OpenPilot开源自动驾驶技术

联合创作 · 2023-09-26 07:46

openpilot 是一个开源的自动驾驶(驾驶代理)。

目前,它实行 Hondas 和 Acuras 的自适应巡航控制(ACC)和车道保持辅助系统(LKAS)的功能。 它在启动时与 Tesla Autopilot 相当,比所有其他制造商更好。

openpilot 的代码库编写得很简洁,支持快速原型开发。

支持的车型

Make Model Supported Package Lateral Longitudinal No Accel Below No Steer Below Giraffe
Acura ILX 2016-17 AcuraWatch Plus Yes Yes 25mph1 25mph Nidec
Acura RDX 2018 AcuraWatch Plus Yes Yes 25mph1 12mph Nidec
Buick3 Regal 2018 Adaptive Cruise Yes Yes 0mph 7mph Custom7
Chevrolet3 Malibu 2017 Adaptive Cruise Yes Yes 0mph 7mph Custom7
Chevrolet3 Volt 2017-18 Adaptive Cruise Yes Yes 0mph 7mph Custom7
Cadillac3 ATS 2018 Adaptive Cruise Yes Yes 0mph 7mph Custom7
Chrysler Pacifica 2018 Adaptive Cruise Yes Stock 0mph 9mph FCA
Chrysler Pacifica Hybrid 2017-18 Adaptive Cruise Yes Stock 0mph 9mph FCA
Chrysler Pacifica Hybrid 2019 Adaptive Cruise Yes Stock 0mph 39mph FCA
GMC3 Acadia Denali 2018 Adaptive Cruise Yes Yes 0mph 7mph Custom7
Holden3 Astra 2017 Adaptive Cruise Yes Yes 0mph 7mph Custom7
Honda Accord 2018 All Yes Stock 0mph 3mph Bosch
Honda Civic Sedan/Coupe 2016-18 Honda Sensing Yes Yes 0mph 12mph Nidec
Honda Civic Sedan/Coupe 2019 Honda Sensing Yes Stock 0mph 2mph Bosch
Honda Civic Hatchback 2017-19 Honda Sensing Yes Stock 0mph 12mph Bosch
Honda CR-V 2015-16 Touring Yes Yes 25mph1 12mph Nidec
Honda CR-V 2017-18 Honda Sensing Yes Stock 0mph 12mph Bosch
Honda CR-V Hybrid 2019 All Yes Stock 0mph 12mph Bosch
Honda Odyssey 2017-19 Honda Sensing Yes Yes 25mph1 0mph Inverted Nidec
Honda Passport 2019 All Yes Yes 25mph1 12mph Inverted Nidec
Honda Pilot 2016-18 Honda Sensing Yes Yes 25mph1 12mph Nidec
Honda Pilot 2019 All Yes Yes 25mph1 12mph Inverted Nidec
Honda Ridgeline 2017-19 Honda Sensing Yes Yes 25mph1 12mph Nidec
Hyundai Santa Fe 2019 All Yes Stock 0mph 0mph Custom6
Hyundai Elantra 2017 SCC + LKAS Yes Stock 19mph 34mph Custom6
Hyundai Genesis 2018 All Yes Stock 19mph 34mph Custom6
Jeep Grand Cherokee 2017-18 Adaptive Cruise Yes Stock 0mph 9mph FCA
Jeep Grand Cherokee 2019 Adaptive Cruise Yes Stock 0mph 39mph FCA
Kia Optima 2019 SCC + LKAS Yes Stock 0mph 0mph Custom6
Kia Sorento 2018 All Yes Stock 0mph 0mph Custom6
Kia Stinger 2018 SCC + LKAS Yes Stock 0mph 0mph Custom6
Lexus RX Hybrid 2016-19 All Yes Yes2 0mph 0mph Toyota
Subaru Impreza 2019 EyeSight Yes Stock 0mph 0mph Subaru
Toyota Camry 20184 All Yes Stock 0mph5 0mph Toyota
Toyota C-HR 2017-184 All Yes Stock 0mph 0mph Toyota
Toyota Corolla 2017-18 All Yes Yes2 20mph1 0mph Toyota
Toyota Highlander 2017-18 All Yes Yes2 0mph 0mph Toyota
Toyota Highlander Hybrid 2018 All Yes Yes2 0mph 0mph Toyota
Toyota Prius 2016 TSS-P Yes Yes2 0mph 0mph Toyota
Toyota Prius 2017-19 All Yes Yes2 0mph 0mph Toyota
Toyota Prius Prime 2017-19 All Yes Yes2 0mph 0mph Toyota
Toyota Rav4 2016 TSS-P Yes Yes2 20mph1 0mph Toyota
Toyota Rav4 2017-18 All Yes Yes2 20mph1 0mph Toyota
Toyota Rav4 Hybrid 2017-18 All Yes Yes2 0mph 0mph Toyota

如何让我的汽车支持 OpenPilot

如果您的汽车具有自适应巡航控制和车道保持辅助,那么您很幸运。 使用pandacabana,您可以了解如何通过电线驾驶汽车。

目录结构:

.
├── apk                 # The apk files used for the UI
├── cereal              # The messaging spec used for all logs on EON
├── common              # Library like functionality we've developed here
├── installer/updater   # Manages auto-updates of openpilot
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN and LIN
├── phonelibs           # Libraries used on EON
├── pyextra             # Libraries used on EON
└── selfdrive           # Code needed to drive the car
    ├── assets          # Fonts and images for UI
    ├── boardd          # Daemon to talk to the board
    ├── can             # Helpers for parsing CAN messages
    ├── car             # Car specific code to read states and control actuators
    ├── common          # Shared C/C++ code for the daemons
    ├── controls        # Perception, planning and controls
    ├── debug           # Tools to help you debug and do car ports
    ├── locationd       # Soon to be home of precise location
    ├── logcatd         # Android logcat as a service
    ├── loggerd         # Logger and uploader of car data
    ├── mapd            # Fetches map data and computes next global path
    ├── orbd            # Computes ORB features from frames
    ├── proclogd        # Logs information from proc
    ├── sensord         # IMU / GPS interface code
    ├── test            # Car simulator running code through virtual maneuvers
    ├── ui              # The UI
    └── visiond         # Vision pipeline

 

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