OpenPilot 介绍
openpilot 是一个开源的自动驾驶(驾驶代理)。
目前,它实行 Hondas 和 Acuras 的自适应巡航控制(ACC)和车道保持辅助系统(LKAS)的功能。 它在启动时与 Tesla Autopilot
相当,比所有其他制造商更好。
openpilot 的代码库编写得很简洁,支持快速原型开发。
支持的车型
Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
---|---|---|---|---|---|---|---|
Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph1 | 25mph | Nidec |
Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1 | 12mph | Nidec |
Buick3 | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7 |
Chevrolet3 | Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7 |
Chevrolet3 | Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7 |
Cadillac3 | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7 |
Chrysler | Pacifica 2018 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
GMC3 | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7 |
Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7 |
Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph1 | 12mph | Nidec |
Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
Honda | CR-V Hybrid 2019 | All | Yes | Stock | 0mph | 12mph | Bosch |
Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph1 | 0mph | Inverted Nidec |
Honda | Passport 2019 | All | Yes | Yes | 25mph1 | 12mph | Inverted Nidec |
Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1 | 12mph | Nidec |
Honda | Pilot 2019 | All | Yes | Yes | 25mph1 | 12mph | Inverted Nidec |
Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph1 | 12mph | Nidec |
Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom6 |
Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom6 |
Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom6 |
Jeep | Grand Cherokee 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6 |
Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6 |
Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6 |
Lexus | RX Hybrid 2016-19 | All | Yes | Yes2 | 0mph | 0mph | Toyota |
Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
Toyota | Camry 20184 | All | Yes | Stock | 0mph5 | 0mph | Toyota |
Toyota | C-HR 2017-184 | All | Yes | Stock | 0mph | 0mph | Toyota |
Toyota | Corolla 2017-18 | All | Yes | Yes2 | 20mph1 | 0mph | Toyota |
Toyota | Highlander 2017-18 | All | Yes | Yes2 | 0mph | 0mph | Toyota |
Toyota | Highlander Hybrid 2018 | All | Yes | Yes2 | 0mph | 0mph | Toyota |
Toyota | Prius 2016 | TSS-P | Yes | Yes2 | 0mph | 0mph | Toyota |
Toyota | Prius 2017-19 | All | Yes | Yes2 | 0mph | 0mph | Toyota |
Toyota | Prius Prime 2017-19 | All | Yes | Yes2 | 0mph | 0mph | Toyota |
Toyota | Rav4 2016 | TSS-P | Yes | Yes2 | 20mph1 | 0mph | Toyota |
Toyota | Rav4 2017-18 | All | Yes | Yes2 | 20mph1 | 0mph | Toyota |
Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2 | 0mph | 0mph | Toyota |
如何让我的汽车支持 OpenPilot
如果您的汽车具有自适应巡航控制和车道保持辅助,那么您很幸运。 使用panda和cabana,您可以了解如何通过电线驾驶汽车。
目录结构:
. ├── apk # The apk files used for the UI ├── cereal # The messaging spec used for all logs on EON ├── common # Library like functionality we've developed here ├── installer/updater # Manages auto-updates of openpilot ├── opendbc # Files showing how to interpret data from cars ├── panda # Code used to communicate on CAN and LIN ├── phonelibs # Libraries used on EON ├── pyextra # Libraries used on EON └── selfdrive # Code needed to drive the car ├── assets # Fonts and images for UI ├── boardd # Daemon to talk to the board ├── can # Helpers for parsing CAN messages ├── car # Car specific code to read states and control actuators ├── common # Shared C/C++ code for the daemons ├── controls # Perception, planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Soon to be home of precise location ├── logcatd # Android logcat as a service ├── loggerd # Logger and uploader of car data ├── mapd # Fetches map data and computes next global path ├── orbd # Computes ORB features from frames ├── proclogd # Logs information from proc ├── sensord # IMU / GPS interface code ├── test # Car simulator running code through virtual maneuvers ├── ui # The UI └── visiond # Vision pipeline