Openpilot 版本更新说明

Version 0.9.7 (2024-XX-XX)

  • 新的AI驾驶模型
  • 支持许多福特Q3平台混动车型

Version 0.9.6 (2024-02-27)

  • 新的AI驾驶模型
  • 新的驾驶员监控模型
  • 操作系统升级AGNOS 9
  • comma body streaming and controls over WebRTC
  • Improved fuzzy fingerprinting for many makes and models
  • Alpha longitudinal support for new Toyota models
  • 新增适配Chevrolet Equinox 2019-22
  • 新增适配Dodge Durango 2020-21
  • 新增适配Hyundai Staria 2023
  • 新增适配Kia Niro Plug-in Hybrid 2022
  • 新增适配Lexus LC 2024
  • 新增适配Toyota RAV4 2023-24
  • 新增适配Toyota RAV4 Hybrid 2023-24

Version 0.9.5 (2023-11-17)

  • New driving model
    • Improved navigate on openpilot performance using navigation instructions as an additional model input
    • Do lateral planning inside the model
    • New vision transformer architecture
  • Cadillac Escalade ESV 2019 support thanks to twilsonco!
  • Hyundai Azera 2022 support thanks to sunnyhaibin!
  • Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
  • Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
  • Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
  • Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
  • Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
  • Kia Optima Hybrid 2019 support
  • Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
  • Lexus GS F 2016 support thanks to snyperifle!
  • Lexus IS 2023 support thanks to L3R5!

Version 0.9.4 (2023-07-27)

  • comma 3X support
  • Navigate on openpilot in Experimental mode
    • When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
    • When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
    • When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
    • When navigate on openpilot is active, the path on the map is green
  • UI updates
    • Navigation settings moved to home screen and map
    • Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
    • Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
  • Bookmarked segments are preserved on the device’s storage
  • Ford Focus 2018 support
  • Kia Carnival 2023 support thanks to sunnyhaibin!

Version 0.9.3 (2023-06-29)

  • New driving model
    • Improved height estimation and added height tracking in liveCalibration
    • Model inputs refactor
  • New driving personality setting
    • Three settings: aggressive, standard, and relaxed
    • Standard is recommended and the default
    • In aggressive mode, lead follow distance is shorter and acceleration response is quicker
    • In relaxed mode, lead follow distance is longer
  • Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
  • Improved thermal management logic

Version 0.9.2 (2023-05-22)

  • New driving model
    • Reduced turn diving
    • Trained on a new dataset
  • UI updates
    • New experimental mode visualization
    • Draw MPC path instead of model-predicted path
  • AGNOS 7
    • Faster boot time
    • Fixes rare no sounds bug
    • Fixes bootsplash bug at extreme temperatures
  • Buick LaCrosse 2017-19 support thanks to koch-cf!
  • Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
  • Ford Bronco Sport 2021-22 support
  • Ford Escape 2020-22 support
  • Ford Explorer 2020-22 support
  • Ford Kuga 2020-22 support
  • Ford Maverick 2022-23 support
  • Genesis GV80 2023 support thanks to JWingate80!
  • Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
  • Kia Niro EV 2023 support thanks to JosselinLecocq!
  • Lexus ES 2017-18 support
  • Lincoln Aviator 2021 support
  • Škoda Fabia 2022-23 support thanks to jyoung8607!

Version 0.9.1 (2023-02-28)

  • New driving model
    • 30% improved height estimation resulting in better driving performance for tall cars
  • Driver monitoring: removed timer resetting on user interaction if distracted
  • UI updates
    • Adjust alert volume using ambient noise level
    • Driver monitoring icon shows driver’s head pose
    • German translation thanks to Vrabetz and CzokNorris!
  • Cadillac Escalade 2017 support thanks to rickygilleland!
  • Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
  • Genesis GV60 2023 support thanks to sunnyhaibin!
  • Hyundai Tucson 2022-23 support
  • Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
  • Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
  • Kia Sorento 2022-23 support thanks to sunnyhaibin!
  • Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
  • Toyota C-HR 2021 support thanks to eFiniLan!
  • Toyota C-HR Hybrid 2022 support thanks to Korben00!
  • Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!

Version 0.9.0 (2022-11-21)

  • New driving model
    • Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
    • Less reliance on previous frames makes model more reactive and snappy
    • Trained in new reprojective simulator
    • Trained in 36 hours from scratch, compared to one week for previous releases
    • Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
  • Experimental driving mode
    • End-to-end longitudinal control
    • Stops for traffic lights and stop signs
    • Slows down for turns
    • openpilot defaults to chill mode, enable experimental mode in settings
  • Driver monitoring updates
    • New bigger model with added end-to-end distracted trigger
    • Reduced false positives during driver calibration
  • Self-tuning torque controller: learns parameters live for each car
  • Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
  • UI updates
    • Matched speeds shown on car’s dash
    • Multi-language in navigation
    • Improved update experience
    • Border turns grey while overriding steering
    • Bookmark events while driving; view them in comma connect
    • New onroad visualization for experimental mode
  • tools: new and improved cabana thanks to deanlee!
  • Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
  • Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
  • Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
  • Kia Sportage 2023 support thanks to sunnyhaibin!
  • Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
  • Kia Stinger 2022 support thanks to sunnyhaibin!

Version 0.8.16 (2022-08-26)

  • New driving model
    • Reduced turn cutting
  • Auto-detect right hand drive setting with driver monitoring model
  • Improved fan controller for comma three
  • New translations
    • Japanese thanks to cydia2020!
    • Brazilian Portuguese thanks to AlexandreSato!
  • Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
  • Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
  • GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
  • Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
  • Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
  • Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
  • Subaru Legacy 2020-22 support thanks to martinl!
  • Subaru Outback 2020-22 support

Version 0.8.15 (2022-07-20)

  • New driving model
    • Path planning uses end-to-end output instead of lane lines at all times
    • Reduced ping pong
    • Improved lane centering
  • New lateral controller based on physical wheel torque model
    • Much smoother control that’s consistent across the speed range
    • Effective feedforward that uses road roll
    • Simplified tuning, all car-specific parameters can be derived from data
    • Used on select Toyota and Hyundai models at first
    • Significantly improved control on TSS-P Prius
  • New driver monitoring model
    • Bigger model, covering full interior view from driver camera
    • Works with a wider variety of mounting angles
    • 3x more unique comma three training data than previous
  • Navigation improvements
    • Speed limits shown while navigating
    • Faster position fix by using raw GPS measurements
  • UI updates
    • Multilanguage support for settings and home screen
    • New font
    • Refreshed max speed design
    • More consistent camera view perspective across cars
  • Reduced power usage: device runs cooler and fan spins less
  • AGNOS 5
    • Support VSCode remote SSH target
    • Support for delta updates to reduce data usage on future OS updates
  • Chrysler ECU firmware fingerprinting thanks to realfast!
  • Honda Civic 2022 support
  • Hyundai Tucson 2021 support thanks to bluesforte!
  • Kia EV6 2022 support
  • Lexus NX Hybrid 2020 support thanks to AlexandreSato!
  • Ram 1500 2019-21 support thanks to realfast!

Version 0.8.14 (2022-06-01)

  • New driving model
    • Bigger model, using both of comma three’s road-facing cameras
    • Better at cut-in detection and tight turns
  • New driver monitoring model
    • Tweaked network structure to improve output resolution for DSP
    • Fixed bug in quantization aware training to reduce quantizing errors
    • Resulted in 7x less MSE and no more random biases at runtime
  • Added toggle to disable disengaging on the accelerator pedal
  • comma body support
  • Audi RS3 support thanks to jyoung8607!
  • Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
  • Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
  • Toyota Alphard Hybrid 2021 support
  • Toyota Avalon Hybrid 2022 support
  • Toyota RAV4 2022 support
  • Toyota RAV4 Hybrid 2022 support

Version 0.8.13 (2022-02-18)

  • Improved driver monitoring
    • Re-tuned driver pose learner for relaxed driving positions
    • Added reliance on driving model to be more scene adaptive
    • Matched strictness between comma two and comma three
  • Improved performance in turns by compensating for the road bank angle
  • Improved camera focus on the comma two
  • AGNOS 4
    • ADB support
    • improved cell auto configuration
  • NEOS 19
    • package updates
    • stability improvements
  • Subaru ECU firmware fingerprinting thanks to martinl!
  • Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
  • Mazda CX-5 2022 support thanks to Jafaral!
  • Subaru Impreza 2020 support thanks to martinl!
  • Toyota Avalon 2022 support thanks to sshane!
  • Toyota Prius v 2017 support thanks to CT921!
  • Volkswagen Caravelle 2020 support thanks to jyoung8607!

Version 0.8.12 (2021-12-15)

  • New driving model
    • Improved behavior around exits
    • Better pose accuracy at high speeds, allowing max speed of 90mph
    • Fully incorporated comma three data into all parts of training stack
  • Improved follow distance
  • Better longitudinal policy, especially in low speed traffic
  • New alert sounds
  • AGNOS 3
    • Display burn in mitigation
    • Improved audio amplifier configuration
    • System reliability improvements
    • Update Python to 3.8.10
  • Raw logs upload moved to
  • Fixed HUD alerts on newer Honda Bosch thanks to csouers!
  • Audi Q3 2020-21 support thanks to jyoung8607!
  • Lexus RC 2020 support thanks to ErichMoraga!

Version 0.8.11 (2021-11-29)

  • Support for CAN FD on the red panda
  • Support for an external panda on the comma three
  • Navigation: Show more detailed instructions when approaching maneuver
  • Fixed occasional steering faults on GM cars thanks to jyoung8607!
  • Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
  • Cadillac Escalade ESV 2016 support thanks to Gibby!
  • Genesis G70 2020 support thanks to tecandrew!
  • Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
  • Mazda CX-9 2021 support thanks to Jacar!
  • Volkswagen Polo 2020 support thanks to jyoung8607!
  • Volkswagen T-Roc 2021 support thanks to jyoung8607!

Version 0.8.10 (2021-11-01)

  • New driving model
    • Trained on one million minutes!!!
    • Fixed lead training making lead predictions significantly more accurate
    • Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
  • New driver monitoring model
    • Trained on latest data from both comma two and comma three
    • Increased model field of view by 40% on comma three
    • Improved model stability on masked users
    • Improved pose prediction with reworked ground-truth stack
  • Lateral and longitudinal planning MPCs now in ACADOS
  • Combined longitudinal MPCs
    • All longitudinal planning now happens in a single MPC system
    • Fixed instability in MPC problem to prevent sporadic CPU usage
  • AGNOS 2: minor stability improvements and builder repo open sourced
  • tools: new and improved replay thanks to deanlee!
  • Moved community-supported cars outside of the Community Features toggle
  • Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
  • Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
  • Audi S3 2015 support thanks to jyoung8607!
  • Honda Freed 2020 support thanks to belm0!
  • Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
  • Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
  • Kia K5 2021 support thanks to sunnyhaibin!
  • Škoda Kamiq 2021 support thanks to jyoung8607!
  • Škoda Karoq 2019 support thanks to jyoung8607!
  • Volkswagen Arteon 2021 support thanks to jyoung8607!
  • Volkswagen California 2021 support thanks to jyoung8607!
  • Volkswagen Taos 2022 support thanks to jyoung8607!

Version 0.8.9 (2021-09-14)

  • Improved fan control on comma three
  • AGNOS 1.5: improved stability
  • Honda e 2020 support

Version 0.8.8 (2021-08-27)

  • New driving model with improved laneless performance
    • Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
    • Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
    • All new desire ground-truthing stack makes the model better at lane changes
  • New driver monitoring model: improved performance on comma three
  • NEOS 18 for comma two: update packages
  • AGNOS 1.3 for comma three: fix display init at high temperatures
  • Improved auto-exposure on comma three
  • Improved longitudinal control on Honda Nidec cars
  • Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
  • Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
  • Kia Niro Hybrid 2021 support thanks to tetious!

Version 0.8.7 (2021-07-31)

  • comma three support!
  • Navigation alpha for the comma three!
  • Volkswagen T-Cross 2021 support thanks to jyoung8607!

Version 0.8.6 (2021-07-21)

  • Revamp lateral and longitudinal planners
    • Refactor planner output API to be more readable and verbose
    • Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
    • Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
  • Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
  • Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
  • Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
  • Kia Niro Hybrid 2019 support thanks to jyoung8607!
  • Škoda Octavia RS 2016 support thanks to jyoung8607!
  • Toyota Alphard 2020 support thanks to belm0!
  • Volkswagen Golf SportWagen 2015 support thanks to jona96!
  • Volkswagen Touran 2017 support thanks to jyoung8607!

Version 0.8.5 (2021-06-11)

  • NEOS update: improved reliability and stability with better voltage regulator configuration
  • Smart model-based Forward Collision Warning
  • CAN-based fingerprinting moved behind community features toggle
  • Improved longitudinal control on Toyotas with a comma pedal
  • Improved auto-brightness using road-facing camera
  • Added “Software” settings page with updater controls
  • Audi Q2 2018 support thanks to jyoung8607!
  • Hyundai Elantra 2021 support thanks to CruiseBrantley!
  • Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
  • Toyota Avalon Hybrid 2019 support thanks to jbates9011!
  • SEAT Leon 2017 & 2020 support thanks to jyoung8607!
  • Škoda Octavia 2015 & 2019 support thanks to jyoung8607!

Version 0.8.4 (2021-05-17)

  • Delay controls start until system is ready
  • Fuzzy car identification, enabled with Community Features toggle
  • Localizer optimized for increased precision and less CPU usage
  • Re-tuned lateral control to be more aggressive when model is confident
  • Toyota Mirai 2021 support
  • Lexus NX 300 2020 support thanks to goesreallyfast!
  • Volkswagen Atlas 2018-19 support thanks to jyoung8607!

Version 0.8.3 (2021-04-01)

  • New model
    • Trained on new diverse dataset from 2000+ users from 30+ countries
    • Trained with improved segnet from the comma-pencil community project
    • 🥬 Dramatically improved end-to-end lateral performance 🥬
  • Toggle added to disable the use of lanelines
  • NEOS update: update packages and support for new UI
  • New offroad UI based on Qt
  • Default SSH key only used for setup
  • Kia Ceed 2019 support thanks to ZanZaD13!
  • Kia Seltos 2021 support thanks to speedking456!
  • Added support for many Volkswagen and Škoda models thanks to jyoung8607!

Version 0.8.2 (2021-02-26)

  • Use model points directly in MPC (no more polyfits), making lateral planning more accurate
  • Use model heading prediction for smoother lateral control
  • Smarter actuator delay compensation
  • Improve qcamera resolution for improved video in explorer and connect
  • Adjust maximum engagement speed to better fit the model’s training distribution
  • New driver monitoring model trained with 3x more diverse data
  • Improved face detection with masks
  • More predictable DM alerts when visibility is bad
  • Rewritten video streaming between openpilot processes
  • Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
  • Audi A3 2015 and 2017 support thanks to keeleysam!
  • Nissan Altima 2020 support thanks to avolmensky!
  • Lexus ES Hybrid 2018 support thanks to TheInventorMan!
  • Toyota Camry Hybrid 2021 support thanks to alancyau!

Version 0.8.1 (2020-12-21)

  • Original EON is deprecated, upgrade to comma two
  • Better model performance in heavy rain
  • Better lane positioning in turns
  • Fixed bug where model would cut turns on empty roads at night
  • Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
  • Toyota Camry 2021 with TSS2.5 support
  • Hyundai Ioniq Electric 2020 support thanks to baldwalker!

Version 0.8.0 (2020-11-30)

  • New driving model: fully 3D and improved cut-in detection
  • UI draws 2 road edges, 4 lanelines and paths in 3D
  • Major fixes to cut-in detection for openpilot longitudinal
  • Grey panda is no longer supported, upgrade to comma two or black panda
  • Lexus NX 2018 support thanks to matt12eagles!
  • Kia Niro EV 2020 support thanks to nickn17!
  • Toyota Prius 2021 support thanks to rav4kumar!
  • Improved lane positioning with uncertain lanelines, wide lanes and exits
  • Improved lateral control for Prius and Subaru

Version 0.7.10 (2020-10-29)

  • Grey panda is deprecated, upgrade to comma two or black panda
  • NEOS update: update to Python 3.8.2 and lower CPU frequency
  • Improved thermals due to reduced CPU frequency
  • Update SNPE to 1.41.0
  • Reduced offroad power consumption
  • Various system stability improvements
  • Acura RDX 2020 support thanks to csouers!

Version 0.7.9 (2020-10-09)

  • Improved car battery power management
  • Improved updater robustness
  • Improved realtime performance
  • Reduced UI and modeld lags
  • Increased torque on 2020 Hyundai Sonata and Palisade

Version 0.7.8 (2020-08-19)

  • New driver monitoring model: improved face detection and better compatibility with sunglasses
  • Download NEOS operating system updates in the background
  • Improved updater reliability and responsiveness
  • Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!

Version 0.7.7 (2020-07-20)

  • White panda is no longer supported, upgrade to comma two or black panda
  • Improved vehicle model estimation using high precision localizer
  • Improved thermal management on comma two
  • Improved autofocus for road-facing camera
  • Improved noise performance for driver-facing camera
  • Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
  • Fix GM ignition detection
  • Code cleanup and smaller release sizes
  • Hyundai Sonata 2020 promoted to officially supported car
  • Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
  • Subaru Forester 2019 and Ascent 2019 support thanks to martinl!

Version (2020-06-16)

  • Hotfix: update kernel on some comma twos (orders #8570-#8680)

Version 0.7.6 (2020-06-05)

  • White panda is deprecated, upgrade to comma two or black panda
  • 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
  • 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
  • Huge CPU savings in modeld by using thneed!
  • Lots of code cleanup and refactors

Version 0.7.5 (2020-05-13)

  • Right-Hand Drive support for both driving and driver monitoring!
  • New driving model: improved at sharp turns and lead speed estimation
  • New driver monitoring model: overall improvement on comma two
  • Driver camera preview in settings to improve mounting position
  • Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
  • Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)

Version 0.7.4 (2020-03-20)

  • New driving model: improved lane changes and lead car detection
  • Improved driver monitoring model: improve eye detection
  • Improved calibration stability
  • Improved lateral control on some 2019 and 2020 Toyota Prius
  • Improved lateral control on VW Golf: 20% more steering torque
  • Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
  • Support for Honda Insight thanks to theantihero!
  • Code cleanup in car abstraction layers and ui

Version 0.7.3 (2020-02-21)

  • Support for 2020 Highlander thanks to che220!
  • Support for 2018 Lexus NX 300h thanks to kengggg!
  • Speed up ECU firmware query
  • Fix bug where manager would sometimes hang after shutting down the car

Version 0.7.2 (2020-02-07)

  • ECU firmware version based fingerprinting for Honda & Toyota
  • New driving model: improved path prediction during turns and lane changes and better lead speed tracking
  • Improve driver monitoring under extreme lighting and add low accuracy alert
  • Support for 2019 Rav4 Hybrid thanks to illumiN8i!
  • Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
  • Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!

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 compliance
  • 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
  • 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 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 (2018-06-25)

  • Fix loggerd lag issue
  • No longer prompt for updates
  • Mitigate right lane hugging for properly mounted EON (procedure on wiki)

Version (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 (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 (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 (2018-01-18)

  • Add focus adjustment slider
  • Minor bugfixes

Version (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 (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 (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