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openpilot v0.5.1 release

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Vehicle Researcher
Vehicle Researcher committed Aug 2, 2018
1 parent 589b618 commit 6f3d10a4c475c4c4509f0b370805419acd13912d
Showing with 573 additions and 215 deletions.
  1. +53 −48 README.md
  2. +7 −0 RELEASES.md
  3. +59 −23 SAFETY.md
  4. BIN apk/ai.comma.plus.frame.apk
  5. BIN apk/ai.comma.plus.offroad.apk
  6. +7 −0 cereal/car.capnp
  7. +12 −0 cereal/log.capnp
  8. +33 −31 common/transformations/coordinates.py
  9. BIN selfdrive/assets/img_driver_face.png
  10. +2 −2 selfdrive/car/ford/interface.py
  11. +3 −2 selfdrive/car/gm/carstate.py
  12. +2 −2 selfdrive/car/gm/interface.py
  13. +1 −0 selfdrive/car/gm/values.py
  14. +7 −3 selfdrive/car/honda/carcontroller.py
  15. +2 −4 selfdrive/car/honda/carstate.py
  16. +3 −2 selfdrive/car/honda/hondacan.py
  17. +3 −2 selfdrive/car/honda/interface.py
  18. +4 −0 selfdrive/car/honda/radar_interface.py
  19. +14 −0 selfdrive/car/honda/values.py
  20. +2 −2 selfdrive/car/mock/interface.py
  21. +2 −2 selfdrive/car/toyota/carcontroller.py
  22. +5 −5 selfdrive/car/toyota/carstate.py
  23. +26 −8 selfdrive/car/toyota/interface.py
  24. +11 −4 selfdrive/car/toyota/radar_interface.py
  25. +36 −7 selfdrive/car/toyota/values.py
  26. +56 −0 selfdrive/common/efd.c
  27. +17 −0 selfdrive/common/efd.h
  28. +1 −1 selfdrive/common/version.h
  29. +5 −5 selfdrive/controls/controlsd.py
  30. +34 −4 selfdrive/controls/lib/alertmanager.py
  31. +75 −15 selfdrive/controls/lib/driver_monitor.py
  32. +5 −3 selfdrive/controls/lib/planner.py
  33. +4 −1 selfdrive/controls/radard.py
  34. BIN selfdrive/loggerd/loggerd
  35. +4 −2 selfdrive/manager.py
  36. BIN selfdrive/sensord/gpsd
  37. BIN selfdrive/sensord/sensord
  38. +29 −28 selfdrive/thermald.py
  39. +49 −9 selfdrive/ui/ui.c
  40. BIN selfdrive/visiond/visiond
101 README.md
@@ -10,7 +10,7 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
Community
------

openpilot is supported by [comma.ai](https://comma.ai/).
openpilot is developed by [comma.ai](https://comma.ai/) and users like you.

We have a [Twitter you should follow](https://twitter.com/comma_ai).

@@ -41,57 +41,62 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
Supported Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph* | 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph* | 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
| GM | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes | 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |


*[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| GM<sup>3</sup>| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup>| Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |


<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.

Community Maintained Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | -----------------------| -------------------- | ------- | ------------ | ----------- | ------------ |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |

[[Tesla Pull Request]](https://github.com/commaai/openpilot/pull/246)
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).

*Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.

In Progress Cars
------
@@ -107,7 +112,7 @@ How can I add support for my car?

If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.

We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.

- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
@@ -174,7 +179,7 @@ Contributing
------

We welcome both pull requests and issues on
[github](http://github.com/commaai/openpilot). Bug fixes and new car support encouraged.
[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.

Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

@@ -1,3 +1,10 @@
Version 0.5.1 (2018-08-01)
========================
* Fix radar error on Civic sedan 2018
* Improve thermal management logic
* Alpha Toyota C-HR and Camry support!
* Auto-switch Driver Monitoring to 3 min counter when inaccurate

Version 0.5 (2018-07-11)
========================
* Driver Monitoring (beta) option in settings!
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