Volkswagen

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Revision as of 20:38, 22 September 2019 by Jyoung8607-2 (talk | contribs) (Further support updates)

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Overview

Comma AI currently has no official Volkswagen support, but a community port is in progress, with plans to upstream for official support soon. The current port should support all Volkswagen MQB vehicles with factory options for ACC and LKAS. Each MQB vehicle uses the same basic architecture and CAN messaging, but will need individual tuning for best openpilot performance.

User Experience

Stop-and-go support will partly depend on the car. From the factory, vehicles with "ACC high" support follow-to-stop and automatic resume if the stop is less than three seconds. OP can improve on that by resuming on behalf of the driver after longer delays. Vehicles with "ACC low" support follow-to-stop but will require the driver take over and hold the brake after a very short delay, and resume from stop is moot. Older non-MQB systems (not supported at this time) may not be able to follow-to-stop.

Vehicle Support

Fully Tested and Supported

  • 2013-current Mk3 Škoda Octavia Wiki
  • 2018-2019 Mk1 Volkswagen Atlas (Teramont in some markets) Wiki
    • Requires SE with Tech and above for ACC/LKAS
  • 2012-2017 Mk7 Volkswagen Golf R Wiki
    • DAP (Driver Assistance Package) required to get factory ACC/LKAS
  • 2018-2019 Mk7.5 Volkswagen Golf R Wiki
    • ACC/LKAS is standard

Supportable but Untested

  • All MQB vehicles not listed above, with factory ACC and LKAS
    • 2018-current Mk2 Audi A1 (listed as MQB-A0, but confirmed to have factory ACC and LKAS options) Wiki
    • 2012-current Mk3 Audi A3, S3 and RS3 Wiki
    • 2014-current Mk3 Audi TT Wiki
    • 2017-current Mk1 Audi Q2 Wiki
    • 2018-current Mk2 Audi A3 Wiki
    • 2016-current Mk1 SEAT Ateca Wiki
    • 2012-current Mk3 SEAT León Wiki
    • 2019-current Mk1 SEAT Tarraco Wiki
    • 2019-current Mk1 Škoda Kamiq Wiki
    • 2017-current Mk1 Škoda Karoq Wiki
    • 2017-current Mk1 Škoda Kodiaq Wiki
    • 2019-current Mk1 Škoda Scala Wiki
    • 2015-current B8 Škoda Superb Wiki
    • 2018-current Mk1 Volkswagen Arteon Wiki
    • 2018-current Mk4 Volkswagen Bora Wiki
    • 2013-2019 Volkswagen Golf variants not explicitly tested so far (Mk7 and Mk7.5) Wiki
      • Golf
      • Golf Sportwagen
      • Golf Alltrack
      • e-Golf
      • GTI
      • GTI TCR
      • GTE
      • GTD
    • 2018-current Volkswagen Tiguan (Mk2)

Long Term Roadmap

  • MQB vehicles that fall outside current support requirements
    • Manual transmission (tested successfully with @tmatheso, just need to integrate into main code base)
    • No factory LKAS (very easy, we just need to test with one)
    • No factory ACC (much more involved, but possible in the long term)
  • Vision-only longitudinal control using visiond to drive known ACC messaging, for vehicles without radar
  • Enhanced longitudinal control with radar data, on vehicles with a radar-to-camera sensor fusion CAN bus
  • All PQ35/PQ46/NMS vehicles (hope and plan to support in the future, but not yet)
    • Volkswagen Beetle 2012-2018
    • Volkswagen Passat 2011-present in North America, including the 2020 refresh
  • All MLB and MLBevo vehicles (requires FlexRay support)
    • Volkswagen Touareg 2018-present

Unsupportable

These vehicles either don't have electric power steering, or we don't have a known control channel.

  • Volkswagen Touareg prior to 2018 (hydraulic power steering, lane departure warning only via steering wheel haptic)
  • Volkswagen Phaeton (hydraulic power steering, lane departure warning only via steering wheel haptic)
  • MQB-A0 supermini and city cars without factory options for ACC or LKAS (willing to reexamine if new evidence is found)
    • SEAT Arona
    • SEAT Ibiza
    • SEAT Mii
    • Škoda Citigo
    • Volkswagen Up!

Architecture

Hardware

The radar and camera are standard Bosch hardware running software customized for VW MQB. The forward radar can be any of three: Bosch LRR3 (very old and uncommon), Bosch MRR1plus (older and common), or Bosch MRREvo14F (newer and common). The camera is Bosch's MPC1(?) monocular multipurpose camera.

CAN Topology

XXX J533 concept XXX wiring diagram XXX bus topology

The Volkswagen OBDII port delivers only a CAN Diagnose high/low signal. A J533_Sniffing_Cable is needed to connect your panda.

The following is being proposed as a Safety Model for Panda interaction. Work in Progress.

Change your EON to jyoung's repo. EON will flash Panda automatically to a version that uses VW Safety Model by default.

This achieves the following goals

- Filter stock Camera messages from Can1 extended CAN hook up

- Send filter data with crafted OP steering messages to Can0

- Your car works normally without EON, only the lane-assistant function is not available.

#volkswagen hook-up / Filtering configuration

Replacing the stock cable with a Y-harness that routes Extended CAN -bus via Panda will require you to keep Panda connected at all times or create switches similar to Giraffe.

Aciid's cable https://i.imgur.com/VP64k87.jpg ( Pinout https://i.imgur.com/k1EYXj7.png )

J533_Sniffing_Cable components for J553, create the pinout to mimic the stock adapter, with the following alteration. You still need to route most 20 wires between original connector and the J553 unit, Terminal 15 (ign), Terminal 30 and GND go to Panda as well. Extended CAN goes first to Panda, then is routed back to J533.

Panda pin 6 - J533 pin 17 ( Extended High )
Panda pin 14 - J533 pin 7 ( Extended Low )
Panda pin 11 - Wiring harness connector pin LOW ( Wiring harness Low )
Panda pin 3 - Wiring harness connector pin HIGH ( Wiring harness High )

Can0 - should connect to j533 on 7/17
Can1 - should connect to the car wiring that used to be hooked up to 7/17, along with a 120 ohm termination resistor
Can2 - not used yet
Thanks jyoung8607

J533 Pinout - MQB "Highline trim"

This is just a reference from Skoda Octavia MY17, please check model specific from ERWIN if you are unsure.

1 -     Battery + (terminal 30)
2 -     Not used
3 -     LIN data bus 1
4 -     Not used
5 -     CAN bus Low (convenience)
6 -     CAN bus Low (drive)
7 -     CAN bus Low (extended)
8 -     CAN bus Low (instrument cluster)
9 -     CAN Bus Low (diagnosis)
10 -     CAN Bus Low (infotainment)
11 -     Ground – (terminal 31)
12 -     Ground – (terminal 31)
13 -     Instrument cluster wake-up
14 -     Terminal 15
15 -     CAN bus High (convenience)
16 -     CAN bus High (drive)
17 -     CAN bus High (extended)
18 -     CAN bus High (instrument cluster)
19 -     CAN bus High (diagnosis)
20 - 	 CAN bus High (infotainment)
Thanks P2

Adding the cable, identifying errors

When you install any variation of the cable or splitter adapter builds, remember to take off the battery. taking off the battery will lead to ton of warnings like "ACC not ready", "tpms not ready", "ESC not ready"

These errors will go away after a short 0.5mile / 1km drive down the runway and residual lights in dash will disasppear after then restarting the car

If you instead get errors with haltex module or anything in-gear then your CAN-bus is not forwarded correctly. This might be due your panda is not flashed with the correct firmware to forward the messages as this Volkswagen proposal requires you to do and they are instead only read in Can1 with stock Panda.

Long Term Roadmap

Official documentation

Volkswagen technical info can be found here: https://erwin.vw.com/erwin/showHome.do.