Openpilot 版本更新记录

• 更新记录[中文翻译]

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 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 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 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