Subaru

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Revision as of 07:11, 20 July 2018 by Mlp (talk | contribs) (TODO)

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Status

Overview of the Subaru Openpilot community port

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

TODO

  • Steering
    • find missing Steering Torque CAN message for XV/Global Platform (check CAN PID doc for guidance)
  • Panda CAN forwarding and filtering
  • Panda safety
  • update Subaru CAN PID mapping table with current state of mapped CAN messages from DBC files

Getting started

Check if your car is a good candidate

Required hardware

Adding support for new model

Read this and this

  • ssh into EON
  • Create Openpilot fingerprint for the car
  • Use Cabana to reverse engineer CAN messages required for Openpilot. This collection of DBC files is good place to start

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
    • DBC

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.