OpenPilot 开源自动驾驶技术 项目简介
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panda和cabana，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
├── 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