This fork is only for Chrysler/Jeep vehicles!

• Safety Notes
• jvePilot
  • What is this Fork?
  • Benefits of jvePilot
    • Longitudinal control
    • Auto Resume
    • Auto Follow
    • ACC Eco
  • How to use it
    • Where to look when setting ACC speed
• Install
  • Branches
• Customizing
• Advanced

• This is my experimental branch, so I'm not responsible for any damage this may cause.
• jvePilot still does not have direct control of the gas and brakes! Changing the ACC speed does not always result in the vehicle braking unless the difference in speed is large enough. If the speed difference is small, the vehicle just lets off the gas.
• ACC can't go slower that 20mph
• ACC doesn't do a good job at seeing things that are already stopped

I have a 2018 Grand Cherokee Trailhawk, so I'm only able to confirm features using this vehicle.

• 2017 Gas Chrysler Pacifica: Confirmed by @debugged-hosting

This is my personal OpenPilot fork that includes features that I feel make it a better driving experience for me and possibly others.

• Smother driving in traffic as jvePilot will do a better job at predicting traffic and adjust ACC speed accordingly
• ACC braking by setting the cruse speed lower that the target to help slow the vehicle sooner
• Slow for cars cutting in before ACC does
• Slow in a turn, so you don't have to change the set speed yourself (Speeds are configurable)
• Auto resume after ACC comes to a stop behind vehicle (Can be disabled)
• Auto follow feature to adjust the follow distance based on speed (Speeds are configurable)
• ACC Eco to limit the throttle when accelerating
• Pressing the gas does not disengage jvePilot (Can be disabled)
• Setting to sync jvePilot display speed to vehicle speedometer
• Use LKAS button in the dash to disable lane line driving and instead use the new KL driving model. Read about KL model here.

This fork combines the speed control logic of OpenPilot with the vehicles Adaptive Cruse Control (ACC). It does this by changing the ACC speed to match the value OpenPilot calculates as the desired speed. This brings some of OpenPilots longitudinal control to these vehicles. Including things like slowing while cornering and slowing when it detects cut-ins. It will also smooth the braking of ACC when driving in traffic.

On FCA vehicles, only the steering is controlled by jvePilot and speed is left up to the ACC of the vehicle. This fork takes control of the ACC speed setting and adjusts the ACC speed to match the speed jvePilot would be targeting if it actually was able to control the gas and brakes. It does this by simulating ACC+ and ACC- button presses on the steering wheel to change the ACC speed. It is limited as ACC only goes down to 20 mph, so it doesn't help as low speeds.

ACC will come to a stop behind vehicles, however, if stopped too long, it will either stay stopped until resume is pressed, or simply disengage ACC altogether.
For the case where ACC simply cancels, the driver has to press and hold the brake to keep the vehicle stopped. Auto resume makes life easier by resuming ACC when the vehicle in front of you begin to move, or, you let off the brake after coming to a standstill. While stopped, you can still disengage jvePilot by pressing the Cancel button.

Auto Follow is a way to automate the changing of the stock follow distance setting. It sets the follow distance to closer at slow speeds and increases it the faster you go. Setting the follow speed to one/two bars helps with keeping up with cars that take off when stopped or at slow speeds. The faster you go, the more distance you want, so you can have more confidence in ACC being able to stop in case it needs to.

The current enabled state of Auto Follow is displayed on the bottom of the jvePilot display. Pressing Follow + or - will disable Auto Follow giving you full control to set the follow distance. To re-enable Auto Follow, hold either Follow + or - for half a second or tap the button on the display.

When enabled, jvePilot will limit how far ahead the ACC setting is above the current speed.
This prevents the vehicle from using an aggressive throttle to get up to speed saving on gas/battery.

The ACC Eco button is located in the lower right corner of the display.
Tapping the button cycles between off, level 1, and level 2 eco settings. Level 2 provides the slowest acceleration and is selected when both leaves are green.
Level 1 should provide a balance is selected when only one leaf is green. If you feel these settings are not right for you or your vehicle, see the ACC Eco setting to adjust them. Much like your vehicles eco/sport modes, the current setting is persisted between drives.

When using this branch, you will be setting the max ACC speed on the jvePilot display instead of the one in the dashboard. jvePilot will then set the ACC setting in the dashboard to the targeted speed, but never exceeding the max speed set on the jvePilot display. A quick press of the ACC+ and ACC- buttons will change this speed by 5 mph on the jvePilot display, while a long deliberate press (about a 1/2 second press) changes it by 1 mph. DO NOT hold the ACC+ or ACC- buttons for longer that a 1 second. Either make quick or long deliberate presses only.

Do not look at the dashboard when setting your ACC max speed. Instead, only look at the one on the jvePilot display. The reason you need to look at jvePilot is because jvePilot will be changing the one in the dashboard. It will be adjusting it as needed, never raising it above the one set on the jvePilot display.

ONLY look at the MAX speed on jvePilot when setting the ACC speed instead of the dashboard!

The easiest way to install jvePilot is to factory reset and use this Custom Software URL: https://bit.ly/jvePilot-release

/jvePilot-release - The latest release. Will contain the latest version I feel is ready for daily use. Custom Software URL: https://bit.ly/jvePilot-release /jvePilot-beta - Sometimes I have people wanting to beta test jvePilot's new features. Mostly stable, but still can be buggy. Custom Software URL: https://bit.ly/jvePilot-beta /feature/* - These branches are where I'm working on new features. These are never safe to run as they change all the time.

Customizing features and parameters can be done on the UI display.
Click the gear icon and then select jvePilot from the sidebar.
Clicking on the text of feature of will show more information about it and allow customization of the feature. Note that some settings do require a vehicle restart, and some don't The settings that don't require a restart may take upward of 5 seconds to take effect after changing them.

jvePilot will slow in curves so that you don't have to.

• Default: On
• Vehicle Restart Required: No

Use this to tune the speed in curves to you liking. Setting this to 1.2 will cause jvePilot to drive 20% faster in turns than if it was set to the default of 1.0

• Default: 1.0
• Units: Ratio
• Vehicle Restart Required: No
• Min/Max values (0.1, 2)

Adjusts how much the speed drops as the curve increases. Decrease this value to lessen the amount of drop off as the curve increases. Changing this value will likely require adjusting the Speed Ratio to compensate.

• Default: 2.0
• Vehicle Restart Required: No
• Min/Max values (1.0, 3.0)

Reverse the stock ACC +/- button's 1mph on short press and 5mph on long press. Turn off to return to stock style.

• Default: On
• Vehicle Restart Required: Yes

This feature allows jvePilot to auto resume from an ACC stop.

• Default: On
• Vehicle Restart Required: Yes

When enabled, jvePilot will disengage when you press the gas

• Default: Off
• Vehicle Restart Required: Yes

If you don't want auto follow enabled on every start, turn this off.

When your speed (in MPH) is below this setting, Auto Follow will set the follow setting to one bar.
When you reach this speed (in MPH), Auto Follow will set the follow setting to two bars.

• Default: 15
• Units: MPH
• Vehicle Restart Required: No
• Min/Max values (0, 300)

When your speed (in MPH) is below this setting, Auto Follow will set the follow setting to two bars. When you reach this speed (in MPH), Auto Follow will set the follow setting to three bars.

• Default: 30
• Units: MPH
• Vehicle Restart Required: No
• Min/Max values (0, 300)

When your speed (in MPH) is below this setting, Auto Follow will set the follow setting to three bars. When you reach this speed (in MPH), Auto Follow will set the follow setting to four bars.

• Default: 65
• Units: MPH
• Vehicle Restart Required: No
• Min/Max values (0, 300)

ACC Eco limits acceleration by keep the ACC cruise speed closer to your current speed. These setting are how far ahead, in MPH, of your current speed ACC will be set.
The higher the number, the more aggressive ACC will be when accelerating.

Use this setting to adjust ACC Eco level 1 (one green leaf) for a balance of speed and eco-ness

• Default: 7
• Units: MPH
• Vehicle Restart Required: No
• Min/Max values 1, 100

Use this setting to adjust ACC Eco level 2 (two green leaves) for maximum eco-ness

• Default: 5
• Units: MPH
• Vehicle Restart Required: No
• Min/Max values 1, 100

Compensate for mounting your device off center in the windshield. If you mounted your device off center, use this setting to compensate. Use positive values if your device is to the left of center and negative if it's to the right.

• Default: 0
• Units: Meters
• Vehicle Restart Required: No
• Min/Max values -1, 1

Adjust speed displayed by jvePilot to match the real world. I have to set this to 1.052 to increase the reported speed by 5.2% to match my Jeeps speedometer, which is pretty accurate.

• Default: 0
• Units: Ratio
• Vehicle Restart Required: No
• Min/Max values 0.9, 1.1

The lead distance ratios are the ratio to adjust the distance jvePilot follows based on the follow distance selected. This is done by adjusting the reported radar distance to the lead car. Having a ratio set to 2.6 causes jvePilot to report to the modal that the lead car as being 2.6 times further away that it actually is. Causing jvePilot to move closer to that car.
NOTE: It's impossible to get closer than what ACC will allow. The default values are what worked for me to get jvePilot to be close to the ACC distance while still allowing ACC be the limiting factor to the distance.

Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 1 bar

• Default: 2.6
• Units: Ratio
• Vehicle Restart Required: No
• Min/Max values 0.5, 4

Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 2 bar

• Default: 2.1
• Units: Ratio
• Vehicle Restart Required: No
• Min/Max values 0.5, 4

Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 3 bar

• Default: 1.5
• Units: Ratio
• Vehicle Restart Required: No
• Min/Max values 0.5, 4

Ratio to adjust jvePilot's default model distance when ACC follow distance is set to 4 bar

• Default: 1.1
• Units: Ratio
• Vehicle Restart Required: No
• Min/Max values 0.5, 4

These settings are for advanced users doing advanced things. Use SSH and opEdit to change these settings.

When disabled, jvePilot will no longer put a minimum on steer speed. Requires a mod like a hardware interceptor.

• Setting: steer.checkMinimum
• Default: True
• Vehicle Restart Required: Yes
• Allowed values: False, True

• What is openpilot?
• Integration with Stock Features
• Supported Hardware
• Supported Cars
• Community Maintained Cars and Features
• Installation Instructions
• Limitations of openpilot ALC and LDW
• Limitations of openpilot ACC and FCW
• Limitations of openpilot DM
• User Data and comma Account
• Safety and Testing
• Testing on PC
• Community and Contributing
• Directory Structure
• Licensing

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.

In all supported cars:

• Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
• Stock LDW is replaced by openpilot LDW.

Additionally, on specific supported cars (see ACC column in supported cars):

• Stock ACC is replaced by openpilot ACC.
• openpilot FCW operates in addition to stock FCW.

openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

At the moment, openpilot supports the EON Gold DevKit, comma two, and comma three. A car harness is recommended to connect your device to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external webcams.

¹Comma Pedal is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. NOTE: The Comma Pedal is not officially supported by comma.
²2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
³When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
⁴28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.

¹Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
²Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.

Community Maintained Cars and Features are not verified by comma to meet our safety model. Be extra cautious using them. They are only available after enabling the toggle in Settings->Developer->Enable Community Features.

To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0

Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make on our wiki.

Install openpilot on a supported device by entering https://openpilot.comma.ai during the installer setup.

Follow these video instructions to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.

Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.

You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.

openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.

While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.

Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:

• Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
• The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
• The device is mounted incorrectly.
• When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
• In the presence of restricted lanes or construction zones.
• When driving on highly banked roads or in presence of strong cross-wind.
• Extremely hot or cold temperatures.
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• Driving on hills, narrow, or winding roads.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.

openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.

Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:

• Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
• The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
• The device is mounted incorrectly.
• Approaching a toll booth, a bridge or a large metal plate.
• When driving on roads with pedestrians, cyclists, etc...
• In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
• When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
• In presence of vehicles in the same lane that are not moving.
• When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
• When surrounding vehicles perform close cut-ins from neighbor lanes.
• Driving on hills, narrow, or winding roads.
• Extremely hot or cold temperatures.
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• Interference from other equipment that generates radar waves.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.

openpilot DM should not be considered an exact measurement of the alertness of the driver.

Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:

• Low light conditions, such as driving at night or in dark tunnels.
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• The driver's face is partially or completely outside field of view of the driver facing camera.
• The driver facing camera is obstructed, covered, or damaged.

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app (iOS, Android). 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 camera, 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.

• openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
• openpilot has software in the loop tests that run on every commit.
• The safety model code 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.

For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.

Steps:

1. Start the CARLA server on first terminal

bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"

2. Start openpilot on second terminal

bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"

3. Press 1 to engage openpilot

See the full README

You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.

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.

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.

.
├── cereal              # The messaging spec and libs used for all logs
├── common              # Library like functionality we've developed here
├── installer/updater   # Manages updates of NEOS
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN
├── phonelibs           # External libraries
├── pyextra             # Extra python packages not shipped in NEOS
└── 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

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.