3))
|
||||
lp.update(raw)
|
||||
out = lp.smooth(raw)
|
||||
assert out.leadOne.status is True
|
||||
assert out.leadOne.dRel == 3.0
|
||||
|
||||
def test_not_masked_when_fast_closing(self):
|
||||
lp = _make()
|
||||
# fresh, low modelProb, close, vRel -10 <= -8 -> NOT masked
|
||||
raw = FakeRadarState(lead_one=FakeLead(status=True, d_rel=4.0, v_rel=-10.0, model_prob=0.3))
|
||||
lp.update(raw)
|
||||
out = lp.smooth(raw)
|
||||
assert out.leadOne.status is True
|
||||
|
||||
|
||||
class TestLeadSwitchPassthrough:
|
||||
def _settle_far(self, lp, d=45.0):
|
||||
out = None
|
||||
for _ in range(6):
|
||||
out = _step(lp, FakeLead(status=True, d_rel=d, v_rel=-3.0, v_lead=22.0))
|
||||
return out
|
||||
|
||||
def test_steady_lead_passthrough(self):
|
||||
lp = _make()
|
||||
out = self._settle_far(lp, d=45.0)
|
||||
assert out.leadOne.dRel == 45.0
|
||||
|
||||
def test_closer_valid_switch_passes_through(self):
|
||||
lp = _make()
|
||||
self._settle_far(lp, d=45.0)
|
||||
# The accel controller smooths braking after MPC; RadarDistance must not hide a valid closer lead from MPC.
|
||||
out = _step(lp, FakeLead(status=True, d_rel=28.0, v_rel=-5.0, v_lead=19.0))
|
||||
assert out.leadOne.dRel == 28.0
|
||||
assert out.leadOne.vRel == -5.0
|
||||
assert out.leadOne.vLead == 19.0
|
||||
|
||||
def test_urgent_switch_passes_through(self):
|
||||
lp = _make()
|
||||
self._settle_far(lp, d=45.0)
|
||||
# nearer car at 12 m closing -5 -> TTC 2.4 s < 4 -> urgent, no masking
|
||||
out = _step(lp, FakeLead(status=True, d_rel=12.0, v_rel=-5.0, v_lead=10.0))
|
||||
assert out.leadOne.dRel == 12.0
|
||||
|
||||
def test_fast_closing_switch_passes_through(self):
|
||||
lp = _make()
|
||||
self._settle_far(lp, d=60.0)
|
||||
# vRel -10 <= -8 -> emergency closing, no masking even though TTC ok
|
||||
out = _step(lp, FakeLead(status=True, d_rel=40.0, v_rel=-10.0, v_lead=15.0))
|
||||
assert out.leadOne.dRel == 40.0
|
||||
|
||||
def test_normal_closing_passthrough(self):
|
||||
lp = _make()
|
||||
d = 45.0
|
||||
self._settle_far(lp, d=d)
|
||||
for _ in range(20):
|
||||
d -= 0.25 # ~5 m/s closing at 20 Hz, continuous (not a switch)
|
||||
out = _step(lp, FakeLead(status=True, d_rel=d, v_rel=-5.0, v_lead=20.0))
|
||||
assert out.leadOne.dRel == d
|
||||
|
||||
def test_farther_switch_passthrough(self):
|
||||
lp = _make()
|
||||
self._settle_far(lp, d=30.0)
|
||||
out = _step(lp, FakeLead(status=True, d_rel=60.0, v_rel=-1.0, v_lead=24.0))
|
||||
assert out.leadOne.dRel == 60.0
|
||||
@@ -1,96 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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.
|
||||
"""
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import RadarDistanceController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lead_persistence.lead_persistence import _HOLD_FRAMES
|
||||
|
||||
|
||||
class FakeLead:
|
||||
def __init__(self, status=False, d_rel=0.0, v_rel=0.0, v_lead=0.0, a_lead=0.0,
|
||||
a_tau=0.0, model_prob=0.95, y_rel=0.0, a_rel=0.0, fcw=False):
|
||||
self.status = status
|
||||
self.dRel = d_rel
|
||||
self.yRel = y_rel
|
||||
self.vRel = v_rel
|
||||
self.vLead = v_lead
|
||||
self.aLeadK = a_lead
|
||||
self.aLeadTau = a_tau
|
||||
self.modelProb = model_prob
|
||||
self.aRel = a_rel
|
||||
self.fcw = fcw
|
||||
|
||||
|
||||
class FakeRadarState:
|
||||
def __init__(self, lead_one=None, lead_two=None):
|
||||
self.leadOne = lead_one or FakeLead()
|
||||
self.leadTwo = lead_two or FakeLead()
|
||||
|
||||
|
||||
class FakeSM:
|
||||
def __init__(self, radarstate):
|
||||
self._data = {'radarState': radarstate}
|
||||
|
||||
def __getitem__(self, k):
|
||||
return self._data[k]
|
||||
|
||||
|
||||
def _make(enabled=True):
|
||||
c = RadarDistanceController()
|
||||
c.set_enabled(enabled)
|
||||
return c
|
||||
|
||||
|
||||
class TestRadarDistanceController:
|
||||
def test_toggle(self):
|
||||
c = _make(enabled=False)
|
||||
assert c.is_enabled() is False
|
||||
assert c.toggle() is True
|
||||
assert c.is_enabled() is True
|
||||
assert c.toggle() is False
|
||||
|
||||
def test_disabled_passthrough(self):
|
||||
c = _make(enabled=False)
|
||||
rs = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
c.update(FakeSM(rs))
|
||||
assert c.smooth_radarstate(rs) is rs
|
||||
|
||||
def test_no_sm_safe(self):
|
||||
c = _make()
|
||||
c.update(None, None) # must not raise
|
||||
|
||||
def test_holds_dropped_lead(self):
|
||||
c = _make()
|
||||
rs_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0, v_lead=20.0, a_lead=-1.0))
|
||||
for _ in range(5):
|
||||
c.update(FakeSM(rs_on))
|
||||
rs_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
c.update(FakeSM(rs_off))
|
||||
out = c.smooth_radarstate(rs_off)
|
||||
assert out.leadOne.status is True
|
||||
assert out.leadOne.dRel == 30.0
|
||||
assert out.leadOne.aLeadK == -1.0
|
||||
|
||||
def test_hold_expires(self):
|
||||
c = _make()
|
||||
rs_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
for _ in range(5):
|
||||
c.update(FakeSM(rs_on))
|
||||
rs_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
for _ in range(_HOLD_FRAMES + 2):
|
||||
c.update(FakeSM(rs_off))
|
||||
out = c.smooth_radarstate(rs_off)
|
||||
assert out.leadOne.status is False
|
||||
|
||||
def test_reset_clears_hold(self):
|
||||
c = _make()
|
||||
rs_on = FakeRadarState(lead_one=FakeLead(status=True, d_rel=30.0))
|
||||
for _ in range(5):
|
||||
c.update(FakeSM(rs_on))
|
||||
c.reset()
|
||||
rs_off = FakeRadarState(lead_one=FakeLead(status=False))
|
||||
c.update(FakeSM(rs_off))
|
||||
out = c.smooth_radarstate(rs_off)
|
||||
assert out.leadOne.status is False
|
||||
@@ -1,99 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, 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 pytest
|
||||
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
|
||||
RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
|
||||
)
|
||||
|
||||
V_HIGH = MIN_SPEED + 2.0
|
||||
V_LOW = MIN_SPEED - 1.0
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def relc(mocker):
|
||||
mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
|
||||
mock_params.return_value.get_bool.return_value = True
|
||||
controller = RoadEdgeLaneChangeController(DesireHelper())
|
||||
controller.enabled = True
|
||||
return controller
|
||||
|
||||
|
||||
def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH):
|
||||
for _ in range(int(seconds / DT_MDL) + 1):
|
||||
controller.update(road_edge_stds, lane_line_probs, v_ego)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
|
||||
([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
|
||||
([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
|
||||
])
|
||||
def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
|
||||
drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
|
||||
assert getattr(relc, attr)
|
||||
|
||||
|
||||
def test_edge_detection_requires_time(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_both_edges_detected(relc):
|
||||
drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
assert relc.right_edge_detected
|
||||
|
||||
|
||||
def test_noise_doesnt_clear(relc):
|
||||
edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
|
||||
clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
|
||||
|
||||
drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.update(*clear, V_HIGH)
|
||||
relc.update(*edge, V_HIGH)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
|
||||
def test_clears_after_window(relc):
|
||||
edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
|
||||
clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
|
||||
|
||||
drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
|
||||
assert not relc.left_edge_detected
|
||||
assert relc.left_edge_timer == 0.0
|
||||
|
||||
|
||||
def test_low_speed_skips(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
|
||||
assert not relc.left_edge_detected
|
||||
assert relc.left_edge_timer == 0.0
|
||||
|
||||
|
||||
def test_speed_drop_resets(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_param_off_resets(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.params.get_bool.return_value = False
|
||||
relc.read_params()
|
||||
relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH)
|
||||
assert not relc.left_edge_detected
|
||||
assert not relc.right_edge_detected
|
||||
@@ -243,12 +243,4 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||||
},
|
||||
|
||||
EventNameSP.laneChangeRoadEdge: {
|
||||
ET.WARNING: Alert(
|
||||
"Lane Change Unavailable: Road Edge",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
|
||||
},
|
||||
}
|
||||
|
||||
@@ -41,7 +41,6 @@ LOCAL_PORT_WHITELIST = {8022}
|
||||
SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
|
||||
SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require a change on sidebar.cc
|
||||
DISALLOW_LOG_UPLOAD = threading.Event()
|
||||
METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
|
||||
|
||||
params = Params()
|
||||
|
||||
@@ -170,39 +169,6 @@ def getParamsAllKeys() -> list[str]:
|
||||
return keys
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsAllKeysV1() -> dict[str, str]:
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
|
||||
metadata = {}
|
||||
|
||||
try:
|
||||
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
|
||||
|
||||
params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
|
||||
for key in available_keys:
|
||||
value = get_param_as_byte(key, get_default=True)
|
||||
|
||||
param_entry = {
|
||||
"key": key,
|
||||
"type": int(params.get_type(key).value),
|
||||
"default_value": base64.b64encode(value).decode('utf-8') if value else None,
|
||||
}
|
||||
|
||||
if key in metadata:
|
||||
meta_copy = metadata[key].copy()
|
||||
param_entry["_extra"] = meta_copy
|
||||
|
||||
params_dict["params"].append(param_entry)
|
||||
return {"keys": json.dumps(params_dict.get("params", []))}
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
|
||||
raise
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsMetadata() -> str:
|
||||
"""Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
|
||||
|
||||
@@ -97,12 +97,11 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe
|
||||
|
||||
```
|
||||
1. common/params_keys.h — add/remove the C++ param key
|
||||
2. params_metadata.json — automated via update_params_metadata.py
|
||||
3. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
5. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
6. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
7. commit
|
||||
2. settings_ui_src/pages/<page>.yaml — add/edit/remove the item in the right section
|
||||
3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
|
||||
4. python sunnypilot/sunnylink/tools/validate_settings_ui.py (or: --check on the compiler)
|
||||
5. uv run python -m pytest sunnypilot/sunnylink/tests/ # run regression + compiler tests
|
||||
6. commit
|
||||
```
|
||||
|
||||
CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -519,12 +519,6 @@
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "RoadEdgeLaneChangeEnabled",
|
||||
"widget": "toggle",
|
||||
"title": "Block Lane Change: Road Edge Detection",
|
||||
"description": "Blocks lane change when the model sees a road edge on the side you signal."
|
||||
},
|
||||
{
|
||||
"key": "AutoLaneChangeBsmDelay",
|
||||
"widget": "toggle",
|
||||
@@ -626,59 +620,6 @@
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "AccelPersonalityEnabled",
|
||||
"widget": "toggle",
|
||||
"title": "Enable Acceleration Profile",
|
||||
"description": "When off, sunnypilot uses its default (Normal) acceleration and deceleration behavior. Enable to use the Acceleration Profile below.",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "has_longitudinal_control",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "AccelPersonality",
|
||||
"widget": "multiple_button",
|
||||
"title": "Acceleration Profile",
|
||||
"description": "Controls how sunnypilot accelerates and eases into non-emergency deceleration.",
|
||||
"options": [
|
||||
{
|
||||
"value": 0,
|
||||
"label": "Eco"
|
||||
},
|
||||
{
|
||||
"value": 1,
|
||||
"label": "Normal"
|
||||
},
|
||||
{
|
||||
"value": 2,
|
||||
"label": "Sport"
|
||||
}
|
||||
],
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "has_longitudinal_control",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "RadarDistance",
|
||||
"widget": "toggle",
|
||||
"title": "Radar Lead Smoothing",
|
||||
"description": "Holds radar leads through brief dropouts, ignores close-range radar ghosts, and eases braking when the radar lead target jumps, for smoother lead following. Emergency braking is unaffected.",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "capability",
|
||||
"field": "has_longitudinal_control",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "IntelligentCruiseButtonManagement",
|
||||
"widget": "toggle",
|
||||
@@ -2060,22 +2001,6 @@
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "PlanplusControl",
|
||||
"widget": "option",
|
||||
"title": "Plan Plus Controls",
|
||||
"description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lane center; too high and it will ping-pong.",
|
||||
"min": 0.0,
|
||||
"max": 2.0,
|
||||
"step": 0.1,
|
||||
"enablement": [
|
||||
{
|
||||
"type": "param",
|
||||
"key": "ShowAdvancedControls",
|
||||
"equals": true
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
@@ -2243,50 +2168,6 @@
|
||||
"title": "Toyota / Lexus Settings",
|
||||
"description": "",
|
||||
"items": [
|
||||
{
|
||||
"key": "ToyotaAutoHold",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaEnhancedBsm",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Toyota: Prius TSS2 BSM and some tssp",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaTSS2Long",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Toyota: custom longitudinal for TSS2",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaDriveMode",
|
||||
"widget": "toggle",
|
||||
"needs_onroad_cycle": true,
|
||||
"title": "Enable drive mode btn link",
|
||||
"enablement": [
|
||||
{
|
||||
"type": "not_engaged"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"key": "ToyotaEnforceStockLongitudinal",
|
||||
"widget": "toggle",
|
||||
|
||||
@@ -43,31 +43,6 @@ sections:
|
||||
label: Relaxed
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: AccelPersonalityEnabled
|
||||
widget: toggle
|
||||
title: Enable Acceleration Profile
|
||||
description: When off, sunnypilot uses its default (Normal) acceleration and deceleration behavior. Enable to use the Acceleration Profile below.
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: AccelPersonality
|
||||
widget: multiple_button
|
||||
title: Acceleration Profile
|
||||
description: Controls how sunnypilot accelerates and eases into non-emergency deceleration.
|
||||
options:
|
||||
- value: 0
|
||||
label: Eco
|
||||
- value: 1
|
||||
label: Normal
|
||||
- value: 2
|
||||
label: Sport
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: RadarDistance
|
||||
widget: toggle
|
||||
title: Radar Lead Smoothing
|
||||
description: Holds radar leads through brief dropouts, ignores close-range radar ghosts, and eases braking when the radar lead target jumps, for smoother lead following. Emergency braking is unaffected.
|
||||
enablement:
|
||||
- $ref: '#/macros/longitudinal'
|
||||
- key: IntelligentCruiseButtonManagement
|
||||
widget: toggle
|
||||
title: Intelligent Cruise Button Management (ICBM) (Alpha)
|
||||
|
||||
@@ -51,16 +51,6 @@ sections:
|
||||
key: LagdToggle
|
||||
equals: true
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- key: PlanplusControl
|
||||
widget: option
|
||||
title: Plan Plus Controls
|
||||
description: Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover
|
||||
to lane center; too high and it will ping-pong.
|
||||
min: 0.0
|
||||
max: 2.0
|
||||
step: 0.1
|
||||
enablement:
|
||||
- $ref: '#/macros/advanced_only'
|
||||
- id: lateral_control
|
||||
title: Lateral Control
|
||||
description: Neural network lateral control for supported models
|
||||
|
||||
@@ -242,10 +242,6 @@ sections:
|
||||
label: 2 seconds
|
||||
- value: 5
|
||||
label: 3 seconds
|
||||
- key: RoadEdgeLaneChangeEnabled
|
||||
widget: toggle
|
||||
title: 'Block Lane Change: Road Edge Detection'
|
||||
description: Blocks lane change when the model sees a road edge on the side you signal.
|
||||
- key: AutoLaneChangeBsmDelay
|
||||
widget: toggle
|
||||
title: 'Auto Lane Change: Delay with Blind Spot'
|
||||
|
||||
@@ -60,30 +60,6 @@ sections:
|
||||
title: Toyota / Lexus Settings
|
||||
description: ''
|
||||
items:
|
||||
- key: ToyotaAutoHold
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: 'Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS'
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaEnhancedBsm
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: 'Toyota: Prius TSS2 BSM and some tssp'
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaTSS2Long
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: 'Toyota: custom longitudinal for TSS2'
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaDriveMode
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
title: Enable drive mode btn link
|
||||
enablement:
|
||||
- $ref: '#/macros/not_engaged'
|
||||
- key: ToyotaEnforceStockLongitudinal
|
||||
widget: toggle
|
||||
needs_onroad_cycle: true
|
||||
|
||||
@@ -1,86 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import json
|
||||
|
||||
from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
|
||||
|
||||
|
||||
def test_get_params_all_keys_v1():
|
||||
"""
|
||||
Test the getParamsAllKeysV1 API endpoint.
|
||||
|
||||
Why:
|
||||
This endpoint is used by the UI (and potentially external tools) to fetch the list of
|
||||
available parameters along with their metadata (titles, descriptions, options, constraints).
|
||||
We need to ensure it returns the correct structure and that the metadata from
|
||||
params_metadata.json is correctly merged into the response.
|
||||
|
||||
Expected:
|
||||
- The response should contain a "keys" field which is a JSON string of a list of parameters.
|
||||
- Each parameter object should have "key", "type", "default_value", and optionally "_extra".
|
||||
- The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
|
||||
the source of truth (params_metadata.json).
|
||||
"""
|
||||
response = getParamsAllKeysV1()
|
||||
assert "keys" in response
|
||||
|
||||
keys_json = response["keys"]
|
||||
params_list = json.loads(keys_json)
|
||||
|
||||
assert isinstance(params_list, list)
|
||||
assert len(params_list) > 0
|
||||
|
||||
# Check structure of first item
|
||||
first_param = params_list[0]
|
||||
assert "key" in first_param
|
||||
assert "type" in first_param
|
||||
assert "default_value" in first_param
|
||||
|
||||
if "_extra" in first_param:
|
||||
assert isinstance(first_param["_extra"], dict)
|
||||
assert "default" not in first_param["_extra"]
|
||||
assert "type" not in first_param["_extra"]
|
||||
|
||||
# Load the source of truth
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
# Verify that the API response matches the metadata file for a few sample keys
|
||||
# This ensures the plumbing is working without being brittle to content changes
|
||||
|
||||
# 1. Check a key that should have metadata
|
||||
keys_with_metadata = [k for k in params_list if k["key"] in metadata]
|
||||
assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
|
||||
|
||||
for param in keys_with_metadata[:5]: # Check first 5 matches
|
||||
key = param["key"]
|
||||
expected_meta = metadata[key]
|
||||
|
||||
assert "_extra" in param, f"Parameter {key} should have _extra field"
|
||||
actual_meta = param["_extra"]
|
||||
|
||||
# Verify all fields in JSON are present in the API response
|
||||
for meta_key, meta_val in expected_meta.items():
|
||||
assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
|
||||
assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
|
||||
|
||||
# 2. Check that we are correctly serving options if they exist
|
||||
params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
|
||||
if params_with_options:
|
||||
param = params_with_options[0]
|
||||
key = param["key"]
|
||||
assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
|
||||
assert param["_extra"]["options"] == metadata[key]["options"]
|
||||
|
||||
# 3. Check that we are correctly serving numeric constraints if they exist
|
||||
params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
|
||||
if params_with_constraints:
|
||||
param = params_with_constraints[0]
|
||||
key = param["key"]
|
||||
assert param["_extra"]["min"] == metadata[key]["min"]
|
||||
assert param["_extra"]["max"] == metadata[key]["max"]
|
||||
assert param["_extra"]["step"] == metadata[key]["step"]
|
||||
@@ -1,284 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
import pytest
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
|
||||
|
||||
|
||||
def test_metadata_json_exists():
|
||||
"""
|
||||
Test that the params_metadata.json file exists at the expected path.
|
||||
|
||||
Why:
|
||||
The metadata file is the source of truth for parameter descriptions, options, and constraints.
|
||||
If it's missing, the UI will not be able to display rich information for parameters.
|
||||
|
||||
Expected:
|
||||
The file should exist at sunnypilot/sunnylink/params_metadata.json.
|
||||
"""
|
||||
assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
|
||||
|
||||
|
||||
def test_metadata_json_valid():
|
||||
"""
|
||||
Test that the params_metadata.json file contains valid JSON.
|
||||
|
||||
Why:
|
||||
Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
|
||||
resulting in missing metadata.
|
||||
|
||||
Expected:
|
||||
The file content should be parseable as a JSON object (dictionary).
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
try:
|
||||
data = json.load(f)
|
||||
except json.JSONDecodeError:
|
||||
pytest.fail("Metadata file is not valid JSON")
|
||||
|
||||
assert isinstance(data, dict), "Metadata root must be a dictionary"
|
||||
|
||||
|
||||
def test_all_params_have_metadata():
|
||||
"""
|
||||
Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
|
||||
|
||||
Why:
|
||||
We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
|
||||
should also be documented in the metadata file.
|
||||
|
||||
Expected:
|
||||
There should be no parameters in Params() that are missing from the metadata file.
|
||||
If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
|
||||
"""
|
||||
params = Params()
|
||||
all_keys = [k.decode('utf-8') for k in params.all_keys()]
|
||||
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
missing_keys = [key for key in all_keys if key not in metadata]
|
||||
|
||||
if missing_keys:
|
||||
pytest.fail(
|
||||
f"The following parameters are missing from metadata: {missing_keys}. "
|
||||
+ "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
|
||||
)
|
||||
|
||||
|
||||
def test_metadata_keys_exist_in_params():
|
||||
"""
|
||||
Test that all keys in params_metadata.json actually exist in the codebase.
|
||||
|
||||
Why:
|
||||
We want to avoid stale metadata for parameters that have been removed or renamed.
|
||||
This keeps the metadata file clean and relevant.
|
||||
|
||||
Expected:
|
||||
There should be no keys in the metadata file that are not present in Params().
|
||||
This prints a warning rather than failing, as it's less critical than missing metadata.
|
||||
"""
|
||||
params = Params()
|
||||
all_keys = {k.decode('utf-8') for k in params.all_keys()}
|
||||
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
extra_keys = [key for key in metadata.keys() if key not in all_keys]
|
||||
|
||||
if extra_keys:
|
||||
print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
|
||||
|
||||
|
||||
def test_no_default_titles():
|
||||
"""
|
||||
Test that no parameter has a title that is identical to its key.
|
||||
|
||||
Why:
|
||||
The default behavior of the update script is to set the title equal to the key.
|
||||
We want to force developers to provide human-readable, descriptive titles for all parameters.
|
||||
|
||||
Expected:
|
||||
No parameter metadata should have 'title' == 'key'.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
|
||||
|
||||
if default_title_keys:
|
||||
pytest.fail(
|
||||
f"The following parameters have default titles (title == key): {default_title_keys}. "
|
||||
+ "Please update 'params_metadata.json' with descriptive titles."
|
||||
)
|
||||
|
||||
|
||||
def test_options_structure():
|
||||
"""
|
||||
Test that the 'options' field in metadata follows the correct structure.
|
||||
|
||||
Why:
|
||||
The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
|
||||
Incorrect structure will break the UI rendering for dropdowns/toggles.
|
||||
|
||||
Expected:
|
||||
If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
for key, meta in metadata.items():
|
||||
if "options" in meta:
|
||||
options = meta["options"]
|
||||
assert isinstance(options, list), f"Options for {key} must be a list"
|
||||
for option in options:
|
||||
assert isinstance(option, dict), f"Option in {key} must be a dictionary"
|
||||
assert "value" in option, f"Option in {key} must have a 'value' key"
|
||||
assert "label" in option, f"Option in {key} must have a 'label' key"
|
||||
|
||||
|
||||
def test_numeric_constraints():
|
||||
"""
|
||||
Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
|
||||
|
||||
Why:
|
||||
The UI uses these constraints to validate user input and render sliders/steppers.
|
||||
Missing or invalid constraints can lead to UI bugs or invalid parameter values.
|
||||
|
||||
Expected:
|
||||
If any of min/max/step is present, ALL of them must be present.
|
||||
They must be numbers (int/float), and min must be less than max.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
for key, meta in metadata.items():
|
||||
if "min" in meta or "max" in meta or "step" in meta:
|
||||
assert "min" in meta, f"Numeric param {key} must have 'min'"
|
||||
assert "max" in meta, f"Numeric param {key} must have 'max'"
|
||||
assert "step" in meta, f"Numeric param {key} must have 'step'"
|
||||
|
||||
assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
|
||||
assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
|
||||
assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
|
||||
assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
|
||||
|
||||
|
||||
def test_known_params_metadata():
|
||||
"""
|
||||
Test specific known parameters to ensure they have the expected rich metadata.
|
||||
|
||||
Why:
|
||||
This acts as a spot check to ensure that our rich metadata population logic is working correctly
|
||||
and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
|
||||
|
||||
Expected:
|
||||
'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
|
||||
'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
|
||||
"""
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
# Check an enum-like param
|
||||
lp = metadata.get("LongitudinalPersonality")
|
||||
assert lp is not None
|
||||
assert "options" in lp
|
||||
assert len(lp["options"]) == 3
|
||||
assert lp["options"][0]["label"] == "Aggressive"
|
||||
assert lp["options"][0]["value"] == 0
|
||||
|
||||
# Check a numeric param
|
||||
acc_long = metadata.get("CustomAccLongPressIncrement")
|
||||
assert acc_long is not None
|
||||
assert acc_long["min"] == 1
|
||||
assert acc_long["max"] == 10
|
||||
assert acc_long["step"] == 1
|
||||
|
||||
|
||||
def test_torque_control_tune_versions_in_sync():
|
||||
"""
|
||||
Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
|
||||
|
||||
Why:
|
||||
The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
|
||||
If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
|
||||
|
||||
Expected:
|
||||
- TorqueControlTune should have a 'Default' option with empty string value
|
||||
- All versions from latcontrol_torque_versions.json should be present in the options
|
||||
- The version values and labels should match between both files
|
||||
"""
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
|
||||
versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
|
||||
sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
|
||||
|
||||
# Load both files
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
|
||||
with open(versions_json_path) as f:
|
||||
versions = json.load(f)
|
||||
|
||||
# Get TorqueControlTune metadata
|
||||
torque_tune = metadata.get("TorqueControlTune")
|
||||
if torque_tune is None:
|
||||
pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if "options" not in torque_tune:
|
||||
pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
options = torque_tune["options"]
|
||||
if not isinstance(options, list):
|
||||
pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if len(options) == 0:
|
||||
pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Check that Default option exists
|
||||
default_option = next((opt for opt in options if opt.get("value") == ""), None)
|
||||
if default_option is None:
|
||||
pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
if default_option.get("label") != "Default":
|
||||
pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Build expected options from versions.json
|
||||
expected_version_keys = set(versions.keys())
|
||||
actual_version_keys = set()
|
||||
|
||||
for option in options:
|
||||
if option.get("value") == "":
|
||||
continue # Skip the default option
|
||||
|
||||
label = option.get("label")
|
||||
value = option.get("value")
|
||||
|
||||
# Check that this option corresponds to a version
|
||||
if label not in versions:
|
||||
pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
# Check that the value matches the version number
|
||||
expected_value = float(versions[label]["version"])
|
||||
if value != expected_value:
|
||||
pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
|
||||
|
||||
actual_version_keys.add(label)
|
||||
|
||||
# Check that all versions are represented
|
||||
missing_versions = expected_version_keys - actual_version_keys
|
||||
if missing_versions:
|
||||
pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
|
||||
f"Please run '{sync_script_path}' to sync.")
|
||||
|
||||
extra_versions = actual_version_keys - expected_version_keys
|
||||
if extra_versions:
|
||||
pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
|
||||
f"{extra_versions}. Please run '{sync_script_path}' to sync.")
|
||||
@@ -1,133 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
|
||||
|
||||
METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
|
||||
TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
|
||||
|
||||
|
||||
def main():
|
||||
params = Params()
|
||||
all_keys = params.all_keys()
|
||||
|
||||
if os.path.exists(METADATA_PATH):
|
||||
with open(METADATA_PATH) as f:
|
||||
try:
|
||||
data = json.load(f)
|
||||
except json.JSONDecodeError:
|
||||
data = {}
|
||||
else:
|
||||
data = {}
|
||||
|
||||
# Add new keys
|
||||
for key in all_keys:
|
||||
key_str = key.decode("utf-8")
|
||||
if key_str not in data:
|
||||
print(f"Adding new key: {key_str}")
|
||||
data[key_str] = {
|
||||
"title": key_str,
|
||||
"description": "",
|
||||
}
|
||||
|
||||
# Remove deleted keys
|
||||
# keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
|
||||
# for k in keys_to_remove:
|
||||
# print(f"Removing deleted key: {k}")
|
||||
# del data[k]
|
||||
|
||||
# Sort keys
|
||||
sorted_data = dict(sorted(data.items()))
|
||||
|
||||
with open(METADATA_PATH, "w") as f:
|
||||
json.dump(sorted_data, f, indent=2)
|
||||
f.write("\n")
|
||||
|
||||
print(f"Updated {METADATA_PATH}")
|
||||
|
||||
# update onroad screen brightness params
|
||||
update_onroad_brightness_param()
|
||||
|
||||
# update onroad screen brightness timer params
|
||||
update_onroad_brightness_timer_param()
|
||||
|
||||
# update torque versions param
|
||||
update_torque_versions_param()
|
||||
|
||||
|
||||
def update_onroad_brightness_param():
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
if "OnroadScreenOffBrightness" in params_metadata:
|
||||
options = [
|
||||
{"value": 0, "label": "Auto (Default)"},
|
||||
{"value": 1, "label": "Auto (Dark)"},
|
||||
{"value": 2, "label": "Screen Off"},
|
||||
]
|
||||
for i in range(3, 23):
|
||||
options.append({"value": i, "label": f"{(i - 2) * 5} %"})
|
||||
params_metadata["OnroadScreenOffBrightness"]["options"] = options
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
|
||||
except Exception as e:
|
||||
print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
|
||||
|
||||
|
||||
def update_onroad_brightness_timer_param():
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
if "OnroadScreenOffTimer" in params_metadata:
|
||||
options = []
|
||||
for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
|
||||
label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
|
||||
options.append({"value": seconds, "label": label})
|
||||
params_metadata["OnroadScreenOffTimer"]["options"] = options
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
|
||||
except Exception as e:
|
||||
print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
|
||||
|
||||
|
||||
def update_torque_versions_param():
|
||||
with open(TORQUE_VERSIONS_JSON) as f:
|
||||
current_versions = json.load(f)
|
||||
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
params_metadata = json.load(f)
|
||||
|
||||
options = [{"value": "", "label": "Default"}]
|
||||
for version_key, version_data in current_versions.items():
|
||||
version_value = float(version_data["version"])
|
||||
options.append({"value": version_value, "label": str(version_key)})
|
||||
|
||||
if "TorqueControlTune" in params_metadata:
|
||||
params_metadata["TorqueControlTune"]["options"] = options
|
||||
|
||||
with open(METADATA_PATH, 'w') as f:
|
||||
json.dump(params_metadata, f, indent=2)
|
||||
f.write('\n')
|
||||
|
||||
print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
|
||||
|
||||
except Exception as e:
|
||||
print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -45,9 +45,8 @@ class ScrollState(Enum):
|
||||
|
||||
|
||||
class GuiScrollPanel2:
|
||||
def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
|
||||
def __init__(self, horizontal: bool = True) -> None:
|
||||
self._horizontal = horizontal
|
||||
self._handle_out_of_bounds = handle_out_of_bounds
|
||||
self._state = ScrollState.STEADY
|
||||
self._offset: rl.Vector2 = rl.Vector2(0, 0)
|
||||
self._initial_click_event: MouseEvent | None = None
|
||||
@@ -99,7 +98,7 @@ class GuiScrollPanel2:
|
||||
# simple exponential return if out of bounds
|
||||
# out of bounds is handled by snapping, so skip if set
|
||||
out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
|
||||
if out_of_bounds and snap_target is None and self._handle_out_of_bounds:
|
||||
if out_of_bounds and snap_target is None:
|
||||
target = max_offset if self.get_offset() > max_offset else min_offset
|
||||
|
||||
dt = rl.get_frame_time() or 1e-6
|
||||
|
||||
@@ -75,6 +75,7 @@ class _Scroller(Widget):
|
||||
self._items: list[Widget] = []
|
||||
self._horizontal = horizontal
|
||||
self._snap_items = snap_items
|
||||
assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
|
||||
self._spacing = spacing
|
||||
self._pad = pad
|
||||
|
||||
@@ -190,12 +191,8 @@ class _Scroller(Widget):
|
||||
snap_target: float | None = None
|
||||
if self._snap_items and visible_items and self._scrolling_to[0] is None:
|
||||
# TODO: this doesn't handle two small buttons at the edges well
|
||||
if self._horizontal:
|
||||
center_pos = self._rect.x + self._rect.width / 2
|
||||
closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
|
||||
else:
|
||||
center_pos = self._rect.y + self._rect.height / 2
|
||||
closest_delta_pos = min((((item.rect.y + item.rect.height / 2) - center_pos) for item in visible_items), key=abs)
|
||||
center_pos = self._rect.x + self._rect.width / 2
|
||||
closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
|
||||
snap_target = self.scroll_panel.get_offset() - closest_delta_pos
|
||||
|
||||
return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
|
||||
|
||||
@@ -1,58 +0,0 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget name="Main Window" parent="main_window">
|
||||
<Tab tab_name="Acceleration Personality" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
|
||||
<DockArea name="accel / decel">
|
||||
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
|
||||
<range right="175.000000" top="2.000000" left="150.000000" bottom="-4.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/longitudinalPlan/aTarget" color="#1f77b4"/>
|
||||
<curve name="/carState/aEgo" color="#f14cc1"/>
|
||||
<curve name="/longitudinalPlanSP/acceleration/maxAccel" color="#1ac938"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="accel personality (gating)">
|
||||
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
|
||||
<range right="175.000000" top="1.300000" left="150.000000" bottom="-0.200000"/>
|
||||
<limitY/>
|
||||
<curve name="/longitudinalPlanSP/acceleration/jerkFactorScale" color="#9467bd"/>
|
||||
<curve name="/longitudinalPlanSP/acceleration/tFollowOffset" color="#ff7f0e"/>
|
||||
<curve name="/longitudinalPlanSP/acceleration/personality" color="#d62728"/>
|
||||
<curve name="/longitudinalPlanSP/acceleration/enabled" color="#17becf"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="lead">
|
||||
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
|
||||
<range right="175.000000" top="150.000000" left="150.000000" bottom="-25.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/radarState/leadOne/dRel" color="#1f77b4"/>
|
||||
<curve name="/radarState/leadOne/vRel" color="#d62728"/>
|
||||
</plot>
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]
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[[package]]
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Reference in New Issue
Block a user