C2 users: you might be stuck on the tw-c2 branch if this branch (tw-main) doesn't work.
C3 users: depending on how new your C3 is, support might have been lost with my "tw" branches, so you'll want to use my SunnyPilot fork sunnu-dev (will update as this changes).
tw-main is a stable branch based on a 1-ish year old build
tw-staging receives more updates and newer features
tw-dev is modified often and is for breaking; use at your own risk
I'll list relevent branches here as they're made.
What's the difference?
- "My fork" is based on OpenPilot v0.8.9 from Winter 2021
  - Uses the last of the "medium models" for planning the driving path, which is rock solid dependable, unlike the newer models that cut curners bad
- sunny-dev is based on SunnyPilot, a popular fork with some great features, and it stays up to date with upstream OpenPilot software.
  - It provides support for newer C3s
  - Please (at least partially) direct your support for the SunnyPilot fork to SunnyPilot directly.

Join us on Discord!

Find us in the "twilsonco Volt GM fork" thread in the GM channel of the Comma.ai Discord server.
Also find help in the "twilsonco fork" thread in the GM channel of the OpenPilot Community Discord server

Fork Details

This fork exists to improve OP performance and convenience for GM cars, specifically the Chevy Volt. I started because the kegman fork wouldn't run on Comma Three, and the result is the best Volt driving experience in the known universe.

While most of the features in this fork are my original implementations, none of it would have been possible without the work of others in the community, which is often my starting point or inspiration, and nearly always a reference. I reference code/concepts to their original authors to the best of my knowledge. Feel free to let me know if I have missed or mistaken a reference.

Pleae provide any positive/negative feedback on Patreon or much better the comma/openpilot/retropilot Discord servers, especially if you'd like your issues addressed.

Current Fork Features [✅ = optional via toggle]:

Running on move-fast fork of openpilot v0.8.9, which adds:

Vision and/or map-based slowing down for curves
Map-based automatic changing of speed limit (with optional offset)
- Map-based slowing for curves and automatic setting of speed requires a data connection
- You can subscribe to comma Prime, which is a great service and is totally worth the cost, or you can use your own hotspot and enable the "disable onroad uploads" toggle (see below) to only use data for these features
~~Hands on wheel monitoring~~ In stock
~~Disable disengage when gas pressed~~ Now in stock

Additional fork features:

Planned Fork Features (in no particular order):

Chevy Bolt support
Record screen button
Redo UI metrics as themed "widgets" instead that can be activated independently and stack against the right (and left if necessary) side of the screen
- Follow widget: a colored vertical bar indicating follow distance with lines indicating the actual and desired (length/time) follow distances. Tap to include more info items like current distance cost
- Openpilot widget: a similar vertical bar (or maybe something like a circular progress bar or a speedometer--looking thing) showing the gas/braking being requested by OP. Also include Driver monitoring info.
- Car widget: Acceleration/jerk, tire pressures, low voltage battery info, ...
- Geo widget: GPS signal/coords/#satellites, altitude, percent grade of current road, ...
- Device widget: CPU/memory/temps/fans/...
- EV widget: high voltage battery info similar to that shown in the LeafSpyPro app

Supported Hardware

This fork is developed and used on a Comma Three in a 2018 Chevy Volt, and is also known to work on Comma Two and Comma Zero, and in 2017 Volt, 2018 Acadia, and supported Escalades.

Installation Instructions

Easy: using comma's openpilot-installer-generator

installer.comma.ai/twilsonco

To ride the bleeding edge, try the staging branch where new features are tested before they go to regular users: (Be extra diligent and attentive when using the staging branch; it is considered experimental moreso than the regular branch!) installer.comma.ai/twilsonco/tw-staging

Less easy

With a stock installation of OpenPilot confirmed working, SSH into device and run the following:

cd /data;mv openpilot openpilot_stock;git clone --recurse-submodules https://github.com/twilsonco/openpilot

Then, sudo reboot

Automatic Updates

This fork will auto-update while your device has internet access, and changes are automatically applied the next time the device restarts. If you're device stays connected to your car all the time, you'll be presented with a message to update when your car is off.

Tuning

Remember to make small adjustments to 1 value at a time and then test.
Use PlotJugger to make sure you are going in the right direction.

Lateral Tuning

Note: All of these parameters interact with each other so finding the balance is a bit experimental.

Kp too high - The vehicle overshoots and undershoots center.
Kp too low - The vehicle doesn't turn enough.
Ki too high - The vehicle gets to center without oscillations, but it takes too long to center. If you hit a bump or give the wheel a quick nudge, it should oscillate 3 - 5 times before coming to steady-state. If the wheel oscillates forever (critically damped), then your Kp or Ki or both are too high.
Ki too low - The vehicle oscillates trying to reach the center.
steerRatio too high - The vehicle ping pongs on straights and turns. If you're on a turn and the wheel is oversteering and then correcting, steerRatio is too high, and it's fighting with Kp and Ki (which you don't want) - although in the past it has been observed having an oscillating oversteering tune which could do tighter turns, but the turns weren't pleasant.
steerRatio too low - The vehicle doesn't turn enough on curves.
Kf - Lower this if your car oscillates and you've done everything else. It can be lowered to 0.

Commaai Table of Contents

What is openpilot?
Running in a car
Running on PC
Community and Contributing
User Data and comma Account
Safety and Testing
Directory Structure
Licensing

What is openpilot?

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported car makes, models and model years. In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

Running in a car

To use openpilot in a car, you need four things

This software. It's free and available right here.
One of the 140+ supported cars. We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
A supported device to run this software. This can be a comma two, comma three, or if you like to experiment, a Ubuntu computer with webcams.
A way to connect to your car. With a comma two or three, you need only a car harness. With an EON Gold or PC, you also need a black panda.

We have detailed instructions for how to install the device in a car.

Running on PC

All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.

With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See the tools README for more information.

You can also run openpilot in simulation with the CARLA simulator. This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.

Community and Contributing

openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Bug fixes and new car ports are encouraged. Check out the contributing docs.

Documentation related to openpilot development can be found on docs.comma.ai. Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the wiki.

You can add support for your car by following guides we have written for Brand and Model ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. Join our Discord to discuss car ports: most car makes have a dedicated channel.

Want to get paid to work on openpilot? comma is hiring.

And follow us on Twitter.

User Data and comma Account

By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.

openpilot is open source software: the user is free to disable data collection if they wish to do so.

openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

Safety and Testing

openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
openpilot has software in the loop tests that run on every commit.
The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
panda has software in the loop safety tests.
Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
panda has additional hardware in the loop tests.
We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.

Directory Structure

.
├── cereal              # The messaging spec and libs used for all logs
├── common              # Library like functionality we've developed here
├── docs                # Documentation
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN
├── third_party         # External libraries
├── pyextra             # Extra python packages
└── selfdrive           # Code needed to drive the car
    ├── assets          # Fonts, images, and sounds for UI
    ├── athena          # Allows communication with the app
    ├── boardd          # Daemon to talk to the board
    ├── camerad         # Driver to capture images from the camera sensors
    ├── car             # Car specific code to read states and control actuators
    ├── common          # Shared C/C++ code for the daemons
    ├── controls        # Planning and controls
    ├── debug           # Tools to help you debug and do car ports
    ├── locationd       # Precise localization and vehicle parameter estimation
    ├── logcatd         # Android logcat as a service
    ├── loggerd         # Logger and uploader of car data
    ├── modeld          # Driving and monitoring model runners
    ├── proclogd        # Logs information from proc
    ├── sensord         # IMU interface code
    ├── test            # Unit tests, system tests, and a car simulator
    └── ui              # The UI

Licensing

openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers 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 software 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.

=======

Name		Name	Last commit message	Last commit date
Latest commit History 6,629 Commits
.github		.github
cereal @ aa6eb9b		cereal @ aa6eb9b
common		common
docs		docs
external		external
installer		installer
laika_repo @ 78de0f1		laika_repo @ 78de0f1
models		models
opendbc @ da5c3f4		opendbc @ da5c3f4
panda @ 63a899e		panda @ 63a899e
phonelibs		phonelibs
pyextra		pyextra
rednose_repo @ eab09f0		rednose_repo @ eab09f0
release		release
scripts		scripts
selfdrive		selfdrive
site_scons/site_tools		site_scons/site_tools
tools		tools
.clang-tidy		.clang-tidy
.dir-locals.el		.dir-locals.el
.dockerignore		.dockerignore
.editorconfig		.editorconfig
.gitattributes		.gitattributes
.gitignore		.gitignore
.gitmodules		.gitmodules
.pre-commit-config.yaml		.pre-commit-config.yaml
.pylintrc		.pylintrc
CONTRIBUTING.md		CONTRIBUTING.md
Dockerfile.openpilot		Dockerfile.openpilot
Dockerfile.openpilot_base		Dockerfile.openpilot_base
Jenkinsfile		Jenkinsfile
LICENSE		LICENSE
Pipfile		Pipfile
Pipfile.lock		Pipfile.lock
README.md		README.md
RELEASES.md		RELEASES.md
SAFETY.md		SAFETY.md
SConstruct		SConstruct
codecov.yml		codecov.yml
fork_image_brake_indicator.png		fork_image_brake_indicator.png
fork_image_coasting.png		fork_image_coasting.png
fork_image_composite.png		fork_image_composite.png
fork_image_lane_position.png		fork_image_lane_position.png
fork_image_metrics.png		fork_image_metrics.png
fork_image_misc.png		fork_image_misc.png
fork_image_onepedal.png		fork_image_onepedal.png
fork_image_touchcontrols.png		fork_image_touchcontrols.png
laika		laika
launch_chffrplus.sh		launch_chffrplus.sh
launch_env.sh		launch_env.sh
launch_openpilot.sh		launch_openpilot.sh
lgtm.yml		lgtm.yml
mypy.ini		mypy.ini
opParams.png		opParams.png
opparams.py		opparams.py
rednose		rednose
update_requirements.sh		update_requirements.sh

License

briantran33/openpilot

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