Subaru

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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

Adding new model

Models

Outback

  • MY2016 w/ LKAS (eyesight)
    • Compatible with Panda.
    • ES DBC

WRX

BRZ

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

Eyesight compartment

Removing Eyesight cover

Additional Info

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

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