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- Chrysler Pacifica 2017 Hybrid
- Chrysler Pacifica 2018 (Hybrid and non-Hybrid)
- Jeep Grand Cherokee 2018
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 pull 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 right knee. Then plug the EON into the Panda and wait a while. While flashing, the EON will flash blue.
Now you're ready to install the Giraffe and Panda in the Giraffe. Turn the Giraffe's switch 1 to off. Plug the Panda in to the Giraffe. 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 Giraffe into the now empty receptacle on the built-in camera, and then 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.
- Panda-level safety checks are not yet implemented, so be careful and use it at your own risk. If something goes wrong, press the brake and you can over-power the steering wheel.
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 appearing to work, but not actually automatically turning the wheel. I'll hopefully find and fix the issue in the future. Until then, 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.
This is still in a hobbyist not-consumer state. No warranty. It might damage your car (mine has not been damaged yet) and it might cause a crash (I have not crashed yet). So please be careful and you assume the risk yourself.