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Appreciate My Work?

Please show your support by contributing to the ongoing development of this project.

Fork Details

This fork exists to improve OP performance and convenience for GM cars, specifically the Chevy Volt. I started because the kegman fork wouldn't run on Comma Three, and the result is the best Volt driving experience in the known universe.

While most of the features in this fork are my original implementations, none of it would have been possible without the work of others in the community, which is often my starting point or inspiration, and nearly always a reference. I reference code/concepts to their original authors to the best of my knowledge. Feel free to let me know if I have missed or mistaken a reference.

Pleae provide any positive/negative feedback on Patreon or the comma/openpilot/retropilot Discord servers, especially if you'd like your issues addressed.

Current Fork Features [✅ = optional via toggle]:

Running on move-fast fork of openpilot v0.8.9, which adds:

Vision and/or map-based slowing down for curves
Map-based automatic changing of speed limit (with optional offset)
- Map-based slowing for curves and automatic setting of speed requires a data connection
- You can subscribe to comma Prime, which is a great service and is totally worth the cost, or you can use your own hotspot and enable the "disable onroad uploads" toggle (see below) to only use data for these features
~~Hands on wheel monitoring~~ In stock
~~Disable disengage when gas pressed~~ Now in stock

Additional fork features:

Planned Fork Features (in no particular order):

Metrics to add:
- number of interventions/cut-ins during drive session
- time since last intervention/cut-in
- apply gas/apply brake

Supported Hardware

This fork is developed and used on a Comma Three in a 2018 Chevy Volt, and is also known to work on Comma Two and Comma Zero, and in 2017 Volt, 2018 Acadia, and supported Escalades.

Installation Instructions

Easy: using sshane's openpilot-installer-generator

Use these instructions and the following url: https://smiskol.com/fork/twilsonco

Or use Comma's installer the same way: https://www.installer.comma.ai/twilsonco

To ride the bleeding edge, try the staging branch where new features are tested before they go to regular users: (Be extra diligent and attentive when using the staging branch; it is considered experimental moreso than the regular branch!) https://smiskol.com/fork/twilsonco/tw-0.8.9-staging

Less easy

With a stock installation of OpenPilot confirmed working, SSH into device and run the following:

cd /data;mv openpilot openpilot_stock;git clone --recurse-submodules https://github.com/twilsonco/openpilot

Then, sudo reboot

Automatic Updates

This fork will auto-update while your device has internet access, and changes are automatically applied the next time the device restarts. If you're device stays connected to your car all the time, you'll be presented with a message to update when your car is off.

Tuning

Remember to make small adjustments to 1 value at a time and then test.
Use PlotJugger to make sure you are going in the right direction.

Lateral Tuning

Note: All of these parameters interact with each other so finding the balance is a bit experimental.

Kp too high - The vehicle overshoots and undershoots center.
Kp too low - The vehicle doesn't turn enough.
Ki too high - The vehicle gets to center without oscillations, but it takes too long to center. If you hit a bump or give the wheel a quick nudge, it should oscillate 3 - 5 times before coming to steady-state. If the wheel oscillates forever (critically damped), then your Kp or Ki or both are too high.
Ki too low - The vehicle oscillates trying to reach the center.
steerRatio too high - The vehicle ping pongs on straights and turns. If you're on a turn and the wheel is oversteering and then correcting, steerRatio is too high, and it's fighting with Kp and Ki (which you don't want) - although in the past it has been observed having an oscillating oversteering tune which could do tighter turns, but the turns weren't pleasant.
steerRatio too low - The vehicle doesn't turn enough on curves.
Kf - Lower this if your car oscillates and you've done everything else. It can be lowered to 0.

Commaai Table of Contents

What is openpilot?
Running in a car
Running on PC
Community and Contributing
User Data and comma Account
Safety and Testing
Directory Structure
Licensing

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 140+ 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

.
├── 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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openpilot's Introduction

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