Version 0.7.2 (2020-XX-XX) ======================== * Improve driver monitoring under extreme lighting and add low accuracy alert Version 0.7.1 (2020-01-20) ======================== * comma two support! * Lane Change Assist above 45 mph! * Replace zmq with custom messaging library, msgq! * Supercombo model: calibration and driving models are combined for better lead estimate * More robust updater thanks to jyoung8607! Requires NEOS update * Improve low speed ACC tuning Version 0.7 (2019-12-13) ======================== * Move to SCons build system! * Add Lane Departure Warning (LDW) for all supported vehicles! * NEOS update: increase wifi speed thanks to jyoung8607! * Adaptive driver monitoring based on scene * New driving model trained end-to-end: improve lane lines and lead detection * Smarter torque limit alerts for all cars * Improve GM longitudinal control: proper computations for 15Hz radar * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi * Refactor Panda code towards ISO26262 and SIL2 compliancy * Forward stock FCW for Honda Nidec * Volkswagen port now standard: comma Harness intercepts stock camera Version 0.6.6 (2019-11-05) ======================== * Volkswagen support thanks to jyoung8607! * Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049! * Lexus ES with TSS 2.0 support thanks to energee! * Fix GM ignition detection and lock safety mode not required anymore * Log panda firmware and dongle ID thanks to martinl! * New driving model: improve path prediction and lead detection * New driver monitoring model, 4x smaller and running on DSP * Display an alert and don't start openpilot if panda has wrong firmware * Fix bug preventing EON from terminating processes after a drive * Remove support for Toyota giraffe without the 120Ohm resistor Version 0.6.5 (2019-10-07) ======================== * NEOS update: upgrade to Python3 and new installer! * comma Harness support! * New driving model: improve path prediction * New driver monitoring model: more accurate face and eye detection * Redesign offroad screen to display updates and alerts * Increase maximum allowed acceleration * Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive * Lexus CT Hybrid support thanks to thomaspich! * Louder chime for critical alerts * Add toggle to switch to dashcam mode * Fix "invalid vehicle params" error on DSU-less Toyota Version 0.6.4 (2019-09-08) ======================== * Forward stock AEB for Honda Nidec * Improve lane centering on banked roads * Always-on forward collision warning * Always-on driver monitoring, except for right hand drive countries * Driver monitoring learns the user's normal driving position * Honda Fit support thanks to energee! * Lexus IS support Version 0.6.3 (2019-08-12) ======================== * Alert sounds from EON: requires NEOS update * Improve driver monitoring: eye tracking and improved awareness logic * Improve path prediction with new driving model * Improve lane positioning with wide lanes and exits * Improve lateral control on RAV4 * Slow down for turns using model * Open sourced regression test to verify outputs against reference logs * Open sourced regression test to sanity check all car models Version 0.6.2 (2019-07-29) ======================== * New driving model! * Improve lane tracking with double lines * Strongly improve stationary vehicle detection * Strongly reduce cases of braking due to false leads * Better lead tracking around turns * Improve cut-in prediction by using neural network * Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte! * Fix unintended openpilot disengagements on Jeep thanks to adhintz! * Fix delayed transition to offroad when car is turned off Version 0.6.1 (2019-07-21) ======================== * Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai) * Panda code Misra-c2012 compliance, tested against cppcheck coverage * Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive * Toyota Sienna support thanks to wocsor! Version 0.6 (2019-07-01) ======================== * New model, with double the pixels and ten times the temporal context! * Car should not take exits when in the right lane * openpilot uses only ~65% of the CPU (down from 75%) * Routes visible in connect/explorer after only 0.2% is uploaded (qlogs) * loggerd and sensord are open source, every line of openpilot is now open * Panda safety code is MISRA compliant and ships with a signed version on release2 * New NEOS is 500MB smaller and has a reproducible usr/pipenv * Lexus ES Hybrid support thanks to wocsor! * Improve tuning for supported Toyota with TSS 2.0 * Various other stability improvements Version 0.5.13 (2019-05-31) ========================== * Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM) * Reduce EON power consumption by 40%, down to 1100mW, when car is off * Reduce CPU utilization by 20% and improve stability * Temporarily remove mapd functionalities to improve stability * Add openpilot record-only mode for unsupported cars * Synchronize controlsd to boardd to reduce latency * Remove panda support for Subaru giraffe Version 0.5.12 (2019-05-16) ========================== * Improve lateral control for the Prius and Prius Prime * Compress logs before writing to disk * Remove old driving data when storage reaches 90% full * Fix small offset in following distance * Various small CPU optimizations * Improve offroad power consumption: require NEOS Update * Add default speed limits for Estonia thanks to martinl! * Subaru Crosstrek support thanks to martinl! * Toyota Avalon support thanks to njbrown09! * Toyota Rav4 with TSS 2.0 support thanks to wocsor! * Toyota Corolla with TSS 2.0 support thanks to wocsor! Version 0.5.11 (2019-04-17) ======================== * Add support for Subaru * Reduce panda power consumption by 60% when car is off * Fix controlsd lag every 6 minutes. This would sometimes cause disengagements * Fix bug in controls with new angle-offset learner in MPC * Reduce cpu consumption of ubloxd by rewriting it in C++ * Improve driver monitoring model and face detection * Improve performance of visiond and ui * Honda Passport 2019 support * Lexus RX Hybrid 2019 support thanks to schomems! * Improve road selection heuristic in mapd * Add Lane Departure Warning to dashboard for Toyota thanks to arne182 Version 0.5.10 (2019-03-19) ======================== * Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio * Improve longitudinal control at low speed when lead vehicle harshly decelerates * Fix panda bug going unexpectedly in DCP mode when EON is connected * Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI * New Driver Monitoring Model * Support QR codes for login using comma connect * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. * Additional speed limit rules for Germany thanks to arne182 * Allow negative speed limit offsets Version 0.5.9 (2019-02-10) ======================== * Improve calibration using a dedicated neural network * Abstract planner in its own process to remove lags in controls process * Improve speed limits with country/region defaults by road type * Reduce mapd data usage with gzip thanks to eFiniLan * Zip log files in the background to reduce disk usage * Kia Optima support thanks to emmertex! * Buick Regal 2018 support thanks to HOYS! * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma * Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz! Version 0.5.8 (2019-01-17) ======================== * Open sourced visiond * Auto-slowdown for upcoming turns * Chrysler/Jeep/Fiat support thanks to adhintz! * Honda Civic 2019 support thanks to csouers! * Improve use of car display in Toyota thanks to arne182! * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off * EON stops charging when 12V battery drops below 11.8V Version 0.5.7 (2018-12-06) ======================== * Speed limit from OpenStreetMap added to UI * Highlight speed limit when speed exceeds road speed limit plus a delta * Option to limit openpilot max speed to road speed limit plus a delta * Cadillac ATS support thanks to vntarasov! * GMC Acadia support thanks to CryptoKylan! * Decrease GPU power consumption * NEOSv8 autoupdate Version 0.5.6 (2018-11-16) ======================== * Refresh settings layout and add feature descriptions * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111! * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe. * Improve camera calibration stability * More tuning to Honda positive accelerations * Reduce brake pump use on Hondas * Chevrolet Malibu support thanks to tylergets! * Holden Astra support thanks to AlexHill! Version 0.5.5 (2018-10-20) ======================== * Increase allowed Honda positive accelerations * Fix sporadic unexpected braking when passing semi-trucks in Toyota * Fix gear reading bug in Hyundai Elantra thanks to emmertex! Version 0.5.4 (2018-09-25) ======================== * New Driving Model * New Driver Monitoring Model * Improve longitudinal mpc in mid-low speed braking * Honda Accord hybrid support thanks to energee! * Ship mpc binaries and sensibly reduce build time * Calibration more stable * More Hyundai and Kia cars supported thanks to emmertex! * Various GM Volt improvements thanks to vntarasov! Version 0.5.3 (2018-09-03) ======================== * Hyundai Santa Fe support! * Honda Pilot 2019 support thanks to energee! * Toyota Highlander support thanks to daehahn! * Improve steering tuning for Honda Odyssey Version 0.5.2 (2018-08-16) ======================== * New calibration: more accurate, a lot faster, open source! * Enable orbd * Add little endian support to CAN packer * Fix fingerprint for Honda Accord 1.5T * Improve driver monitoring model 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! * Make visiond, loggerd and UI use less resources * 60 FPS UI * Better car parameters for most cars * New sidebar with stats * Remove Waze and Spotify to free up system resources * Remove rear view mirror option * Calibration 3x faster Version 0.4.7.2 (2018-06-25) ========================== * Fix loggerd lag issue * No longer prompt for updates * Mitigate right lane hugging for properly mounted EON (procedure on wiki) Version 0.4.7.1 (2018-06-18) ========================== * Fix Acura ILX steer faults * Fix bug in mock car Version 0.4.7 (2018-06-15) ========================== * New model! * GM Volt (and CT6 lateral) support! * Honda Bosch lateral support! * Improve actuator modeling to reduce lateral wobble * Minor refactor of car abstraction layer * Hack around orbd startup issue Version 0.4.6 (2018-05-18) ========================== * NEOSv6 required! Will autoupdate * Stability improvements * Fix all memory leaks * Update C++ compiler to clang6 * Improve front camera exposure Version 0.4.5 (2018-04-27) ========================== * Release notes added to the update popup * Improve auto shut-off logic to disallow empty battery * Added onboarding instructions * Include orbd, the first piece of new calibration algorithm * Show remaining upload data instead of file numbers * Fix UI bugs * Fix memory leaks Version 0.4.4 (2018-04-13) ========================== * EON are flipped! Flip your EON's mount! * Alpha Honda Ridgeline support thanks to energee! * Support optional front camera recording * Upload over cellular toggle now applies to all files, not just video * Increase acceleration when closing lead gap * User now prompted for future updates * NEO no longer supported :( Version 0.4.3.2 (2018-03-29) ============================ * Improve autofocus * Improve driving when only one lane line is detected * Added fingerprint for Toyota Corolla LE * Fixed Toyota Corolla steer error * Full-screen driving UI * Improved path drawing Version 0.4.3.1 (2018-03-19) ============================ * Improve autofocus * Add check for MPC solution error * Make first distracted warning visual only Version 0.4.3 (2018-03-13) ========================== * Add HDR and autofocus * Update UI aesthetic * Grey panda works in Waze * Add alpha support for 2017 Honda Pilot * Slight increase in acceleration response from stop * Switch CAN sending to use CANPacker * Fix pulsing acceleration regression on Honda * Fix openpilot bugs when stock system is in use * Change starting logic for chffrplus to use battery voltage Version 0.4.2 (2018-02-05) ========================== * Add alpha support for 2017 Lexus RX Hybrid * Add alpha support for 2018 ACURA RDX * Updated fingerprint to include Toyota Rav4 SE and Prius Prime * Bugfixes for Acura ILX and Honda Odyssey Version 0.4.1 (2018-01-30) ========================== * Add alpha support for 2017 Toyota Corolla * Add alpha support for 2018 Honda Odyssey with Honda Sensing * Add alpha support for Grey Panda * Refactored car abstraction layer to make car ports easier * Increased steering torque limit on Honda CR-V by 30% Version 0.4.0.2 (2018-01-18) ========================== * Add focus adjustment slider * Minor bugfixes Version 0.4.0.1 (2017-12-21) ========================== * New UI to match chffrplus * Improved lateral control tuning to fix oscillations on Civic * Add alpha support for 2017 Toyota Rav4 Hybrid * Reduced CPU usage * Removed unnecessary utilization of fan at max speed * Minor bug fixes Version 0.3.9 (2017-11-21) ========================== * Add alpha support for 2017 Toyota Prius * Improved longitudinal control using model predictive control * Enable Forward Collision Warning * Acura ILX now maintains openpilot engaged at standstill when brakes are applied Version 0.3.8.2 (2017-10-30) ========================== * Add alpha support for 2017 Toyota RAV4 * Smoother lateral control * Stay silent if stock system is connected through giraffe * Minor bug fixes Version 0.3.7 (2017-09-30) ========================== * Improved lateral control using model predictive control * Improved lane centering * Improved GPS * Reduced tendency of path deviation near right side exits * Enable engagement while the accelerator pedal is pressed * Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m * Disable engagement when park brake or brake hold are active * Fixed sporadic longitudinal pulsing in Civic * Cleanups to vehicle interface Version 0.3.6.1 (2017-08-15) ============================ * Mitigate low speed steering oscillations on some vehicles * Include board steering check for CR-V Version 0.3.6 (2017-08-08) ========================== * Fix alpha CR-V support * Improved GPS * Fix display of target speed not always matching HUD * Increased acceleration after stop * Mitigated some vehicles driving too close to the right line Version 0.3.5 (2017-07-30) ========================== * Fix bug where new devices would not begin calibration * Minor robustness improvements Version 0.3.4 (2017-07-28) ========================== * Improved model trained on more data * Much improved controls tuning * Performance improvements * Bugfixes and improvements to calibration * Driving log can play back video * Acura only: system now stays engaged below 25mph as long as brakes are applied Version 0.3.3 (2017-06-28) =========================== * Improved model trained on more data * Alpha CR-V support thanks to energee and johnnwvs! * Using the opendbc project for DBC files * Minor performance improvements * UI update thanks to pjlao307 * Power off button * 6% more torque on the Civic Version 0.3.2 (2017-05-22) =========================== * Minor stability bugfixes * Added metrics and rear view mirror disable to settings * Update model with more crowdsourced data Version 0.3.1 (2017-05-17) =========================== * visiond stability bugfix * Add logging for angle and flashing Version 0.3.0 (2017-05-12) =========================== * Add CarParams struct to improve the abstraction layer * Refactor visiond IPC to support multiple clients * Add raw GPS and beginning support for navigation * Improve model in visiond using crowdsourced data * Add improved system logging to diagnose instability * Rewrite baseui in React Native * Moved calibration to the cloud Version 0.2.9 (2017-03-01) =========================== * Retain compatibility with NEOS v1 Version 0.2.8 (2017-02-27) =========================== * Fix bug where frames were being dropped in minute 71 Version 0.2.7 (2017-02-08) =========================== * Better performance and pictures at night * Fix ptr alignment issue in boardd * Fix brake error light, fix crash if too cold Version 0.2.6 (2017-01-31) =========================== * Fix bug in visiond model execution Version 0.2.5 (2017-01-30) =========================== * Fix race condition in manager Version 0.2.4 (2017-01-27) =========================== * OnePlus 3T support * Enable installation as NEOS app * Various minor bugfixes Version 0.2.3 (2017-01-11) =========================== * Reduce space usage by 80% * Add better logging * Add Travis CI Version 0.2.2 (2017-01-10) =========================== * Board triggers started signal on CAN messages * Improved autoexposure * Handle out of space, improve upload status Version 0.2.1 (2016-12-14) =========================== * Performance improvements, removal of more numpy * Fix boardd process priority * Make counter timer reset on use of steering wheel Version 0.2 (2016-12-12) ========================= * Car/Radar abstraction layers have shipped, see cereal/car.capnp * controlsd has been refactored * Shipped plant model and testing maneuvers * visiond exits more gracefully now * Hardware encoder in visiond should always init * ui now turns off the screen after 30 seconds * Switch to openpilot release branch for future releases * Added preliminary Docker container to run tests on PC Version 0.1 (2016-11-29) ========================= * Initial release of openpilot * Adaptive cruise control is working * Lane keep assist is working * Support for Acura ILX 2016 with AcuraWatch Plus * Support for Honda Civic 2016 Touring Edition