openpilot

openpilot is an open source, semi-automated driving system developed by comma.ai. openpilot operates as a replacement for OEM advanced driver-assistance systems to improve visual perception and electromechanical actuator control. It allows users to modify their existing car with increased computing power, enhanced sensors, and continuously-updated driver assistance features that improve with user-submitted data.

openpilot
Developer(s)comma.ai
Initial release30 November 2016 (2016-11-30)
Stable release
0.9.4 (27 July 2023 (2023-07-27))
Repositorygithub.com/commaai/openpilot
Written inPython, C++ and C
TypeComputer vision
LicenseMIT License
Websitecomma.ai
Toyota Prius with openpilot installed
Car specification editor
A user annotating a drive

As of July 2023 the total distance driven by users of openpilot is over 100 million miles (160,000,000 km).[1]

History

comma.ai was founded in September 2015 by George Hotz.[2] The first version of openpilot was revealed a few months later in a Bloomberg article, showing functionality on a 2016 Acura ILX.[3] The video and article instigated a cease and desist letter from the California Department of Motor Vehicles, claiming comma.ai was testing a self-driving car without a license.

openpilot was packaged into a small, shippable device called the "comma one", announced at TechCrunch Disrupt.[4] On October 27, 2016, NHTSA issued a Special Order to comma.ai demanding detailed information about the comma one, to determine if the device complies with legally required Federal Motor Vehicle Safety Standards.[5] comma.ai responded in a tweet from Shenzhen, China, announcing the cancellation of the comma one.[6]

comma.ai open-sourced openpilot a month later, on November 30, 2016, emphasizing its intended use for research, without any warranty.[7][8]

On January 7, 2020, comma.ai introduced the $999 "comma two" device at CES in Las Vegas.[9][10][11]

comma two running the openpilot software

At comma's 2021 comma_con convention, the company released the "comma three devkit".[12] This model uses two fish eye cameras oriented to the front and a long distance camera oriented to the rear to analyze the car's surroundings.[13]

Hotz announced in October 2022 that he was leaving comma.ai.[14][15]

At comma's 2023 COMMA_CON convention, the "comma 3X" was announced as a successor to the comma three devkit at a lower price of $1249.[16]

Features

Automated lane-centering

openpilot uses machine learning, trained with user driver data, to determine the safest path on the road. This improves perception on roads without lane markings vs. lane-centering by tracking current lane lines.

Adaptive cruise control

openpilot maintains a safe following distance from the vehicle ahead. It is capable of driving in stop-and-go traffic with no user intervention. It uses OpenStreetMap's road curvature and speed limit data to allow slowing on sharp turns and setting the vehicle's desired speed to the current speed limit on certain community-maintained forks of the main repository.

Driver monitoring

openpilot recognizes the driver's face; if the driver is distracted, openpilot warns the driver. If the driver is distracted for more than six seconds, openpilot decelerates the vehicle to a stop, and audibly alerts the user.

Assisted lane change

openpilot uses the model to change lanes when the user engages the turn signal: a nudge is optional on the steering wheel to confirm the lane change. openpilot also interacts with the blind spot monitor on certain makes and models to block the lane change in the event a car is detected by the blind spot monitor.

Software updates

openpilot receives over-the-air software updates via WiFi or a cellular phone network, (OTA updates).

Supported cars

At launch, openpilot supported the Honda Civic and the Acura ILX. Support for more vehicles and brands has been added through open source contribution.[17] The currently officially supported vehicles list contains more than 250 entries and can be viewed at https://comma.ai/vehicles.

Community

Development is supported by an open-source community using Discord[18] and GitHub.

comma.ai has released tools and guides to help developers port their cars.[19] In addition, they released tools to let users review their drives.[20]

Forks

comma.ai maintains the openpilot codebase and releases, and there is a growing community that maintains various forks of openpilot. These forks consist of experimental features such as stop light detection.

Pre-Autopilot Tesla models have been retrofitted with openpilot through a community fork.[21] Chrysler and Jeep models have also gained support through community contributions.[22][23]

There are over 6,600 forks of the openpilot GitHub repository.[8]

References
  1. "comma.ai — make driving chill". comma.ai. Retrieved 2023-07-30.
  2. "Comma.ai founder George Hotz wants to free humanity from the AI simulation". 2019-03-09. Retrieved 2020-03-10.
  3. "The First Person to Hack the iPhone Built a Self-Driving Car. In His Garage:George Hotz is taking on Google and Tesla by himself". Bloomberg.com. Archived from the original on 2016-02-01.
  4. "George "Geohot" Hotz Presents the Comma One at Disrupt SF". YouTube. 2016-09-13. Retrieved 2020-03-02.
  5. "NHTSA Special Order".
  6. "The comma one is cancelled. comma.ai will be exploring other products and markets. Hello from Shenzhen, China. -GH 3/3". October 28, 2016.
  7. "George Hotz is giving away the code behind his self-driving car project". 30 November 2016. Retrieved May 13, 2017.
  8. "commaai/openpilot". March 12, 2022 – via GitHub.
  9. Hall, Emme (2020-01-09). "We hit the road with Comma.ai's assisted-driving tech at CES 2020". Roadshow. Retrieved 2020-01-19.
  10. Baldwin, Roberto (2020-01-13). "Comma Ai continues to impress with its aftermarket driver assistance tech". Engadget. Retrieved 2020-01-19.
  11. "Available for purchase now". January 7, 2020.
  12. "comma three devkit". comma shop. comma.ai. Retrieved 4 August 2022.
  13. Archived at Ghostarchive and the Wayback Machine: COMMA_CON | July 31, 2021 | San Diego. YouTube.
  14. Hawkins, Andrew J. (2022-10-31). "George Hotz, iPhone hacker and Elon Musk antagonist, is leaving Comma AI". The Verge. Retrieved 2022-11-06.
  15. "The Hero's Journey". the singularity is nearer. 2022-10-29. Retrieved 2022-11-06.
  16. Hotz, George (2023-07-30). "Have you ordered a comma 3X yet?". Twitter. Retrieved 2023-07-30.
  17. "commaai/openpilot". GitHub. 5 October 2021.
  18. "comma ai on Twitter: "Moving from Slack to Discord"". Twitter.com. Comma.ai, Inc. Retrieved 27 February 2019.
  19. ai, comma (August 4, 2018). "How to write a car port for openpilot". Medium.
  20. ai, comma (July 13, 2018). "The Half Way Point". Medium.
  21. "Tesla - comma wiki". community.comma.ai.
  22. "Giraffe for FCA group released! openpilot now officially supports only the Chrysler Pacifica Hybrid, but it will soon spread to all Chrysler, Jeep and Fiat with ACC and LaneSense!https://comma.ai/shop/products/giraffe#&gid=1&pid=9 …". February 1, 2019.
  23. "adhintz/openpilot". GitHub. 21 April 2021.
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