Table of Contents

• What does this fork do?
• Installation Instructions
• Donate
• What is openpilot?
• Running in a car
• Running on PC
• Community and Contributing
• User Data and comma Account
• Safety and Testing
• Directory Structure
• Licensing

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What does this fork do?

The purpose of this fork is to make the transition from Honda Safety Sense to openpilot as seamless as possible. All the information necessary to operate the system can be found in the vehicles owners manual. This fork replicates the behaviour of Honda Safety Sense as accurately as possible with the following changes:

1. openpilot will not disengage on gas press
2. ACC and LKAS can be activated independently of eachother
3. Set button enables ACC
4. LKAS button toggles LKAS
5. Cancel button only disables ACC
6. Main button disables openpilot entirely (enforced in panda safety code)
7. Pressing the brake will disable ACC but will only pause LKAS while pressed
8. Signaling will pause LKAS if below the speed threshold for automatic lane change
9. Allows you to engage openpilot in S / L gears (Bosch only)
10. Event audible alerts are more relaxed to match Honda Safety Sense

Installation Instructions

Install openpilot on a supported device by entering https://installer.comma.ai/spektor56/0.8.12-devel-toyota or https://smiskol.com/fork/spektor56/0.8.12-devel-toyota during the installer setup.

Donate

If you find any of this useful feel free to donate to support future development

- Ko-fi

- Buy Me a Coffee

What is openpilot?

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported car makes, models and model years. In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

Running in a car

To use openpilot in a car, you need four things

• This software. It's free and available right here.
• One of the 150+ supported cars. We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
• A supported device to run this software. This can be a comma two, comma three, or if you like to experiment, a Ubuntu computer with webcams.
• A way to connect to your car. With a comma two or three, you need only a car harness. With an EON Gold or PC, you also need a black panda.

We have detailed instructions for how to install the device in a car.

Running on PC

All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.

With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See the tools README for more information.

You can also run openpilot in simulation with the CARLA simulator. This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.

Community and Contributing

openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Bug fixes and new car ports are encouraged. Check out the contributing docs.

Documentation related to openpilot development can be found on docs.comma.ai. Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the wiki.

You can add support for your car by following guides we have written for Brand and Model ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. Join our Discord to discuss car ports: most car makes have a dedicated channel.

Want to get paid to work on openpilot? comma is hiring.

And follow us on Twitter.

User Data and comma Account

By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.

openpilot is open source software: the user is free to disable data collection if they wish to do so.

openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

Safety and Testing

• openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
• openpilot has software in the loop tests that run on every commit.
• The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
• panda has software in the loop safety tests.
• Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
• panda has additional hardware in the loop tests.
• We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.

Directory Structure

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├── cereal              # The messaging spec and libs used for all logs
├── common              # Library like functionality we've developed here
├── docs                # Documentation
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN
├── third_party         # External libraries
├── pyextra             # Extra python packages
└── selfdrive           # Code needed to drive the car
    ├── assets          # Fonts, images, and sounds for UI
    ├── athena          # Allows communication with the app
    ├── boardd          # Daemon to talk to the board
    ├── camerad         # Driver to capture images from the camera sensors
    ├── car             # Car specific code to read states and control actuators
    ├── common          # Shared C/C++ code for the daemons
    ├── controls        # Planning and controls
    ├── debug           # Tools to help you debug and do car ports
    ├── locationd       # Precise localization and vehicle parameter estimation
    ├── logcatd         # Android logcat as a service
    ├── loggerd         # Logger and uploader of car data
    ├── modeld          # Driving and monitoring model runners
    ├── proclogd        # Logs information from proc
    ├── sensord         # IMU interface code
    ├── test            # Unit tests, system tests, and a car simulator
    └── ui              # The UI

Licensing

openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.

THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.

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