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- Chrysler Pacifica 2017 Hybrid
- Chrysler Pacifica 2018 (Hybrid and non-Hybrid)
- Jeep Grand Cherokee 2017-18
If your Chrysler, Jeep, Dodge, Abarth, Alfa Romeo, Fiat, Lancia, Maserati, or Ram Truck isn't listed, then it might take a bit of work to support, but it might be feasible. To see if it's feasible, first verify that your car has Lane-Keeping Assist (LKAS) where it will move the steering wheel if it detects you drifting out of your lane at highway speeds. Secondly, take off the plastic by the rear-view mirror that covers the lane-keeping computer and verify that it looks somewhat like this and has a mini50 connector.
You'll need these to run OpenPilot:
- EON which you can buy from Comma's store here.
- Panda, either grey or white is fine, you can buy a Panda from Comma's store here.
- custom Giraffe. The Giraffes on the Comma store will not work on your car. You can email me at drew@overt.org and I'll mail you one, probably for free. Alternatively, if you're familiar with electronics and can solder, you can follow my guide here for building one.
First, follow the usual guide to install OpenPilot on your EON. Then you'll need to switch your version of OpenPilot over to my fork. To do this, SSH in to your EON and run
cd /data/
mv openpilot openpilot.backup
git clone https://github.com/adhintz/openpilot.git
reboot
Then you'll need to ensure that your Panda is flashed by my version. To do this, plug the Panda in to your car's OBD2 port, located by the driver's left knee. If your car is on, turn it off. Then plug the EON into the Panda and wait a while. While flashing, the Panda will flash blue.
Now you're ready to install the Giraffe and Panda in the Giraffe. Remove the Panda from your car's OBD2 port and plug it into the Giraffe. Press the Panda firmly into the Giraffe -- even if it seems like it's in, press a bit harder to ensure it's all the way in. Before proceeding, ensure that your car is turned off. Remove the black plastic cover by the rearview mirror. You'll then see wires running to the car's built-in lane-keeping camera. Remove this connector -- can be a bit difficult to remove, try using needle-nose pliers if needed, but be careful not to break it. Plug the wires you just removed into the Giraffe. Then mount the EON on your windshield following these guides and plug your EON into the Panda.
To enable it, turn on adaptive cruise control (ACC) and OpenPilot will steer. The car's stock ACC will control the gas and brakes. Be careful coming up on stopped cars because ACC's radar will not always detect them. Limitations:
- Sharp turns are not always handled. For now it's best on straight freeways.
- It will not steer under 7 miles per hour. When resuming from below 7 mph, be careful as the steering can be erratic. I'll hopefully fix this in a future release.
- Driver monitoring is not always great because the van is wide. This will hopefully be fixed by Comma in a future release. For now, you can periodically adjust the ACC speed to reset the driver monitoring timer and pre-warning.
- ACC will do stop-and-go. If you're stopped for longer than 2 seconds, tap the gas pedal to start moving again.
(Note: The bug described here is mostly fixed, so the below 8 steps are typically not needed. However I'll keep the instructions here in case you run into future issues.) There's currently a bug, likely stale messages sent, with either Panda or OpenPilot that causes it to sometimes not work on Chrysler/etc cars. This problem manifests by OpenPilot giving you a grey unavailable error when you attempt to engage it. Here's a work-around to ensure that it works every time you drive:
- reboot the EON and leave it not plugged in to the Panda
- turn on the car (panda gets power) and let it run for 10 seconds
- turn off the car, and then open the door and close the door (so that the Panda loses power)
- turn on the car and let it run for a few seconds
- plug in the EON to the Panda
- Go for a drive, etc :)
- when your drive is over, unplug your EON and wait several seconds
- turn off the car Steps 2 and 3 are likely optional, but do what works for you.
The OpenPilot software and the Giraffe hardware (the "Research Technology") are in a hobbyist, not-consumer state. The Research Technology is provided "as is" without warranty, express or implied of any kind, and Andrew Hintz specifically disclaims all warranties, including but not limited to implied warranties of merchantability, non-infringement or fitness for a particular purpose.
In no event will Andrew Hintz be liable for any direct, indirect, incidental, consequential, special or any other damages, losses or expenses of any kind arising from or relating to the Research Technology. In the event applicable law does not permit such limitation or exclusion of liability, the subject limitation or exclusion of liability shall be deemed modified so as to be effective to the greatest extent permitted.
Use of the Product may damage your automobile or result in your automobile being involved in an accident and/or crash. So please be careful and you assume the risk yourself.
Currently OpenPilot on Chrysler is not as reliable or well-tuned as it is on some other cars, such as Honda and Toyota. However it's a work-in-progress and I've been making improvements.
Any user of this Research Technology shall indemnify and hold harmless Andrew Hintz 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 Research Technology 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.