openpilot

Check out our release blog post for more details!

• New driving model
  • Vision model trained on more data
  • Improved driving performance
  • Directly outputs curvature for lateral control
• New driver monitoring model
  • Trained on larger dataset
• AGNOS 9
• comma body streaming and controls over WebRTC
• Improved fuzzy fingerprinting for many makes and models
• Alpha longitudinal support for new Toyota models
• Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
• Dodge Durango 2020-21 support
• Hyundai Staria 2023 support thanks to sunnyhaibin!
• Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Lexus LC 2024 support thanks to nelsonjchen!
• Toyota RAV4 2023-24 support
• Toyota RAV4 Hybrid 2023-24 support

Check out our release blog post for more details!

• New driving model
  • Improved navigate on openpilot performance using navigation instructions as an additional model input
  • Do lateral planning inside the model
  • New vision transformer architecture
• Cadillac Escalade ESV 2019 support thanks to twilsonco!
• Hyundai Azera 2022 support thanks to sunnyhaibin!
• Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
• Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
• Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
• Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
• Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
• Kia Optima Hybrid 2019 support
• Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
• Lexus GS F 2016 support thanks to snyperifle!
• Lexus IS 2023 support thanks to L3R5!

Check out our release blog post for more details!

• Navigate on openpilot in Experimental mode
  • When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
  • When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
  • When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
  • When navigate on openpilot is active, the path on the map is green
• UI updates
  • Navigation settings moved to home screen and map
  • Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
  • Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
• Bookmarked segments are preserved on the device's storage
• Ford Focus 2018 support
• Kia Carnival 2023 support thanks to sunnyhaibin!

Check out our release blog post for more details!

• New driving model
  • Improved height estimation and added height tracking in liveCalibration
  • Model inputs refactor
• New driving personality setting
  • Three settings: aggressive, standard, and relaxed
  • Standard is recommended and the default
  • In aggressive mode, lead follow distance is shorter and acceleration response is quicker
  • In relaxed mode, lead follow distance is longer
• Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
• Improved thermal management logic

Check out our release blog post for more details!

• New driving model
  • Reduced turn diving
  • Trained on a new dataset
• UI updates
  • New experimental mode visualization
  • Draw MPC path instead of model-predicted path
• AGNOS 7
  • Faster boot time
  • Fixes rare no sounds bug
  • Fixes bootsplash bug at extreme temperatures
• Buick LaCrosse 2017-19 support thanks to koch-cf!
• Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
• Ford Bronco Sport 2021-22 support
• Ford Escape 2020-22 support
• Ford Explorer 2020-22 support
• Ford Kuga 2020-22 support
• Ford Maverick 2022-23 support
• Genesis GV80 2023 support thanks to JWingate80!
• Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
• Kia Niro EV 2023 support thanks to JosselinLecocq!
• Lexus ES 2017-18 support
• Lincoln Aviator 2021 support
• Škoda Fabia 2022-23 support thanks to jyoung8607!

Check out our release blog post for more details!

• New driving model
  • 30% improved height estimation resulting in better driving performance for tall cars
• Driver monitoring: removed timer resetting on user interaction if distracted
• UI updates
  • Adjust alert volume using ambient noise level
  • Driver monitoring icon shows driver's head pose
  • German translation thanks to Vrabetz and CzokNorris!
• Cadillac Escalade 2017 support thanks to rickygilleland!
• Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
• Genesis GV60 2023 support thanks to sunnyhaibin!
• Hyundai Tucson 2022-23 support
• Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
• Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
• Kia Sorento 2022-23 support thanks to sunnyhaibin!
• Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Toyota C-HR 2021 support thanks to eFiniLan!
• Toyota C-HR Hybrid 2022 support thanks to Korben00!
• Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!

Check out our release blog post for more details!

• New driving model
  • Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
  • Less reliance on previous frames makes model more reactive and snappy
  • Trained in new reprojective simulator
  • Trained in 36 hours from scratch, compared to one week for previous releases
  • Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
• Experimental driving mode
  • End-to-end longitudinal control
  • Stops for traffic lights and stop signs
  • Slows down for turns
  • openpilot defaults to chill mode, enable experimental mode in settings
• Driver monitoring updates
  • New bigger model with added end-to-end distracted trigger
  • Reduced false positives during driver calibration
• Self-tuning torque controller: learns parameters live for each car
• Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
• UI updates
  • Matched speeds shown on car's dash
  • Multi-language in navigation
  • Improved update experience
  • Border turns grey while overriding steering
  • Bookmark events while driving; view them in comma connect
  • New onroad visualization for experimental mode
• tools: new and improved cabana thanks to deanlee!
• Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
• Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
• Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
• Kia Sportage 2023 support thanks to sunnyhaibin!
• Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
• Kia Stinger 2022 support thanks to sunnyhaibin!

Check out our release blog post for more details!

• New driving model
  • Reduced turn cutting
• Auto-detect right hand drive setting with driver monitoring model
• Improved fan controller for comma three
• New translations
  • Japanese thanks to cydia2020!
  • Brazilian Portuguese thanks to AlexandreSato!
• Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
• Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
• GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
• Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
• Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
• Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
• Subaru Legacy 2020-22 support thanks to martinl!
• Subaru Outback 2020-22 support

Check out our release blog post for more details!

• New driving model
  • Path planning uses end-to-end output instead of lane lines at all times
  • Reduced ping pong
  • Improved lane centering
• New lateral controller based on physical wheel torque model
  • Much smoother control that's consistent across the speed range
  • Effective feedforward that uses road roll
  • Simplified tuning, all car-specific parameters can be derived from data
  • Used on select Toyota and Hyundai models at first
  • Significantly improved control on TSS-P Prius
• New driver monitoring model
  • Bigger model, covering full interior view from driver camera
  • Works with a wider variety of mounting angles
  • 3x more unique comma three training data than previous
• Navigation improvements
  • Speed limits shown while navigating
  • Faster position fix by using raw GPS measurements
• UI updates
  • Multilanguage support for settings and home screen
  • New font
  • Refreshed max speed design
  • More consistent camera view perspective across cars
• Reduced power usage: device runs cooler and fan spins less
• AGNOS 5
  • Support VSCode remote SSH target
  • Support for delta updates to reduce data usage on future OS updates
• Chrysler ECU firmware fingerprinting thanks to realfast!
• Honda Civic 2022 support
• Hyundai Tucson 2021 support thanks to bluesforte!
• Kia EV6 2022 support
• Lexus NX Hybrid 2020 support thanks to AlexandreSato!
• Ram 1500 2019-21 support thanks to realfast!

Check out our release blog post for more details!

• New driving model
  • Bigger model, using both of comma three's road-facing cameras
  • Better at cut-in detection and tight turns
• New driver monitoring model
  • Tweaked network structure to improve output resolution for DSP
  • Fixed bug in quantization aware training to reduce quantizing errors
  • Resulted in 7x less MSE and no more random biases at runtime
• Added toggle to disable disengaging on the accelerator pedal
• comma body support
• Audi RS3 support thanks to jyoung8607!
• Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
• Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
• Toyota Alphard Hybrid 2021 support
• Toyota Avalon Hybrid 2022 support
• Toyota RAV4 2022 support
• Toyota RAV4 Hybrid 2022 support

Check out our release blog post for more details!

• Improved driver monitoring
  • Retuned driver pose learner for relaxed driving positions
  • Added reliance on driving model to be more scene adaptive
  • Matched strictness between comma two and comma three
• Improved performance in turns by compensating for the road bank angle
• Improved camera focus on the comma two
• AGNOS 4
  • ADB support
  • improved cell auto configuration
• NEOS 19
  • package updates
  • stability improvements
• Subaru ECU firmware fingerprinting thanks to martinl!
• Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Mazda CX-5 2022 support thanks to Jafaral!
• Subaru Impreza 2020 support thanks to martinl!
• Toyota Avalon 2022 support thanks to sshane!
• Toyota Prius v 2017 support thanks to CT921!
• Volkswagen Caravelle 2020 support thanks to jyoung8607!

Check out our release blog post for more details!

• New driving model
  • Improved behavior around exits
  • Better pose accuracy at high speeds, allowing max speed of 90mph
  • Fully incorporated comma three data into all parts of training stack
• Improved follow distance
• Better longitudinal policy, especially in low speed traffic
• New alert sounds
• AGNOS 3
  • Display burn in mitigation
  • Improved audio amplifier configuration
  • System reliability improvements
  • Update Python to 3.8.10
• Raw logs upload moved to connect.comma.ai
• Fixed HUD alerts on newer Honda Bosch thanks to csouers!
• Audi Q3 2020-21 support thanks to jyoung8607!
• Lexus RC 2020 support thanks to ErichMoraga!

Check out our release blog post for more details!

• Support for CAN FD on the red panda
• Support for an external panda on the comma three
• Navigation: Show more detailed instructions when approaching maneuver
• Fixed occasional steering faults on GM cars thanks to jyoung8607!
• Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
• Cadillac Escalade ESV 2016 support thanks to Gibby!
• Genesis G70 2020 support thanks to tecandrew!
• Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
• Mazda CX-9 2021 support thanks to Jacar!
• Volkswagen Polo 2020 support thanks to jyoung8607!
• Volkswagen T-Roc 2021 support thanks to jyoung8607!

Check out our release blog post for more details!

• New driving model
  • Trained on one million minutes!!!
  • Fixed lead training making lead predictions significantly more accurate
  • Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
• New driver monitoring model
  • Trained on latest data from both comma two and comma three
  • Increased model field of view by 40% on comma three
  • Improved model stability on masked users
  • Improved pose prediction with reworked ground-truth stack
• Lateral and longitudinal planning MPCs now in ACADOS
• Combined longitudinal MPCs
  • All longitudinal planning now happens in a single MPC system
  • Fixed instability in MPC problem to prevent sporadic CPU usage
• AGNOS 2: minor stability improvements and builder repo open sourced
• tools: new and improved replay thanks to deanlee!
• Moved community-supported cars outside of the Community Features toggle
• Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
• Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
• Audi S3 2015 support thanks to jyoung8607!
• Honda Freed 2020 support thanks to belm0!
• Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
• Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
• Kia K5 2021 support thanks to sunnyhaibin!
• Škoda Kamiq 2021 support thanks to jyoung8607!
• Škoda Karoq 2019 support thanks to jyoung8607!
• Volkswagen Arteon 2021 support thanks to jyoung8607!
• Volkswagen California 2021 support thanks to jyoung8607!
• Volkswagen Taos 2022 support thanks to jyoung8607!

• Improved fan control on comma three
• AGNOS 1.5: improved stability
• Honda e 2020 support

• New driving model with improved laneless performance
  • Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
  • Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
  • All new desire ground-truthing stack makes the model better at lane changes
• New driver monitoring model: improved performance on comma three
• NEOS 18 for comma two: update packages
• AGNOS 1.3 for comma three: fix display init at high temperatures
• Improved auto-exposure on comma three
• Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
• Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
• Kia Niro Hybrid 2021 support thanks to tetious!

• comma three support!
• Navigation alpha for the comma three!
• Volkswagen T-Cross 2021 support thanks to jyoung8607!

• Revamp lateral and longitudinal planners
  • Refactor planner output API to be more readable and verbose
  • Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
  • Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
• Remove "CHECK DRIVER FACE VISIBILITY" warning
• Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
• Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
• Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
• Kia Niro Hybrid 2019 support thanks to jyoung8607!
• Škoda Octavia RS 2016 support thanks to jyoung8607!
• Toyota Alphard 2020 support thanks to belm0!
• Volkswagen Golf SportWagen 2015 support thanks to jona96!
• Volkswagen Touran 2017 support thanks to jyoung8607!

• NEOS update: improved reliability and stability with better voltage regulator configuration
• Smart model-based Forward Collision Warning
• CAN-based fingerprinting moved behind community features toggle
• Improved longitudinal control on Toyotas with a comma pedal
• Improved auto-brightness using road-facing camera
• Added "Software" settings page with updater controls
• Audi Q2 2018 support thanks to jyoung8607!
• Hyundai Elantra 2021 support thanks to CruiseBrantley!
• Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
• Toyota Avalon Hybrid 2019 support thanks to jbates9011!
• SEAT Leon 2017 & 2020 support thanks to jyoung8607!
• Škoda Octavia 2015 & 2019 support thanks to jyoung8607!

• Delay controls start until system is ready
• Fuzzy car identification, enabled with Community Features toggle
• Localizer optimized for increased precision and less CPU usage
• Retuned lateral control to be more aggressive when model is confident
• Toyota Mirai 2021 support
• Lexus NX 300 2020 support thanks to goesreallyfast!
• Volkswagen Atlas 2018-19 support thanks to jyoung8607!