Openpilot


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 15,000,000 miles driven by users of openpilot.

History

comma.ai was founded in September 2015 by George Hotz. The first version of openpilot was revealed a few months later in a Bloomberg article, showing functionality on a 2016 Acura ILX. 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", announced at TechCrunch Disrupt. The NHTSA sent comma.ai a letter dated October 27, 2016 that informed Hotz that this product was legally required to comply with Federal Motor Vehicle Safety Standards. comma.ai responded in a tweet from Shenzhen, China, announcing the cancellation of the comma one.
comma.ai open-sourced openpilot a month later, on November 30, 2016, emphasizing its intended use for research, without any warranty.
On January 7, 2020, comma.ai introduced the $999 "comma two" device at CES in Las Vegas.

Features

Automated Lane Centering

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

openpilot maintains a safe following distance from the vehicle ahead. 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 the vehicle's desired speed to the current speed limit.

Driver Monitoring

openpilot recognizes the driver's face and if the driver is distracted, they are warned. If the driver is distracted for more than six seconds, openpilot decelerates the vehicle to a stop, and audibly alerts the user.

Software Updates

openpilot receives over-the-air software updates via WiFi or a cellular phone network.

Supported Cars

At launch, openpilot supported the Honda Civic and the Acura ILX. Support for more vehicles and makes has been added through open source contribution.
MakeModelYear Year
AcuraILX20162018
AcuraRDX20162018
BuickRegal20182018
ChevroletMalibu20172017
ChevroletVolt20172018
CadillacATS20182018
ChryslerPacifica20172020
ChryslerPacifica Hybrid20172020
GMCAcadia Denali20182018
HoldenAstra20172017
HondaAccord20182019
HondaCivic20162020
HondaCivic Hatchback20172019
HondaCR-V20152020
HondaCR-V Hybrid20172019
HondaFit20182018
HondaHR-V20192019
HondaInsight20192019
HondaOdyssey20182020
HondaPassport20192019
HondaPilot20162019
HondaRidgeline20172020
HyundaiElantra20172019
HyundaiGenesis20182018
HyundaiKona20172019
HyundaiKona EV20192019
HyundaiPalisade20202020
HyundaiSanta Fe20192019
HyundaiSonata20192020
JeepGrand Cherokee20162019
KiaForte20182019
KiaOptima20172019
KiaSorento20182018
KiaStinger20182018
LexusCT Hybrid20172018
LexusES Hybrid20192019
LexusIS20172019
LexusNX 300h20182018
LexusRX20162017
LexusRX20202020
LexusRX Hybrid20162020
SubaruCrosstrek20182019
SubaruForester20192019
SubaruImpreza20172019
ToyotaAvalon20162018
ToyotaCamry20182020
ToyotaC-HR20172019
ToyotaC-HR Hybrid20182019
ToyotaCorolla20172020
ToyotaCorolla Hybrid20202020
ToyotaCorolla Hatchback20192020
ToyotaHighlander20172020
ToyotaHighlander Hybrid20172020
ToyotaPrius20162020
ToyotaPrius Prime20172020
ToyotaRav420162020
ToyotaRav4 Hybrid20162020
ToyotaSienna20182020
VolkswagenGolf20162019

Community

Development is supported by an open-source community using Discord and GitHub.
comma.ai has released tools and guides to help developers port their cars. In addition, they released tools to let users review their drives.

Forks

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 Lane Change Assist.
Pre-Autopilot Tesla models have been retrofitted with openpilot through a community fork. Chrysler and Jeep models have also gained support through community contributions.
There are over 3,400 forks of the openpilot GitHub repository.