anaksor-ocr
Sokheng · Kit
Reads Khmer and English text from documents, receipts and photos of signs, using a detector for text lines and a recogniser for each line. Suits developers who…
New
Overview
comma.ai’s MIT-licensed driver assistance software for the cars on its supported list. It runs on a comma device in the car, or on a computer for development and replay. These notes cover branches, installing, connecting, forks, safety limits and contributing.
openpilot is an open-source project on GitHub in the Developer category, listed by Mindket. It is free. This is version 2, last updated on . Install it from GitHub as its README says. Get Mindket’s setup notes on your Mindket account, as a zip.
At a glance
- Start with
bash <(curl -fsSL openpilot.comma.ai)
Platform
Linux
macOS
Windows
About
What it is
openpilot is open source driver assistance software from comma.ai. The docs say it does adaptive cruise control, automated lane centering, forward collision warning and lane departure warning for a growing list of cars. INTEGRATION.md says it replaces the car’s lane keeping and lane departure warning on every supported car. It replaces the car’s adaptive cruise control only on cars marked in the ACC column of the supported cars list. Where that column says openpilot available, CARS.md’s footnote 1 calls it an alpha behind a toggle found only in non-release branches such as nightly-dev. A camera also watches the driver and warns when they look distracted or asleep. The docs say it uses the car’s existing interfaces for its built-in assist systems and gives them better acceleration, braking and steering inputs than the stock system. The docs say it is designed for the comma four, a device that mounts on the windshield. This entry covers getting the software onto a device or a computer, and the safety pages to read first.
- Check that your car is on the supported list
- Get a comma four and the connector part for your car
- Mount the device high and centered on the windshield
- Type openpilot.comma.ai when its setup asks for software
- openpilot steers the car, and you stay ready to take over
- On ACC-marked cars it also brakes and accelerates
Who it suits
Owners of a supported car who want better lane centering, and better cruise control on cars the list marks for openpilot ACC, and who will read a long list of limits first. Developers and researchers who want a driving system to read, replay and change also fit, since the repository ships replay tools, a UI and a simulator. Skip it if you want a car that drives itself. The README calls it alpha quality software for research purposes only, and the safety page says the driver must stay alert at all times.
| Industry | Who uses it | How they use it | Example |
|---|---|---|---|
| Car owners | Drivers of a supported car | Mount a comma four with the connector part for the car, then enter openpilot.comma.ai when its setup asks for software | A driver finds the car on the supported list, mounts the device high and centered, and types the URL at the software prompt. |
| Developers and hobbyists | People who want to read or change the code | Clone the repository, build it with scons and replay the demo route with the UI | Someone follows the Turn the speed blue guide, runs replay in one terminal and the UI in another, then changes the speed color. |
| Car porters | People adding a car | Follow the car port guide, since all car-specific code lives in the opendbc project | A model port adds a new model to a brand that is already supported, and the docs link an example pull request. |
| Fork makers | People who run a changed copy | Fork the repository, push it and install it from installer.comma.ai with their GitHub username | A fork keeps driver monitoring and the actuation checks, as the safety page requires. |
| Log readers | People who study recorded drives | Read routes with the Python log reader, plot them with PlotJuggler or view CAN with cabana | Someone reads a route’s segments with the log reader library and plots the logs in PlotJuggler. |
Where to use it
In a car, on a comma four or a comma 3X, and the README also lists installer URLs for the chestnut. The docs call the comma four the device openpilot is designed for. On a computer, the tools README says openpilot supports Linux, should mostly work on macOS and can run on Windows through WSL. The README says other hardware is possible, though not plug-and-play.
| Way | How | What the docs say |
|---|---|---|
| comma four | Type openpilot.comma.ai when the device’s setup asks for custom software | The device the docs say openpilot is designed for |
| comma 3X | The same URL, with its own branch names such as release-tizi | The README’s branch table has a column for it |
| chestnut | Installer URLs under installer.comma.ai/commaai | The README lists its own release, staging and nightly URLs |
| Linux or macOS | The quick start line, or a git clone and tools/op.sh setup | openpilot supports Linux, and most of it should work natively on macOS |
| Windows | WSL, with the Ubuntu-24.04 distribution recommended | WSL 2 gets good reports from several users |
How to set it up
Get it saves a zip of Mindket’s setup notes in your downloads folder. It has a page for the comma four, one for the comma 3X and chestnut, and one each for a computer, WSL, replay, connecting to a device, forks, safety and contributing. For a car, the README names four things you need, and the setup guide adds where to mount the device.
| Need | Detail |
|---|---|
| A supported car | The supported cars list has a row per model and years, with its package and the parts each car needs |
| A comma four | The device the docs say openpilot is designed for |
| The connector part | The README’s fourth item, sold in comma’s shop for your car. It connects the comma four to your car, and the setup guide has you plug the car’s LKAS camera connector into it |
| The software | The URL openpilot.comma.ai, typed into the device’s setup |
| A mounting spot | High and centered on the windshield. The setup guide says that if the mount is not centered horizontally, it will not properly center in the lane |
- Check your car on the supported cars list. Its row names the package and the parts the car needs.
- Get a comma four, and the connector part for your car from comma’s shop.
- Mount the comma four high and centered on the windshield. Plug the car’s LKAS camera connector into the connector part.
- Type openpilot.comma.ai into the device’s setup. That installs the software.
- To run it on a computer instead, use the first block below. It clones the repository and runs the setup.
On a computer, the quick start is one line. It clones the repository and runs the setup. Then you activate the Python environment and build.
bash <(curl -fsSL openpilot.comma.ai)
cd openpilot source .venv/bin/activate scons
The script asks where to install and defaults to an openpilot folder in the folder you ran it from. It is fetched fresh each time, so read it before you run it. In a car you skip this and type the URL into the device instead.
How to use it
The URL you type picks the branch. The README says running master and other branches directly is supported, but recommends one of these prebuilt branches. openpilot.comma.ai installs the release version.
| Branch | URL | What the README says |
|---|---|---|
| release-mici | openpilot.comma.ai | The release branch |
| release-mici-staging | openpilot-test.comma.ai | Staging, to get new releases slightly early |
| nightly | openpilot-nightly.comma.ai | The bleeding edge, and not to be expected stable |
| nightly-dev | installer.comma.ai/commaai/nightly-dev | Nightly plus experimental features for some cars |
Once it runs, you stay in charge. Braking, accelerating or steering overrides it, and the cancel button is a second way to take control back. Pair the device with comma connect on your phone to see your recorded drives. To try openpilot with no car, replay the demo route in one terminal and open the UI in another.
openpilot/tools/replay/replay --demo
./openpilot/selfdrive/ui/ui.py
Example
You want to see how the UI draws the speed before you go near a car. You run the quick start line, activate the environment and build. Then you start replay on the demo route in one terminal and the UI in a second:
openpilot/tools/replay/replay --demo ./openpilot/selfdrive/ui/ui.py
The UI opens and shows a replay of the demo route. The Turn the speed blue guide then has you search for the function that draws the current speed in hud_renderer.py, change one color and run the UI again. The speed shows in a soft blue. With a comma device, the guide ends by pushing a fork to GitHub and installing it from installer.comma.ai with your username.
For newcomers and experts
If you are new. openpilot sits on top of the car’s own assist systems, and it says it cannot drive by itself. Start on a computer with replay, which needs no car. Before you buy anything, find your exact model, years and package on the supported cars list. It also has columns for the speeds below which cruise acceleration and lane centering do not work.
For experts. Car code lives in the opendbc project, with one folder per brand. It holds the interface, the carstate, the carcontroller, a CAN message file and the limits. Each brand’s safety logic is a C header in opendbc/safety/modes/[brand].h, and its CI tests are in opendbc/safety/tests/test_[brand].py. The README says the code enforcing the safety model lives in panda and is written in C. A drive is recorded in one minute segments. Each has an rlog of every message between processes, as zstd-compressed Cap’n Proto, plus H.265 camera files and smaller qlog and qcamera copies.
The device is a normal Linux computer. Enable SSH in its settings, enter your GitHub username there and it fetches your public keys once. The docs also cover ADB, a serial console and an SSH proxy for comma prime. A fork that changes anything in opendbc/safety cannot use the openpilot trademark and must keep the full safety test suite passing.
Good to know
This software steers and brakes a real car, so the project’s own warnings come first.
- Safety: the README says this is alpha quality software for research purposes only, not a product, and that you are responsible for complying with local laws and regulations. The driver must stay alert and ready to take control at any time, and openpilot may disengage without warning
- Limits: the limits page lists poor visibility, unclear lane markings, sharp curves, merges, intersections, slippery roads, tunnels and more. It says openpilot does not detect traffic signs, stop lights or speed limits at this time
- Driver monitoring: it is not an exact measure of alertness and cannot always tell that a driver is tired
- Your data: by default openpilot uploads driving data to comma’s servers, and you can turn that off. It logs the road cameras, CAN, GPS and more, and the driver camera and microphone only if you opt in
- The agreement: using it means accepting comma’s Privacy Policy, which the README says grants comma an irrevocable, perpetual, worldwide right to use that data. It also says every user shall indemnify and hold harmless comma against claims from any use of the software
- Forks: do not disable or nerf driver monitoring or the actuation checks. The safety page says failing them will get you and your users banned from comma’s servers
- The car: the setup guide says installing a device needs no permanent change to the car. Mounting it within the law and your insurance are yours to sort out
- Cost: the software is MIT licensed. comma’s setup page lists the comma four at $999, and the connector part and other parts in your car’s row of the supported list are comma hardware too. The setup guide says comma prime is completely optional and not needed for any core functionality, and the docs’ ssh.comma.ai proxy needs it
- License: MIT, with Comma.ai, Inc. as the copyright holder. The README says some parts are under other licenses as specified
- Not an endorsement: Mindket wrote these notes, and comma.ai did not make or endorse them. They come from the README, the docs pages, comma’s setup guide and the install script, and nothing in them was run
README and files
openpilot: setup notes
This kit holds setup notes only. Mindket wrote them. openpilot itself is made by comma.ai and installs from its own repository: https://github.com/commaai/openpilot
These notes are not made or endorsed by comma.ai. The docs describe openpilot this way: "openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years. In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers." Source: https://github.com/commaai/openpilot/blob/master/docs/index.md
License: MIT. The LICENSE file (https://github.com/commaai/openpilot/blob/master/LICENSE) is the MIT text with "Copyright (c) 2018, Comma.ai, Inc." The README adds that some parts of the software are released under other licenses as specified.
Read this before anything else. The README says, in capitals: "THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED." The driver must stay alert and ready to take over at all times. setup/safety-and-limits.md gathers what the project's own pages say.
What installs
- In a car: the openpilot software on a comma device, a comma four or a comma 3X. The device's setup asks for a URL for custom software, and
openpilot.comma.aigives the release version. Source: https://github.com/commaai/openpilot/blob/master/README.md - On a computer: a git clone of the repository, a Python environment in
.venvand a build made withscons. The README's quick start script does the clone and the setup. Source: https://github.com/commaai/openpilot/blob/master/README.md and https://github.com/commaai/openpilot/blob/master/tools/README.md
What you need first
- To drive with it: a supported device (a comma four), the software URL, a supported car and a car harness. The README lists these as the four things you need. See setup/comma-four.md.
- To develop with it: Linux or macOS, or Windows through WSL. The tools README says most of openpilot should work natively on macOS. See setup/linux-and-macos.md and setup/windows-wsl.md.
- The setup guide at https://comma.ai/setup says the in-car install is 5 steps. It lists the parts: a comma four, an OBD-C cable, two mounts and a car harness, with an optional comma power. The supported cars list puts a comma power v3 in the parts for many cars, so check your car’s row.
Main install command
On a computer, from the README's quick start:
bash <(curl -fsSL openpilot.comma.ai)Source: https://github.com/commaai/openpilot/blob/master/README.md. In a car, you type openpilot.comma.ai into the device's custom software prompt instead.
Per-platform notes
- setup/comma-four.md: the four things you need, the comma four branches and their URLs, and the five install steps
- setup/comma-3x-and-chestnut.md: the branch names and installer URLs for the comma 3X and the chestnut
- setup/linux-and-macos.md: the quick start script, or a clone and
tools/op.sh setup - setup/windows-wsl.md: running the Linux steps under WSL
- setup/replay-and-ui.md: replaying the demo route and the UI, from the Turn the speed blue guide, and the tools folder
- setup/connect-to-your-device.md: SSH, a serial console, ADB and the ssh.comma.ai proxy
- setup/your-own-fork.md: installing your fork on a device, and the fork rules in SAFETY.md
- setup/safety-and-limits.md: SAFETY.md, LIMITATIONS.md and INTEGRATION.md in plain words
- setup/contributing.md: car ports, feedback and what gets merged
Each file names the page its steps and commands came from. Nothing in these notes was run.
Update or remove
The pages read give no update steps for a computer. On a device, the Turn the speed blue guide says to "Uninstall Openpilot through the settings on your device", then reinstall from a URL. Source: https://github.com/commaai/openpilot/blob/master/docs/how-to/turn-the-speed-blue.md
The docs name no removal steps for a computer. The install script clones into a folder named openpilot, an ordinary git folder. That reading is Mindket's, not the docs'.
Your data
The README says that by default openpilot uploads driving data to comma's servers, and that users can turn data collection off. It logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes and operating system logs. The driver-facing camera and the microphone are logged only if you opt in in settings. Using openpilot means agreeing to comma's Privacy Policy, and the README says this grants comma "an irrevocable, perpetual, worldwide right" to use the data. Source: https://github.com/commaai/openpilot/blob/master/README.md
Sources
- README: https://github.com/commaai/openpilot/blob/master/README.md
- LICENSE: https://github.com/commaai/openpilot/blob/master/LICENSE
- Docs site: https://docs.comma.ai
- What is openpilot: https://github.com/commaai/openpilot/blob/master/docs/index.md
- Supported cars: https://github.com/commaai/openpilot/blob/master/docs/CARS.md
- Setup guide: https://comma.ai/setup
- Tools README: https://github.com/commaai/openpilot/blob/master/tools/README.md
- Turn the speed blue: https://github.com/commaai/openpilot/blob/master/docs/how-to/turn-the-speed-blue.md
- Connect to a comma device: https://github.com/commaai/openpilot/blob/master/docs/how-to/connect-to-comma.md
- SAFETY.md: https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md
- LIMITATIONS.md: https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md
- INTEGRATION.md: https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md
- Install script: https://openpilot.comma.ai
README.md 6 KB setup/comma-3x-and-chestnut.md 2 KB setup/comma-four.md 5 KB setup/connect-to-your-device.md 3 KB setup/contributing.md 5 KB setup/linux-and-macos.md 3 KB setup/replay-and-ui.md 3 KB setup/safety-and-limits.md 6 KB setup/windows-wsl.md 1 KB setup/your-own-fork.md 3 KB
What’s new
Updated by Mindket to the current version of this kit.
Reviews
What people say
Posts and comments that name this project on Hacker News, Bluesky, X, Reddit, Facebook and YouTube, found by a weekly search and on Trendshift. Mindket doesn’t write or check them. Open one to read it where it was posted.
goldenbeetComma AI Is Open Sourcing Its Aftermarket AutopilotIt was just announced at a press-release this morning. - Hardware: https://github.com/commaai/neo - Software: https://github.com/commaai/openpilot4 pointsGitHub Trending📈 Today's GitHub Trending: 1. https://github.com/simplex-chat/simplex-chat - Haskell, 1470 stars today 2. https://github.com/xbtlin/ai-berkshire - Python, 686 stars today 3. https://github.com/commaai/openpilot - Python, 322 stars today 4. https://github.com/IceWhaleTech/CasaOS - Go, 502 stars […]1 reply@supermm518📡 AI × Web3 今日机会雷达｜09.26 今天最值得看的，不是某个模型又更强了。 而是三条线开始同时收紧： 🚨 Agent 权限越来越大，安全边界开始暴露 🖥️ AI 竞争开始从“模型战”转向“入口战” ₿ Crypto 风险偏好回升，市场重新寻找高 Beta 和早期机会 今天我最想盯的一条线其实很明确： Data Egress Control。 以后 Agent 最大的风险，可能不再只是“它能不能读到数据”。 而是： 它读到之后，能不能自己发出去？ 发给谁？ 什么时候必须审批？ 这也是为什么 OpenAI 那个“53 张用户图片被 Agent…r/Comma_aiC4 bricked after flashing through official flasher tool?tmcnallyBMW Spider-Man in-car advertising"Hehe, just hack into your car to get FSD https://github.com/commaai/openpilot ;)"@hacks.grNHTSA is investigating five crashes reportedly involving devices. Three people died in one. The key question is whether the systems were operating—and how well their sa… https://en.hacks.gr/treis-nekroi-se-trochaio-opoy-feretai-na-chrisimopoioyntan-proion-tis-comma-ai/ #NHTSA #CommaAI #Openpilot@supermm518📡 AI × Web3 今日机会雷达｜09.26 今天最值得看的，不是某个模型又更强了。 而是三条线开始同时收紧： 🚨 Agent 权限越来越大，安全边界开始暴露 🖥️ AI 竞争开始从“模型战”转向“入口战” ₿ Crypto 风险偏好回升，市场重新寻找高 Beta 和早期机会 今天我最想盯的一条线其实很明确： Data Egress Control。 以后 Agent 最大的风险，可能不再只是“它能不能读到数据”。 而是： 它读到之后，能不能自己发出去？ 发给谁？ 什么时候必须审批？ 这也是为什么 OpenAI 那个“53 张用户图片被 Agent…ugtthisShow HN: I built a site to find cars compatible with open source ADAS softwareThe site is to get people more familiar with the cost of a used car that is capable of having a much better ADAS experience using hardware that has no subscription and uses open source software(https://github.com/commaai/openpilot). The site also links(if you click on the detailed support specs…mucitrobotcommaai/openpilot, 300'den fazla aracı destekleyen bir robotik işletim sistemi. Sürücü destek sistemlerini yükselterek otonom sürüşe katkıda bulunuyor. MIT lisanslı ve Python ile geliştirilmiş. github.com/commaai/open... #Robotik #OtonomSürüş #YapayZeka@ANSR42https://t.co/uk93JZ92G4adeebshihadehVouch"Open source has always worked on a system of trust and verify" Not sure about the trust part. Ideally, you can evaluate the change on its own. In my experience, I immediately know whether I want to close or merge a PR within a few seconds, and the hard part is writing the response to close it…GitHub Trending📈 Today's GitHub Trending: 1. https://github.com/simplex-chat/simplex-chat - Haskell, 1183 stars today 2. https://github.com/ripienaar/free-for-dev - HTML, 472 stars today 3. https://github.com/commaai/openpilot - Python, 265 stars today 4. https://github.com/xbtlin/ai-berkshire - Python, 1456 […]
More from Mindket
See all from MindketQwen2.5-7B-Instruct-GGUF by Qwen
Qwen · Kit
Qwen2.5-7B-Instruct as GGUF files in eight quantization sizes, to chat with locally through llama.cpp. For people who want a capable 7.6B model on their own co…
New
ACE-Step 1.5 XL SFT
ACE-Step · Kit
Generates music from text with a 4B diffusion decoder, 50 steps and guidance control, aiming for higher audio quality than the base. For creators with a GPU of…
New
Similar in Developer
See all in DeveloperClaude Code Skills & Plugins
alirezarezvani · Skill
Adds 411 ready-made skills for Claude Code and other coding agents, grouped by role from engineering and product to marketing, finance and compliance. Installs…
New29.8k
buzz
block · Kit
Self-hostable workspace where people and AI agents share the same rooms, built on a Nostr relay that logs every action as a signed event. For teams that want t…
New37.3k
plannotator
backnotprop · Kit
Opens your AI coding agent's plans, specs and code changes in a browser so you can annotate or comment on them and send the feedback straight back to the agent.
New10.5k