openpilot

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openpilot
open source driving agent
open source driving agent
Developer(s)comma.ai
Initial release30 November 2016; 2 years ago (2016-11-30)
Stable release
0.6.6 (11 November 2019; 12 days ago (2019-11-11))
Repositorygithub.com/commaai/openpilot
Written inPython and C
TypeComputer vision
LicenseMIT License
Websitecomma.ai

openpilot is an open source semi-automated driving system developed by comma.ai. openpilot operates as a replacement for OEM Advanced driver-assistance systems with the objective of improving visual perception and electromechanical actuator control. It allows users to modify their existing car with increased computing power, enhanced sensors, and continuously-updated driver assistance features that improve with user-submitted data.

There have been over 10,000,000 miles[1] driven by users of openpilot.[2]

History[edit]

comma.ai was founded in September 2015 by George Hotz [3]. The first version of openpilot was revealed a couple months later in a Bloomberg article showing functionality on a 2016 Acura ILX.[4] The video and article instigated a cease and desist letter from the California Department of Motor Vehicles, claiming comma.ai was testing a self driving car without a license.

openpilot was packaged into a small, shippable device called the "comma one". It was announced at TechCrunch Disrupt. [5] comma.ai received a letter from the NHTSA in October 2016 that informed Hotz that this product was legally required to comply with Federal Motor Vehicle Safety Standards. They requested information that would confirm such compliance.[6] comma.ai responded in a tweet from Shenzhen, China announcing the cancellation of the comma one.[7]

One month later, comma.ai open sourced their self-driving car software called openpilot on November 30, 2016, emphasizing its intended use for research without any warranty.[8][9]

Features[edit]

Lane centering[edit]

Openpilot uses machine learning trained with user driver data to determine the safest path on the road. This improves perception on roads without lane markings vs lane centering by tracking current lane lines.

Adaptive cruise control[edit]

Openpilot will maintain a safe follow distance from the vehicle. It is capable of driving in stop-and-go traffic with no user intervention. It uses OpenStreetMap's road curvature and speed limit data to allow slowing on sharp turns and setting desired speed to speed limit.

Driver monitoring[edit]

Openpilot recognizes the driver’s face and if the driver is distracted they are warned. If the driver is distracted for more than 6 seconds, openpilot decelerates to a stop, and alerts the user with an audible alert.

Software updates[edit]

Openpilot receives over-the-air software updates with wifi or cellular access.

Supported Cars[edit]

Toyota Prius with openpilot installed

At launch, openpilot supported the Honda Civic and the Acura ILX. Support for several more vehicles and makes has been added through open source contribution.[10]

Make Model[11] Year (earliest) Year (latest)
Acura ILX 2016 2018
RDX 2016 2018
Buick Regal 2018 2018
Chevrolet Malibu 2017 2017
Volt 2017 2018
Cadillac ATS 2018 2018
Chrysler Pacifica 2017 2018
Pacifica Hybrid 2017 2019
GMC Acadia Denali 2018 2018
Holden Astra 2017 2017
Honda Accord 2016 2019
Civic 2017 2019
Civic Hatchback 2017 2019
CR-V 2015 2019
CR-V Hybrid 2017 2019
Fit 2018 2018
Odyssey 2018 2019
Passport 2019 2019
Pilot 2016 2019
Ridgeline 2017 2019
Hyundai Elantra 2017 2019
Genesis 2018 2018
Santa Fe 2019 2019
Jeep Grand Cherokee 2016 2019
Kia Optima 2019 2019
Sorento 2018 2018
Stinger 2018 2018
Lexus RX Hybrid 2016 2019
ES Hybrid 2019 2019
Subaru Crosstrek 2018 2018
Impreza 2019 2019
Toyota Avalon 2016 2018
Camry 2018 2019
C-HR 2017 2019
Corolla 2017 2020
Corolla Hatchback 2019 2019
Highlander 2017 2018
Highlander Hybrid 2018 2018
Prius 2016 2019
Prius Prime 2017 2020
Rav4 2016 2019
Rav4 Hybrid 2017 2018
Sienna 2018 2018

Community[edit]

Car specification editor
A user annotating a drive

Development is supported by a large open source community centered around Discord[12] and GitHub.

comma has released tools and guides to help developers port their cars. [13] In addition, they released tools to let users review their drives. [14]

Forks[edit]

comma.ai maintains the openpilot codebase and releases, and there is a growing community that maintains various forks of openpilot. These forks consist of experimental features such as Automatic Lane Change.

Pre-Autopilot Tesla models have been retrofitted with openpilot through a community fork.[15] Chrysler and Jeep have also gained support through community contributions.[16][17] Custom steering algorithms have also become popular for more refined actuation. [18]

There are over 2,300 forks of the openpilot GitHub repository [1].

References[edit]

  1. ^ https://twitter.com/comma_ai/status/1123987351276068864
  2. ^ https://comma.ai/#community
  3. ^ https://www.linkedin.com/in/george-hotz-b3866476
  4. ^ https://www.bloomberg.com/features/2015-george-hotz-self-driving-car/
  5. ^ https://www.youtube.com/watch?v=AerjS7PTNYs
  6. ^ "NHTSA Special Order".
  7. ^ https://twitter.com/comma_ai/status/791958413345382400
  8. ^ "George Hotz is giving away the code behind his self-driving car project". Retrieved May 13, 2017.
  9. ^ "OpenPilot Github Site".
  10. ^ https://github.com/commaai/openpilot/blob/devel/RELEASES.md
  11. ^ https://github.com/commaai/openpilot/tree/095ef5f9f60fca1b269aabcc3cfd322b17b9e674#supported-cars
  12. ^ "comma ai on Twitter: "Moving from Slack to Discord"". Twitter.com. Comma.ai, Inc. Retrieved 27 February 2019.
  13. ^ https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84
  14. ^ https://medium.com/@comma_ai/the-half-way-point-55662cef04f2
  15. ^ https://community.comma.ai/wiki/index.php/Tesla
  16. ^ https://twitter.com/comma_ai/status/1091550019151220736
  17. ^ https://github.com/adhintz/openpilot/wiki
  18. ^ https://github.com/commaai/openpilot/pull/529