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.
 Comma Two running the Openpilot software | |
| Developer(s) | comma.ai |
|---|---|
| Initial release | 30 November 2016 |
| Stable release | 0.8 (28 November 2020)
|
| Repository | github.com/commaai/openpilot |
| Written in | Python and C |
| Type | Computer vision |
| License | MIT License |
| Website | comma.ai |
There have been over 30,000,000 miles[1] driven by users of openpilot.[2]
History
comma.ai was founded in September 2015 by George Hotz.[3] The first version of openpilot was revealed a few 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", announced at TechCrunch Disrupt.[5] On October 27, 2016, NHTSA issued a Special Order to comma.ai demanding detailed information about the comma one, to determine if the device complies with legally required Federal Motor Vehicle Safety Standards.[6] comma.ai responded in a tweet from Shenzhen, China, announcing the cancellation of the comma one.[7]
comma.ai open-sourced openpilot a month later, on November 30, 2016, emphasizing its intended use for research, without any warranty.[8][9]
On January 7, 2020, comma.ai introduced the $999 "comma two" device at CES in Las Vegas.[10][11][12]
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; if the driver is distracted, openpilot warns the driver. If the driver is distracted for more than six seconds, openpilot decelerates the vehicle to a stop, and audibly alerts the user.
Assisted lane change
Openpilot uses the model to change lanes when the user engages the turn signal, a nudge is required on the steering wheel to confirm the lane change. Openpilot also interacts with the blind spot monitor on certain makes and models to block the lane change in the event a car is detected by the blind spot monitor.
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.[13]
| Make | Model[13] | 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 | 2020 |
| Pacifica Hybrid | 2017 | 2020 | |
| GMC | Acadia Denali | 2018 | 2018 |
| Holden | Astra | 2017 | 2017 |
| Honda | Accord | 2018 | 2019 |
| Civic | 2016 | 2020 | |
| Civic Hatchback | 2017 | 2019 | |
| CR-V | 2015 | 2020 | |
| CR-V Hybrid | 2017 | 2019 | |
| Fit | 2018 | 2018 | |
| HR-V | 2019 | 2019 | |
| Insight | 2019 | 2021 | |
| Odyssey | 2018 | 2020 | |
| Passport | 2019 | 2019 | |
| Pilot | 2016 | 2019 | |
| Ridgeline | 2017 | 2020 | |
| Hyundai | Elantra | 2017 | 2019 |
| Genesis | 2018 | 2018 | |
| Kona | 2017 | 2019 | |
| Kona EV | 2019 | 2019 | |
| Palisade | 2020 | 2020 | |
| Santa Fe | 2019 | 2019 | |
| Sonata | 2019 | 2020 | |
| Jeep | Grand Cherokee | 2016 | 2019 |
| Kia | Forte | 2018 | 2019 |
| Optima | 2017 | 2019 | |
| Sorento | 2018 | 2018 | |
| Stinger | 2018 | 2018 | |
| Lexus | CT Hybrid | 2017 | 2018 |
| ES Hybrid | 2019 | 2019 | |
| IS | 2017 | 2019 | |
| NX 300h[13] | 2018 | 2018 | |
| RX | 2016 | 2017 | |
| RX | 2020 | 2020 | |
| RX Hybrid | 2016 | 2020 | |
| Subaru | Crosstrek | 2018 | 2019 |
| Forester | 2019 | 2019 | |
| Impreza | 2017 | 2019 | |
| Toyota | Avalon | 2016 | 2018 |
| Camry | 2018 | 2020 | |
| C-HR | 2017 | 2019 | |
| C-HR Hybrid | 2018 | 2019 | |
| Corolla | 2017 | 2020 | |
| Corolla Hybrid | 2020 | 2020 | |
| Corolla Hatchback | 2019 | 2020 | |
| Highlander | 2017 | 2020 | |
| Highlander Hybrid | 2017 | 2020 | |
| Prius | 2016 | 2020 | |
| Prius Prime | 2017 | 2020 | |
| Rav4 | 2016 | 2020 | |
| Rav4 Hybrid | 2016 | 2021 | |
| Sienna | 2018 | 2020 | |
| Volkswagen | Golf | 2016 | 2019 |
Community
Development is supported by an open-source community using Discord[14] and GitHub.
comma.ai has released tools and guides to help developers port their cars.[15] In addition, they released tools to let users review their drives.[16]
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 stop light detection.
Pre-Autopilot Tesla models have been retrofitted with openpilot through a community fork.[17] Chrysler and Jeep models have also gained support through community contributions.[18][19]
There are over 4,200 forks of the openpilot GitHub repository.[9]
References
- "And... here we go. We collected 10MM miles in 288k driving hours!pic.twitter.com/bzMyulN9MJ". May 2, 2019.
- "comma.ai – Introducing openpilot". comma.ai – Introducing openpilot.
- "Comma.ai founder George Hotz wants to free humanity from the AI simulation". 2019-03-09. Retrieved 2020-03-10.
- www.bloomberg.com https://www.bloomberg.com/features/2015-george-hotz-self-driving-car/. Missing or empty
|title=(help) - "George "Geohot" Hotz Presents the Comma One at Disrupt SF". YouTube. 2016-09-13. Retrieved 2020-03-02.
- "NHTSA Special Order".
- "The comma one is cancelled. comma.ai will be exploring other products and markets. Hello from Shenzhen, China. -GH 3/3". October 28, 2016.
- "George Hotz is giving away the code behind his self-driving car project". Retrieved May 13, 2017.
- "commaai/openpilot". March 2, 2020 – via GitHub.
- Hall, Emme (2020-01-09). "We hit the road with Comma.ai's assisted-driving tech at CES 2020". Roadshow. Retrieved 2020-01-19.
- Baldwin, Roberto (2020-01-13). "Comma Ai continues to impress with its aftermarket driver assistance tech". Engadget. Retrieved 2020-01-19.
- "Available for purchase now". January 7, 2020.
- "commaai/openpilot". GitHub.
- "comma ai on Twitter: "Moving from Slack to Discord"". Twitter.com. Comma.ai, Inc. Retrieved 27 February 2019.
- ai, comma (August 4, 2018). "How to write a car port for openpilot". Medium.
- ai, comma (July 13, 2018). "The Half Way Point". Medium.
- "Tesla - comma wiki". community.comma.ai.
- "Giraffe for FCA group released! openpilot now officially supports only the Chrysler Pacifica Hybrid, but it will soon spread to all Chrysler, Jeep and Fiat with ACC and LaneSense!https://comma.ai/shop/products/giraffe#&gid=1&pid=9 …". February 1, 2019.
- "adhintz/openpilot". GitHub.