From 6966ad8d760afb5a90b358dc4da88de1b3828837 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9C=BA=E6=A2=B0=E5=B0=8F=E9=B8=BD?= <128568434+jixiexiaoge@users.noreply.github.com> Date: Thu, 27 Mar 2025 18:21:34 +0800 Subject: [PATCH] update --- RELEASES.md | 1125 ++++----------------------------------------------- 1 file changed, 75 insertions(+), 1050 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index d326af1..5095a8d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,1051 +1,76 @@ -Version 0.9.9 (2025-03-30) +Version 0.9.9 ======================== -* Coming soon - * Rivian support - * F-150 & Mach-E support - * Tesla Model 3 support - -Version 0.9.8 (2025-01-30) -======================== -* New driving monitoring model - * Reduced false positives related to passengers -* Image processing pipeline moved to the ISP - * More GPU time for driving models - * Power draw reduced 0.5W, which means your device runs cooler -* Added toggle to enable driver monitoring even when openpilot is not engaged -* Enable openpilot longitudinal control for Ford Q3 vehicles -* New Toyota TSS2 longitudinal tune -* Coming soon - * New driving model with gas gating - * Training data upload mode - -Version 0.9.7 (2024-06-13) -======================== -* New driving model - * Inputs the past curvature for smoother and more accurate lateral control - * Simplified neural network architecture in the model's last layers - * Minor fixes to desire augmentation and weight decay -* New driver monitoring model - * Improved end-to-end bit for phone detection -* Adjust driving personality with the follow distance button -* Support for hybrid variants of supported Ford models -* Fingerprinting without the OBD-II port on all cars -* Improved fuzzy fingerprinting for Ford and Volkswagen - -Version 0.9.6 (2024-02-27) -======================== -* New driving model - * Vision model trained on more data - * Improved driving performance - * Directly outputs curvature for lateral control -* New driver monitoring model - * Trained on larger dataset -* Model path UI - * Shows where driving model wants to be - * Shows what model is seeing more clearly, but more jittery -* AGNOS 9 -* comma body streaming and controls over WebRTC -* Improved fuzzy fingerprinting for many makes and models -* Alpha longitudinal support for new Toyota models -* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire! -* Dodge Durango 2020-21 support -* Hyundai Staria 2023 support thanks to sunnyhaibin! -* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! -* Lexus LC 2024 support thanks to nelsonjchen! -* Toyota RAV4 2023-24 support -* Toyota RAV4 Hybrid 2023-24 support - -Version 0.9.5 (2023-11-17) -======================== -* New driving model - * Improved navigate on openpilot performance using navigation instructions as an additional model input - * Do lateral planning inside the model - * New vision transformer architecture -* Cadillac Escalade ESV 2019 support thanks to twilsonco! -* Hyundai Azera 2022 support thanks to sunnyhaibin! -* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! -* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422! -* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3! -* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! -* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! -* Kia Optima Hybrid 2019 support -* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! -* Lexus GS F 2016 support thanks to snyperifle! -* Lexus IS 2023 support thanks to L3R5! - -Version 0.9.4 (2023-07-27) -======================== -* comma 3X support -* Navigate on openpilot in Experimental mode - * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene - * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits - * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver - * When navigate on openpilot is active, the path on the map is green -* UI updates - * Navigation settings moved to home screen and map - * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding - * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert -* Bookmarked segments are preserved on the device's storage -* Ford Focus 2018 support -* Kia Carnival 2023 support thanks to sunnyhaibin! - -Version 0.9.3 (2023-06-29) -======================== -* New driving model - * Improved height estimation and added height tracking in liveCalibration - * Model inputs refactor -* New driving personality setting - * Three settings: aggressive, standard, and relaxed - * Standard is recommended and the default - * In aggressive mode, lead follow distance is shorter and acceleration response is quicker - * In relaxed mode, lead follow distance is longer -* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis -* Improved thermal management logic - -Version 0.9.2 (2023-05-22) -======================== -* New driving model - * Reduced turn diving - * Trained on a new dataset -* UI updates - * New experimental mode visualization - * Draw MPC path instead of model-predicted path -* AGNOS 7 - * Faster boot time - * Fixes rare no sounds bug - * Fixes bootsplash bug at extreme temperatures -* Buick LaCrosse 2017-19 support thanks to koch-cf! -* Chevrolet Trailblazer 2021-22 support thanks to TurboCE! -* Ford Bronco Sport 2021-22 support -* Ford Escape 2020-22 support -* Ford Explorer 2020-22 support -* Ford Kuga 2020-22 support -* Ford Maverick 2022-23 support -* Genesis GV80 2023 support thanks to JWingate80! -* Honda HR-V 2023 support thanks to AlexandreSato and galegozi! -* Kia Niro EV 2023 support thanks to JosselinLecocq! -* Lexus ES 2017-18 support -* Lincoln Aviator 2021 support -* Škoda Fabia 2022-23 support thanks to jyoung8607! - - -Version 0.9.1 (2023-02-28) -======================== -* New driving model - * 30% improved height estimation resulting in better driving performance for tall cars -* Driver monitoring: removed timer resetting on user interaction if distracted -* UI updates - * Adjust alert volume using ambient noise level - * Driver monitoring icon shows driver's head pose - * German translation thanks to Vrabetz and CzokNorris! -* Cadillac Escalade 2017 support thanks to rickygilleland! -* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! -* Genesis GV60 2023 support thanks to sunnyhaibin! -* Hyundai Tucson 2022-23 support -* Kia K5 Hybrid 2020 support thanks to sunnyhaibin! -* Kia Niro Hybrid 2023 support thanks to sunnyhaibin! -* Kia Sorento 2022-23 support thanks to sunnyhaibin! -* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! -* Toyota C-HR 2021 support thanks to eFiniLan! -* Toyota C-HR Hybrid 2022 support thanks to Korben00! -* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607! - -Version 0.9.0 (2022-11-21) -======================== -* New driving model - * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate - * Less reliance on previous frames makes model more reactive and snappy - * Trained in new reprojective simulator - * Trained in 36 hours from scratch, compared to one week for previous releases - * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode -* Experimental driving mode - * End-to-end longitudinal control - * Stops for traffic lights and stop signs - * Slows down for turns - * openpilot defaults to chill mode, enable experimental mode in settings -* Driver monitoring updates - * New bigger model with added end-to-end distracted trigger - * Reduced false positives during driver calibration -* Self-tuning torque controller: learns parameters live for each car -* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models -* UI updates - * Matched speeds shown on car's dash - * Multi-language in navigation - * Improved update experience - * Border turns grey while overriding steering - * Bookmark events while driving; view them in comma connect - * New onroad visualization for experimental mode -* tools: new and improved cabana thanks to deanlee! -* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models -* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! -* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! -* Kia Sportage 2023 support thanks to sunnyhaibin! -* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! -* Kia Stinger 2022 support thanks to sunnyhaibin! - -Version 0.8.16 (2022-08-26) -======================== -* New driving model - * Reduced turn cutting -* Auto-detect right hand drive setting with driver monitoring model -* Improved fan controller for comma three -* New translations - * Japanese thanks to cydia2020! - * Brazilian Portuguese thanks to AlexandreSato! -* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler! -* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler! -* GMC Sierra 1500 2020-21 support thanks to JasonJShuler! -* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin! -* Hyundai Kona Electric 2022 support thanks to sunnyhaibin! -* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin! -* Subaru Legacy 2020-22 support thanks to martinl! -* Subaru Outback 2020-22 support - -Version 0.8.15 (2022-07-20) -======================== -* New driving model - * Path planning uses end-to-end output instead of lane lines at all times - * Reduced ping pong - * Improved lane centering -* New lateral controller based on physical wheel torque model - * Much smoother control that's consistent across the speed range - * Effective feedforward that uses road roll - * Simplified tuning, all car-specific parameters can be derived from data - * Used on select Toyota and Hyundai models at first - * Significantly improved control on TSS-P Prius -* New driver monitoring model - * Bigger model, covering full interior view from driver camera - * Works with a wider variety of mounting angles - * 3x more unique comma three training data than previous -* Navigation improvements - * Speed limits shown while navigating - * Faster position fix by using raw GPS measurements -* UI updates - * Multilanguage support for settings and home screen - * New font - * Refreshed max speed design - * More consistent camera view perspective across cars -* Reduced power usage: device runs cooler and fan spins less -* AGNOS 5 - * Support VSCode remote SSH target - * Support for delta updates to reduce data usage on future OS updates -* Chrysler ECU firmware fingerprinting thanks to realfast! -* Honda Civic 2022 support -* Hyundai Tucson 2021 support thanks to bluesforte! -* Kia EV6 2022 support -* Lexus NX Hybrid 2020 support thanks to AlexandreSato! -* Ram 1500 2019-21 support thanks to realfast! - -Version 0.8.14 (2022-06-01) -======================== - * New driving model - * Bigger model, using both of comma three's road-facing cameras - * Better at cut-in detection and tight turns - * New driver monitoring model - * Tweaked network structure to improve output resolution for DSP - * Fixed bug in quantization aware training to reduce quantizing errors - * Resulted in 7x less MSE and no more random biases at runtime - * Added toggle to disable disengaging on the accelerator pedal - * comma body support - * Audi RS3 support thanks to jyoung8607! - * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin! - * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin! - * Toyota Alphard Hybrid 2021 support - * Toyota Avalon Hybrid 2022 support - * Toyota RAV4 2022 support - * Toyota RAV4 Hybrid 2022 support - -Version 0.8.13 (2022-02-18) -======================== - * Improved driver monitoring - * Re-tuned driver pose learner for relaxed driving positions - * Added reliance on driving model to be more scene adaptive - * Matched strictness between comma two and comma three - * Improved performance in turns by compensating for the road bank angle - * Improved camera focus on the comma two - * AGNOS 4 - * ADB support - * improved cell auto configuration - * NEOS 19 - * package updates - * stability improvements - * Subaru ECU firmware fingerprinting thanks to martinl! - * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin! - * Mazda CX-5 2022 support thanks to Jafaral! - * Subaru Impreza 2020 support thanks to martinl! - * Toyota Avalon 2022 support thanks to sshane! - * Toyota Prius v 2017 support thanks to CT921! - * Volkswagen Caravelle 2020 support thanks to jyoung8607! - -Version 0.8.12 (2021-12-15) -======================== - * New driving model - * Improved behavior around exits - * Better pose accuracy at high speeds, allowing max speed of 90mph - * Fully incorporated comma three data into all parts of training stack - * Improved follow distance - * Better longitudinal policy, especially in low speed traffic - * New alert sounds - * AGNOS 3 - * Display burn in mitigation - * Improved audio amplifier configuration - * System reliability improvements - * Update Python to 3.8.10 - * Raw logs upload moved to connect.comma.ai - * Fixed HUD alerts on newer Honda Bosch thanks to csouers! - * Audi Q3 2020-21 support thanks to jyoung8607! - * Lexus RC 2020 support thanks to ErichMoraga! - -Version 0.8.11 (2021-11-29) -======================== - * Support for CAN FD on the red panda - * Support for an external panda on the comma three - * Navigation: Show more detailed instructions when approaching maneuver - * Fixed occasional steering faults on GM cars thanks to jyoung8607! - * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io! - * Cadillac Escalade ESV 2016 support thanks to Gibby! - * Genesis G70 2020 support thanks to tecandrew! - * Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin! - * Mazda CX-9 2021 support thanks to Jacar! - * Volkswagen Polo 2020 support thanks to jyoung8607! - * Volkswagen T-Roc 2021 support thanks to jyoung8607! - -Version 0.8.10 (2021-11-01) -======================== - * New driving model - * Trained on one million minutes!!! - * Fixed lead training making lead predictions significantly more accurate - * Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy - * New driver monitoring model - * Trained on latest data from both comma two and comma three - * Increased model field of view by 40% on comma three - * Improved model stability on masked users - * Improved pose prediction with reworked ground-truth stack - * Lateral and longitudinal planning MPCs now in ACADOS - * Combined longitudinal MPCs - * All longitudinal planning now happens in a single MPC system - * Fixed instability in MPC problem to prevent sporadic CPU usage - * AGNOS 2: minor stability improvements and builder repo open sourced - * tools: new and improved replay thanks to deanlee! - * Moved community-supported cars outside of the Community Features toggle - * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis - * Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch - * Audi S3 2015 support thanks to jyoung8607! - * Honda Freed 2020 support thanks to belm0! - * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin! - * Hyundai Santa Fe 2022 support thanks to sunnyhaibin! - * Kia K5 2021 support thanks to sunnyhaibin! - * Škoda Kamiq 2021 support thanks to jyoung8607! - * Škoda Karoq 2019 support thanks to jyoung8607! - * Volkswagen Arteon 2021 support thanks to jyoung8607! - * Volkswagen California 2021 support thanks to jyoung8607! - * Volkswagen Taos 2022 support thanks to jyoung8607! - -Version 0.8.9 (2021-09-14) -======================== - * Improved fan control on comma three - * AGNOS 1.5: improved stability - * Honda e 2020 support - -Version 0.8.8 (2021-08-27) -======================== - * New driving model with improved laneless performance - * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries - * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode - * All new desire ground-truthing stack makes the model better at lane changes - * New driver monitoring model: improved performance on comma three - * NEOS 18 for comma two: update packages - * AGNOS 1.3 for comma three: fix display init at high temperatures - * Improved auto-exposure on comma three - * Improved longitudinal control on Honda Nidec cars - * Hyundai Kona Hybrid 2020 support thanks to haram-KONA! - * Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn! - * Kia Niro Hybrid 2021 support thanks to tetious! - -Version 0.8.7 (2021-07-31) -======================== - * comma three support! - * Navigation alpha for the comma three! - * Volkswagen T-Cross 2021 support thanks to jyoung8607! - -Version 0.8.6 (2021-07-21) -======================== - * Revamp lateral and longitudinal planners - * Refactor planner output API to be more readable and verbose - * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate - * Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother - * Remove "CHECK DRIVER FACE VISIBILITY" warning - * Fixed cruise fault on some TSS2.5 Camrys and international Toyotas - * Hyundai Elantra Hybrid 2021 support thanks to tecandrew! - * Hyundai Ioniq PHEV 2020 support thanks to YawWashout! - * Kia Niro Hybrid 2019 support thanks to jyoung8607! - * Škoda Octavia RS 2016 support thanks to jyoung8607! - * Toyota Alphard 2020 support thanks to belm0! - * Volkswagen Golf SportWagen 2015 support thanks to jona96! - * Volkswagen Touran 2017 support thanks to jyoung8607! - -Version 0.8.5 (2021-06-11) -======================== - * NEOS update: improved reliability and stability with better voltage regulator configuration - * Smart model-based Forward Collision Warning - * CAN-based fingerprinting moved behind community features toggle - * Improved longitudinal control on Toyotas with a comma pedal - * Improved auto-brightness using road-facing camera - * Added "Software" settings page with updater controls - * Audi Q2 2018 support thanks to jyoung8607! - * Hyundai Elantra 2021 support thanks to CruiseBrantley! - * Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2! - * Toyota Avalon Hybrid 2019 support thanks to jbates9011! - * SEAT Leon 2017 & 2020 support thanks to jyoung8607! - * Škoda Octavia 2015 & 2019 support thanks to jyoung8607! - -Version 0.8.4 (2021-05-17) -======================== - * Delay controls start until system is ready - * Fuzzy car identification, enabled with Community Features toggle - * Localizer optimized for increased precision and less CPU usage - * Re-tuned lateral control to be more aggressive when model is confident - * Toyota Mirai 2021 support - * Lexus NX 300 2020 support thanks to goesreallyfast! - * Volkswagen Atlas 2018-19 support thanks to jyoung8607! - -Version 0.8.3 (2021-04-01) -======================== - * New model - * Trained on new diverse dataset from 2000+ users from 30+ countries - * Trained with improved segnet from the comma-pencil community project - * 🥬 Dramatically improved end-to-end lateral performance 🥬 - * Toggle added to disable the use of lanelines - * NEOS update: update packages and support for new UI - * New offroad UI based on Qt - * Default SSH key only used for setup - * Kia Ceed 2019 support thanks to ZanZaD13! - * Kia Seltos 2021 support thanks to speedking456! - * Added support for many Volkswagen and Škoda models thanks to jyoung8607! - -Version 0.8.2 (2021-02-26) -======================== - * Use model points directly in MPC (no more polyfits), making lateral planning more accurate - * Use model heading prediction for smoother lateral control - * Smarter actuator delay compensation - * Improve qcamera resolution for improved video in explorer and connect - * Adjust maximum engagement speed to better fit the model's training distribution - * New driver monitoring model trained with 3x more diverse data - * Improved face detection with masks - * More predictable DM alerts when visibility is bad - * Rewritten video streaming between openpilot processes - * Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit! - * Audi A3 2015 and 2017 support thanks to keeleysam! - * Nissan Altima 2020 support thanks to avolmensky! - * Lexus ES Hybrid 2018 support thanks to TheInventorMan! - * Toyota Camry Hybrid 2021 support thanks to alancyau! - -Version 0.8.1 (2020-12-21) -======================== - * Original EON is deprecated, upgrade to comma two - * Better model performance in heavy rain - * Better lane positioning in turns - * Fixed bug where model would cut turns on empty roads at night - * Fixed issue where some Toyotas would not completely stop thanks to briskspirit! - * Toyota Camry 2021 with TSS2.5 support - * Hyundai Ioniq Electric 2020 support thanks to baldwalker! - -Version 0.8.0 (2020-11-30) -======================== - * New driving model: fully 3D and improved cut-in detection - * UI draws 2 road edges, 4 lanelines and paths in 3D - * Major fixes to cut-in detection for openpilot longitudinal - * Grey panda is no longer supported, upgrade to comma two or black panda - * Lexus NX 2018 support thanks to matt12eagles! - * Kia Niro EV 2020 support thanks to nickn17! - * Toyota Prius 2021 support thanks to rav4kumar! - * Improved lane positioning with uncertain lanelines, wide lanes and exits - * Improved lateral control for Prius and Subaru - -Version 0.7.10 (2020-10-29) -======================== - * Grey panda is deprecated, upgrade to comma two or black panda - * NEOS update: update to Python 3.8.2 and lower CPU frequency - * Improved thermals due to reduced CPU frequency - * Update SNPE to 1.41.0 - * Reduced offroad power consumption - * Various system stability improvements - * Acura RDX 2020 support thanks to csouers! - -Version 0.7.9 (2020-10-09) -======================== - * Improved car battery power management - * Improved updater robustness - * Improved realtime performance - * Reduced UI and modeld lags - * Increased torque on 2020 Hyundai Sonata and Palisade - -Version 0.7.8 (2020-08-19) -======================== - * New driver monitoring model: improved face detection and better compatibility with sunglasses - * Download NEOS operating system updates in the background - * Improved updater reliability and responsiveness - * Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis! - -Version 0.7.7 (2020-07-20) -======================== - * White panda is no longer supported, upgrade to comma two or black panda - * Improved vehicle model estimation using high precision localizer - * Improved thermal management on comma two - * Improved autofocus for road-facing camera - * Improved noise performance for driver-facing camera - * Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru - * Fix GM ignition detection - * Code cleanup and smaller release sizes - * Hyundai Sonata 2020 promoted to officially supported car - * Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker! - * Subaru Forester 2019 and Ascent 2019 support thanks to martinl! - -Version 0.7.6.1 (2020-06-16) -======================== - * Hotfix: update kernel on some comma twos (orders #8570-#8680) - -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! - * 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) -======================== - * 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 compliance - * 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: improve path prediction - * 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](https://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 TSS 2.0 - * 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 pandad 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](discord.comma.ai) 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 pandad - * 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 pandad 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 +私人定制版本。强制加入地图key +这是一个基于 OpenPilot 的中文优化定制版本，提供两个精心维护的分支： + +🐸 CNFP (汉化版青蛙分支) - 追求创新，热爱尝鲜的最佳选择 +🥕 CNCP (汉化版胡萝卜分支) - 稳定可靠，长期使用的理想之选 +✨ 主要特性 +🌟 革新功能 +✅ 实验模式完全支持 - 解锁更多可能 +突破原厂限制，完美支持马自达与通用车型 +智能模式切换，随心掌控驾驶体验 +独创的多模式控制系统 +🗺️ 高德地图导航集成 +智能路线规划，告别迷路烦恼 +基于限速的智能车速控制 +AI 辅助转弯，更安全更平顺 +🎯 完整的中文界面 - 无需再为英文烦恼 +🔊 优化的提示音系统 - 更清晰的语音指引 +🎨 精心设计的图标 - 提升视觉体验 +🚀 创新驾驶模式 +🎯 CSLC（曲率速度限制控制）模式 +基于道路曲率的智能限速 +自动识别弯道，平顺减速 +完美结合高德导航，提前规划速度 +🔄 灵活的模式切换 +CNFP版本：双击退出实验模式，无缝切换回原车ACC，保持当前车速 +CNCP版本：长按距离减按钮，轻松切换三种模式 +CSLC模式：全自动速度调节，智能限速 +MRCC模式：原车ACC功能，熟悉的巡航体验 +OPCS模式：仅在弯道和导航时自动调速 +🛠️ 深度优化 +📊 增强型仪表盘 +实时档位显示，随时掌握车况 +发动机转速监控，行车更有把握 +智能档位修正，告别显示错误 +🚗 优秀的车型适配 +马自达车型深度优化 +完美支持CSLC/MRCC模式切换 +智能实验模式解锁 +通用（GM）车型完美支持 +定制化实验模式适配 +多模式无缝切换 +其他车型基础功能保障 +🔄 特色对比 +🐸 CNFP 版本（追求极致） +持续更新，永不过时 +现代化界面，操作更畅快 +双击快速切换控制模式 +适合喜欢尝试新功能的车主 +🥕 CNCP 版本（追求稳定） +稳如泰山，可靠如新 +简约界面，干净利落 +长按切换三种控制模式 +适合注重稳定性的用户 +📖 CSLC模式详解 +CSLC（Curvature Speed Limit Control）是我们独创的曲率速度限制控制系统，它将传统的ACC功能与智能限速完美结合： + +🎯 核心优势 +智能弯道识别：基于精确的道路曲率计算 +预见性减速：提前预判，确保安全平顺 +导航联动：结合高德地图，提供最佳速度建议 +自适应控制：根据道路情况实时调整车速 +💡 使用场景 +🛣️ 山路驾驶：自动识别弯道，提前降速 +🌆 城市道路：智能应对复杂路况 +🗺️ 导航辅助：配合规划路线，优化速度控制 +🔄 高速过弯：保持舒适的横向加速度 +⚙️ 操作指南 +CNFP版本： +双击快速切换回原车ACC模式 +保持当前车速，平顺过渡 +CNCP版本： +长按距离减按钮循环切换 +CSLC → MRCC → OPCS 三模式自由切换 +每种模式特点鲜明，满足不同场景需求 \ No newline at end of file