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commaai / openpilot

openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system on 275+ supported cars.
https://comma.ai/openpilot
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Repeated LKAS errors since upgrading to 0.9.6 #31745

Closed davetapley closed 8 months ago

davetapley commented 8 months ago

Describe the bug

Obviously can't guarantee causality, but have never seen this once until upgrading to 0.9.6, and has occurred 3 times now :scream:

Experimental off, nothing obviously weird happening, and then suddenly OP disengages, Comma 3X show "LKAS error", dash shows ⚠️ and starts scrolling though:

  1. AEB unavailable
  2. Front camera unavailable
  3. See dealer
  4. Something else I can't remember but it's obviously very unhappy about the state of the car

I can drive manually just fine, and ignition on/off has 'fixed' it every time (so far 🤞🏻).

Which car does this affect?

Toyota Highlander Hybrid 2019 with C-SDSU

Provide a route where the issue occurs

fbdb5af0094cfbeb/2024-03-04--16-03-34/71

openpilot version

0.9.6

Additional info

No response

sshane commented 8 months ago

This looks to be a bug in the SDSU firmware, it started forwarding the ACC message from the DSU in that segment you shared:

image

In 0.9.6 we shipped radar disable support for the new RAV4 so we check that no other ECU is sending the ACC message on the bus, before this change openpilot would not have noticed the potential controls collision.

sshane commented 8 months ago

Going to close since this isn't a bug with openpilot or panda. Let me know if you think we should check SDSU usage to determine if we should drop support @adeebshihadeh

adeebshihadeh commented 8 months ago

I think it's premature for that. Let's just keep tracking it. Ideally we just have a software solution for them.

davetapley commented 8 months ago

Is there anything I can do to help resolve?

@adeebshihadeh by 'software solution' do you mean something in OP to work around the SDSU bug, or a patch for the SDSU itself (which, I'm not even sure is patchable 😬)?

adeebshihadeh commented 8 months ago

I mean disable the DSU in software like we do with the new Rav 4's. You'd still most likely lose AEB, but we plan on shipping our own.

davetapley commented 8 months ago

@adeebshihadeh gotcha, and just to be sure: is this unrelated to https://github.com/commaai/openpilot/pull/31706?

adeebshihadeh commented 8 months ago

I don't entirely get the question, but that kind of weird HW is what we're moving away from. See the discussion about that in the Toyota Discord channel.

davetapley commented 8 months ago

Followed up on Discord:

TLDR for others: yes probably same underlying issue.

The check is introduced in 0.9.6 because some Toyota now requires the radar to be disabled (aka should not see ACC_CONTROL from the car), but for users that use SDSU, this isn't really needed.

I'm gonna downgrade to 0.9.5 until a resolution emerges.

Thanks for fast reply 🙏