Openpilot 版本更新记录

• 更新记录[英文原版]

Version 0.7.6 (2020-06-05)

• 白熊猫即将被废弃，请升级为 comma 2 或者 黑熊猫
• 支持日产奇骏 2017, 聆风 2018-19 和 Rogue 2019（感谢 avolmensky）
• 支持马自达 CX-5 2017（仅录像模式，感谢 Jafaral）
• 通过使用 thneed 在模型中节约了大量 CPU 计算
• 大量的代码精简重构

Version 0.7.5 (2020-05-13)

• 支持右舵车型的驾驶员监控
• 更新驾驶模型: 改进急转弯路况驾驶和前车速度检测
• 更新驾驶员监控模型：Comma 2 上的整体改进
• 在设置中新增前置摄像头预览开关，方便调整设备安装位置
• 新增一些现代、起亚、Genesis 车型支持（感谢 xx979xx）
• 支持日产奇骏 2019、日产聆风 2018（感谢 avolmensky）
• 改进丰田 Rav4 2020 车型的横向控制

Version 0.7.4 (2020-03-20)

• 更新驾驶模型: 改进切换车道和前车检测
• 更新驾驶员监控模型: 改进眨眼检测
• 提高车辆校准稳定性
• 改进丰田普锐斯 2019、2020 车型上的横向控制
• 改进大众高尔夫车型上的横向控制：增加 20％ 转向扭矩
• 修复丰田 CHR 2017、2018 车型上误用转向角传感器的问题
• 支持本田 Insight （感谢 theantihero）
• 精简代码（车辆抽象 和 UI 部分）

Version 0.7.3 (2020-02-21)

• 改进后置摄像头的自动对焦
• 支持丰田汉兰达 2020（感谢 che220）
• 支持雷克萨斯 NX 300h 2018 （感谢 kengggg）
• 提升 ECU 固件查询速度
• 修复停车熄火后，设备进程管理会挂掉的问题

Version 0.7.2 (2020-02-07)

• 基于ECU固件版本的指纹识别（丰田、本田车型）
• 更新驾驶模型: 改善弯道和车道变换期间的路径预测并更好地追踪前车车速
• 改善极端光线条件下的驾驶员监控，添加无法准确监控的警告
• 支持丰田 Rav4 2019 混动（感谢 illumiN8i）
• 支持雷克萨斯 RX 2016, 2017, 2020（感谢 illumiN8i）
• 支持克莱斯勒 Pacifica 2020 混动（感谢 adhintz）

Version 0.7.1 (2020-01-20)

• 支持 comma two 硬件
• 支持自动变道辅助（需车速大于 70km/h）
• 使用自定义的 msgq 代替 zmq
• Supercombo model: 校准和驾驶模型合并以后，可以更好的检测前车
• 更健壮的升级程序，需要升级 NEOS （感谢 jyoung8607）
• 改进低速 ACC 调教

Version 0.7 (2019-12-13)

• 开始使用 SCons 构建系统
• 为所有支持的车型添加车道偏离预警（LDW）功能
• NEOS 更新：提高 WiFi 速度（感谢 jyoung8607）
• 基于场景的自适应驾驶员监控
• 基于端到端模式训练的新驾驶模型：改善车道线检测 和 前车检测
• 更加智能的转向扭矩限制警告
• 改进通用车型的纵向控制: 使用正确的计算方法处理 15Hz 雷达数据
• 把通用车型的适配、丰田断开 DSU 模块模式、comma 电子油门踏板 加入到社区功能（需要启用开关）
• 移除 "通过 SIM 卡流量上传" 的开关：非 WiFi 环境下，只上传 qlog 和 qcamera 文件
• 重构 Panda 代码，符合 ISO26262 和 SIL2 标准
• 支持本田 Nidec 系列车型前方碰撞预警系统（FCW）信号的转发
• 大众汽车适配成为标准：comma Harness 可以拦截原厂摄像头数据

Version 0.6.6 (2019-11-05)

• 支持大众车型（感谢 jyoung8607）
• 支持丰田卡罗拉混动（TSS 2.0）（感谢 u8511049）
• 支持雷克萨斯 ES（TSS 2.0）（感谢 energee）
• 修复了通用车型的点火检测问题，不再需要锁定安全模式
• 记录并显示 Panda 固件版本和 Panda Dongle ID（感谢 martinl）
• 使用新的驾驶模型: 改进路径预测和前车检测
• 新的驾驶员监控模型，体积缩小了 4 倍，可以运行在 DSP 上
• 如果 Panda 的固件错误，则显示警告并不启动 openpilot
• 修复了 EON 在驾驶结束后终止进程的问题
• 不再支持没有 120 欧姆电阻的丰田 giraffe

Version 0.6.5 (2019-10-07)

• NEOS 更新：升级到 Python3 并且 更新了安装程序
• 支持新版本硬件（comma Harness）
• 使用新的驾驶模型: 横向控制对车道线的依赖性降低
• 使用新的驾驶员监控模型: 更准确的面部识别和眼部检测
• 重新设计 EON 停车模式的显示界面，可以用来显示更新和警告
• 提高允许的最大加速度上限
• 3天没有启动车辆，切断EON 供电，防止汽车电池电量耗尽
• 支持雷克萨斯 CT 混动车系（感谢 thomaspich）
• 紧急警告时使用更大报警音量
• 添加切换到行车记录仪模式的开关
• 修复在没有 DSU 的丰田车型上“无效的车辆参数”的报错问题

Version 0.6.4 (2019-09-08)

• 支持本田 Nidec 系列车型自动刹车辅助系统（AEB）信号的转发
• 改进在倾斜路面工况下的车道保持
• 不间断防撞预警系统
• 不间断驾驶状态监控（除了在右舵驾驶的国家）
• 驾驶状态监控学习用户的正常驾驶姿势
• 支持本田飞度车系（感谢 energee）
• 支持雷克萨斯IS车系

Version 0.6.3 (2019-08-12)

• 通过 EON 发出声音警告（需要更新 NEOS 系统）
• 改进驾驶状态监控：眼动追踪和改进的意识逻辑
• 使用新的驾驶模型改进路径预测
• 改进在宽车道和道路出口工况下的车道定位
• 改进 RAV4 的横向控制
• 通过数据模型进行减速过弯
• 使用开源回归测试以验证输出与参考日志
• 使用开源回归测试合理检查所有车型

Version 0.6.2 (2019-07-29)

• 新的自动驾驶模型！
• 使用双实线改善车道跟踪
• 极大改进了静止车辆检测
• 极大减少了因为错误识别导致的制动
• 弯道工况下更好的引导线跟踪
• 利用神经网络改进车辆变道加塞预测
• 改进丰田凯美瑞和C-HR的横向控制（感谢 zorrobyte）
• 修复吉普车型上Openpilot异常断开控制的情况（感谢 adhintz）
• 修复汽车熄火时延时过度到停车状态的问题

Version 0.6.1 (2019-07-21)

• comma 会员可以通过ssh.comma.ai进行远程 SSH 访问
• panda 代码 Misra-c2012 符合规定，针对覆盖率进行了测试
• 驾驶员注意力不集中或没有响应，在 3 次警告后，openpilot 锁定
• 支持丰田 Sienna（感谢 wocsor）

Version 0.6 (2019-07-01)

• 新的模型，2倍像素、相同时间下十倍效率
• 在正确的车道线上时，车辆不应该驶出
• openpilot 的CPU使用率从 75% 降到大约 65%
• 0.2% 的数据（qlogs）上传后，即可在浏览器中看到行驶路线图
• loggerd 和 sensord 模块也开源了，现在 openpilot 的所有代码都是开源的
• panda 安全代码符合MISRA标准，并在发布版本中有已签名版本
• 新的 NEOS 系统比以前小了 500MB，并且 usr/pipenv 可以复用
• 支持雷克萨斯 ES 混动车型（感谢 wocsor）
• 改进对已支持的丰田 TSS2 车型的调教
• 其他一些稳定性改进

Version 0.5.13 (2019-05-31)

• 当汽车关闭时（不适用于GM），熊猫耗电量降低70％，降至80mW
• 汽车关闭时，EON功耗降低40％，降至1100mW
• 将CPU利用率降低20％并提高稳定性
• 暂时删除已映射的功能以提高稳定性
• 为不支持的汽车添加 openpilot 行车记录模式
• 将 controlsd 同步到 boardd 以减少延迟
• 删除斯巴鲁长颈鹿的熊猫支持

Version 0.5.12 (2019-05-16)

• 改善普锐斯和普锐斯Prime的横向控制
• 在写入磁盘之前压缩日志
• 当存储空间达到 90％ 时，删除旧的驾驶数据
• 修复跟随距离的小偏移
• 各种小型 CPU 优化
• 改善停车模式的功耗（需要 NEOS 更新）
• 为爱沙尼亚添加默认速度限制（感谢 martinl）
• 支持斯巴鲁 Crosstrek （感谢martinl）
• 支持丰田亚洲龙（Avalon）（感谢njbrown09）
• 支持丰田 Rav4 TSS 2.0（感谢 wocsor）
• 支持丰田卡罗拉 TSS 2.0（感谢 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 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