Difference between revisions of "Subaru"

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(Adding support for new model)
(Adding support for new model)
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* [https://medium.com/@comma_ai/a-panda-and-a-cabana-how-to-get-started-car-hacking-with-comma-ai-b5e46fae8646 Panda and Cabana - How to get started with car hacking]  
 
* [https://medium.com/@comma_ai/a-panda-and-a-cabana-how-to-get-started-car-hacking-with-comma-ai-b5e46fae8646 Panda and Cabana - How to get started with car hacking]  
 
* [https://medium.com/@energee/add-support-for-your-car-to-comma-ai-openpilot-3d2da8c12647 Add support for your car to Openpilot]
 
* [https://medium.com/@energee/add-support-for-your-car-to-comma-ai-openpilot-3d2da8c12647 Add support for your car to Openpilot]
 +
 +
Check if your car fingerprint is already added to any of the forks/branches
 +
* [https://github.com/bugsy924/openpilot/blob/Test-ES/selfdrive/car/subaru/values.py Test-ES]
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* [https://github.com/martinl/openpilot/blob/subaru-giraffe/selfdrive/car/subaru/values.py subaru-giraffe]
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* [https://github.com/martinl/openpilot/blob/subaru-devel2/selfdrive/car/subaru/values.py subaru-devel2]
  
 
Porting
 
Porting
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* Create Openpilot [https://community.comma.ai/wiki/index.php/Creating_Fingerprints fingerprint] for the car
 
* Create Openpilot [https://community.comma.ai/wiki/index.php/Creating_Fingerprints fingerprint] for the car
 
* For global models add fingerprint to IMPREZA as first step in selfdrive/car/subaru/values.py
 
* For global models add fingerprint to IMPREZA as first step in selfdrive/car/subaru/values.py
* Use [https://community.comma.ai/wiki/index.php/Main_Page#Cabana Cabana] to reverse engineer CAN messages required for Openpilot. This collection of [https://github.com/bugsy924/opendbc DBC] files is good place to start
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* Use [https://community.comma.ai/wiki/index.php/Main_Page#Cabana Cabana] to reverse engineer CAN messages required for Openpilot
 +
** DBC files
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***
  
 
Forks to use as base for porting
 
Forks to use as base for porting
 
* Pre-Global (2015-2017)
 
* Pre-Global (2015-2017)
** [https://github.com/bugsy924/openpilot bugsy924] Test-ES - supports pre-global models and giraffe with eyesight on can2, has following [https://github.com/bugsy924/openpilot/blob/Test-ES/selfdrive/car/subaru/values.py fingerprints]
+
** [https://github.com/bugsy924/openpilot bugsy924] Test-ES - supports pre-global models and giraffe with eyesight on can2
  
 
* Global (2018+)
 
* Global (2018+)
** [https://github.com/martinl/openpilot martinl] subaru-giraffe - supports comma giraffe with relay and eyesight on can2, has following [https://github.com/martinl/openpilot/blob/subaru-giraffe/selfdrive/car/subaru/values.py fingerprints]
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** [https://github.com/martinl/openpilot martinl] subaru-giraffe - supports comma giraffe with relay and eyesight on can2
** [https://github.com/martinl/openpilot martinl] subaru-devel2 - supports custom wiring harness with eyesight on can1, has following [https://github.com/martinl/openpilot/blob/subaru-devel2/selfdrive/car/subaru/values.py fingerprints]
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** [https://github.com/martinl/openpilot martinl] subaru-devel2 - supports custom giraffe with eyesight on can1
  
 
= Models =
 
= Models =

Revision as of 08:08, 15 June 2019

Status

The OpenPilot Subaru port is working for some global platform (~2018+) models. Pre-global models (~2015-2017) support is in development. Currently supported models:

  • Impreza 2019
  • Crosstrek 2018

Main requirements for adding Openpilot support are Eyesight and LKAS.

Status of Lateral control (steering)

Openpilot handles steering using EON, Panda and Giraffe or custom wire harness.

Status of Longitudinal control (accelerator and brakes)

Eyesight handles longitudinal control using stock ACC. Stop and go support - stop is automatic, go requires ACC resume button

TODO

Pre-global

  • Steering
    • CAN messages (DBC) - DONE
    • Panda CAN forwarding - DONE
    • Panda CAN filtering - DONE
    • Panda safety - PR, needs testing
    • tuning - in progress

Getting started

Check if your car is a good candidate

Required hardware

Adding support for new model

Read first

Check if your car fingerprint is already added to any of the forks/branches

Porting

  • ssh into EON
  • move stock openpilot and set up a fork (choose according to global/pre-global and type of giraffe below)
    • killall tmux
    • mkdir /data/commaai
    • mv /data/openpilot /data/commaai
    • mkdir /data/<fork>
    • cd /data/<fork>
    • git clone https://github.com/<fork>/openpilot.git
    • cd openpilot
    • git checkout <branch>
    • cd /data
    • ln -sf /data/<fork>/openpilot .
    • cd /data/openpilot
  • flash panda
    • cd /data/openpilot/panda/board
    • killall boardd
    • make
  • test build and start openpilot
    • cd /data/openpilot
    • make
    • ./launch_openpilot.sh
  • Create Openpilot fingerprint for the car
  • For global models add fingerprint to IMPREZA as first step in selfdrive/car/subaru/values.py
  • Use Cabana to reverse engineer CAN messages required for Openpilot
    • DBC files

Forks to use as base for porting

  • Pre-Global (2015-2017)
    • bugsy924 Test-ES - supports pre-global models and giraffe with eyesight on can2
  • Global (2018+)
    • martinl subaru-giraffe - supports comma giraffe with relay and eyesight on can2
    • martinl subaru-devel2 - supports custom giraffe with eyesight on can1

Models

Legacy/Outback

  • 2015 Eyesight
    • Compatible with Panda and steering controller accepts LKAS message from 2016.
    • DBC
  • MY2016 w/ LKAS (eyesight)
    • Compatible with Panda and steering controller accepts spoofed by OpenPilot
    • ES DBC
  • 2017 w/ LKAS (eyesight)
    • Compatible with Panda and steering controller accepts spoofed by OpenPilot
    • Stock lane keep assist disabled OpenPilot runs while ACC is active
    • Exact DBC n/a

WRX

BRZ

XV/Crosstrek

  • 2013
    • Adaptive Cruise Control (ACC) - Not available on tested model
    • Automatic Braking - Not available on tested model
    • Auto Parking Features - Not available on tested model
    • Blind Spot Detection - Not available on tested model
    • Lane Keep Assist System (LKAS/LKA) - Not available on tested model
  • 2018
    • Panda wireless works with Chffr via OBD2. OBD2 connector CAN messages are filtered by CAN gateway (Body Integrated Unit - BIU). Getting unfiltered CAN messages requires CAN bus wiring harness.
    • Adaptive Cruise Control (ACC) - yes
    • Automatic Braking - yes
    • Auto Parking Features - Not available on tested model
    • Blind Spot Detection (BSD) - Not available on tested model (optional extra)
    • Reverse Automatic Braking (RAB) - Not available on tested model (optional extra)
    • Lane Keep Assist System (LKAS/LKA) - yes
    • DBC

Subaru Eyesight

Development timeline

  • 1989 - development started
  • 1999 - Active Driving Assist (ADA) - worlds first
  • 2003 - New ADA (sensor fusion, stereo cameras + radar)
  • 2006 - SI-cruise Control by laser radar
  • 2008 - EyeSight (stereo cameras only)
  • 2010 - EyeSight ver 2
  • 2014 - EyeSight ver 3

Source: Subaru Factbook 2017 Eyesight development timeline

Overview

Subaru eyesight was first available in the following years/models and includes the following features:

  • Pre-Collision Warning, Braking, and Throttle Management (Throttle lift-off during emergency braking)
  • Lane Departure Warning
  • Adaptive Cruise Control
  • Dual cameras instead of radar

Gen1 of Eyesight only featured 'notification' systems to alert the driver of lane departure/braking events; Gen2 allows emergency braking at any time. Gen3 includes color cameras, LKAS(2016+) after lane departure and ACC restart after full stops.

Gen2 - 2014 Forester Touring, Legacy

  • Pre-Collision Warning, Braking, and Throttle Management (Throttle lift-off during emergency braking)
  • LDW
  • ACC
  • Stereoscopic cameras


Gen3 (CVT) - 2015 Legacy, Outback, Crosstrek

  • ACC - Adaptive cruise control
  • Constant speed cruise control
  • Pre-collision braking
  • AT rapid start prevention control
  • Lane departure warning
  • Sway warning
  • Preceding vehicle start monitoring function


Gen3 - 2016+ Legacy, Outback, Impreza,

  • LKAS - Active lane keep (lane departure prevention)
  • ACC - Adaptive cruise control
  • Constant speed cruise control
  • Pre-collision braking
  • AT rapid start prevention control
  • Lane departure warning
  • Sway warning
  • Preceding vehicle start monitoring function

Optional extras:

  • BSD - blind spot detection (2 radars with 75 degree FOV in rear corners)
    • LCA - lane change assistance
    • RCTA - reversing assistance
  • RAB (reverse assisted braking, 4 sonar sensors in rear bumper)

More information can be found here

Main CAN bus wiring harness

CAN messages are filtered by CAN gateway (Body Integrated Unit) on the global platform and MY18+ cars. Getting unfiltered CAN messages requires direct connection to main CAN bus. Here are two possible options for directly connecting to CAN bus:

A-pillar

Eyesight compartment

Removing Eyesight cover

Additional Info

(*) Note - Data is unverified until someone can confirm they are correct.