Openpilot 版本更新记录

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!
  • 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
  • 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)

  • Improved autofocus for road facing camera
  • 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 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: lateral control has lower reliance on lanelines
  • 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 TSS2
  • 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
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