Subaru
Contents
Status
Status of Latitudinal control (steering)
Openpilot will handle steering using wiring harness (custom Giraffe) and filtered CAN forwarding
Status of Longitudinal control (accelerator and brakes)
Eyesight will handle longitudinal control
Getting started
Required hardware
- Panda from comma.ai shop - Grey Panda with high precision GNSS is recommended
- EON from comma.ai shop (or DIY using OnePlus 3T - not supported)
- order connectors and build a R137 wiring harness
Adding new model
- Creating Openpilot fingerprints
- Use Cabana to reverse engineer CAN messages required for Openpilot. This collection of DBC files is good place to start
Models
Outback
- 2015 w/o LKAS (eyesight)
- Compatible with Panda.
- 2015 Legacy and Outback CAN bus diagram, page 51
- DBC
- MY2016 w/ LKAS (eyesight)
- Compatible with Panda.
- ES DBC
WRX
- MY2017
BRZ
- MY2014
XV/Crosstrek
- 2013
- Panda works wired, not tested with wireless yet.
- 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 direct connection to main CAN bus.
- 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
Subaru Eyesight
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 the LKAS after lane departure and ACC restart after full stops.
Gen1 - 2014 Forester Touring, Legacy
- Pre-Collision Warning, Braking, and Throttle Management (Throttle lift-off during emergency braking)
- LDW
- ACC
- Stereoscopic cameras
Gen2 (CVT) - 2015 Legacy, Outback, Impreza, Crosstrek(XV)
- Pre-collision braking and throttle management
- ACC
- Minimum ACC speed set to 30KPH but will operate below that speed, maximum speed of 145
- Electric power steering
- Drive by wire?
Gen3 - 2016
- 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)
Eyesight development timeline
More information can be found here
Direct connection to CAN bus
MY2017+ OBD2 connector CAN messages are filtered by CAN gateway (Body Integrated Unit). Getting unfiltered CAN messages requires direct connection to main CAN bus. Here are two possible options for directly connecting to CAN bus:
A-pillar
- MY2017+
- Remove A-pillar cover on passenger (right) side
- R96/i19 connector pinout - currently there are no sources for ordering the R96/i19 connectors
Eyesight compartment
Removing Eyesight cover
- Steps 1-5
- http://subaruonlineparts.com/docs/H501SAL000.pdf
- R137 connector pinout and BOM for building wiring harness
Additional Info
- Subaru 2014+ CAN PID
- STIS - Official information and service manuals (requires subscription)
- Subaru Impreza MY2009/2010 CAN Messages
(*) Note - Data is unverified until someone can confirm they are correct.