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jc01rho-openpilot-BoltEV2019-KoKr / boltpilot

openpilot fork for BoltEV only
https://comma.ai/
MIT License
13 stars 32 forks source link

readme

For foreign users (non Korean.)

working tested : BoltEV premier 2017, 2018, 2019, 2020 (also works if using imperal units)

thx for @andyroo-t that BoltEV premier 2020 tests

2023-08-09 (release/develop)

2023-07-18 (release/develop)

======================= boltpilot

Table of Contents

What is boltpilot?

This "boltpilot" fork is a community supported fork of the open source driver assistance system called openpilot. Although the Bolt EV is not currently supported by Comma.ai in the main openpilot release, this customized fork fills that gap. Boltpilot was designed spefically for Chevrolet Bolt EV models that lack ACC (Adaptive Cruise Control). Compatibility has been verified with 2017, 2018 and 2019 Bolt EV models with lane keep assist. More recent year models might also be compatible but have not yet been tested.

Currently, boltpilot performs the functions of Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC). It will control your steering wheel to keep your vehicle centred in the lane and can optionally also control your vehicle's speed. The system does not offer full self-driving capabilities and will not, for example, stop for red lights or stop signs, although some of these features are currently under development by Comma.ai. The driver must remain alert and able to take control at all times.

This is an experimental application used for research and development. It is not a product and carries no warranty exporessed or implied. Use at your own risk. Issue reports are welcome via github, or contact rkjnice@gmail.com.

Hardware requirements

This Bolt-specific fork requires a Comma 3 device (https://comma.ai/shop), a harness box (https://comma.ai/shop/products/harness-box), a custom wiring harness made for GM vehicles (make your own or purchase one online), and a pedal interceptor designed specifically for GM vehicles (make your own or purchase one online).

Making a custom Bolt EV wiring harness and pedal interceptor requires specialized equipment and considerable skill. However, both of these devices are currently available for purchase from BearTechWorkshop's Etsy store (https://www.etsy.com/ca/shop/BearTechWorkshop).

Earlier comma devices including the Comma 2 and Eon are not supported by the actively maintained branches of this fork. If you intend on using a Comma 2 or Eon you must use the comma2_Eon-final branch, and you may need additional hardware as described in the Chevy-Bolt openpilot Wiki (https://github.com/commaai/openpilot/wiki/Chevy-Bolt).

Hardware installation

A video showing installation of a Comma 2 into a Bolt EV can be found at https://www.youtube.com/watch?v=5D21wzCcycE. Installation of the Comma 3 requires the same basic procedure.

A video showing installation of a pedal interceptor on a Bolt EV can be found here: https://www.youtube.com/watch?v=wLepOnjGoh8

Thanks to Jason Shuler of Stand Back Labs for making these videos available.

Software installation (v0819-c3)

  1. Select your WiFi network and enter Wi-Fi password on your Comma 3 device.

  2. When asked to choose between Dashcam and Custom Software, choose Custom Software and enter the URL https://smiskol.com/fork/jc01rho-openpilot-BoltEV2019-KoKr/[branch] where [branch] is the desired branch name. For example, to install the 'release' branch, enter https://smiskol.com/fork/jc01rho-openpilot-BoltEV2019-KoKr/release. The 'release' branch is currently recommended for most purposes as it is actively maintained and is stable. You can also use the shortcut https://tiny.one/boltpilot-release to install the 'release' branch. This will automatically redirect to the longer URL listed above.

  3. Your device will reboot after installation. When prompted, scroll to accept the terms and conditions, then follow the on-screen instructions to complete the openpilot training.

  4. Click the Gear icon to open settings. Under the 'Toggles' menu, ensure 'Enable openpilot' is turned on.

  5. Under the 'ETC' settings, select your vehicle at the top. For example, 'Chevrolet Bolt EV No ACC'. Reboot your device by selecting the 'Device' menu, and then press the 'Reboot' button.

Boltpilot usage

Calibration: Your device requires a one-time calibration after software installation. This takes only a couple minutes and will occur automatically at the beginning of your first drive.

Gear selection: This fork is designed for use in L-mode only. You must place the gear shifter in L. Your vehicle's regenerative braking will be used to lower the speed when requried.

Bolt pilot has three main operation modes: (1) full control mode, which controls both steering and speed, (2) lateral control mode, which controls only the steering, and (3) lateral control mode with built-in non-adaptive cruise control, which controls your steering automatically, but uses your vehicle's built-in non-adaptive cruise control.

Mode 1 - Full control mode: To engage both steering and speed control, make sure the stock cruise control is turned off, and then while driving press the Set/- button (bottom button on the left steering wheel control pad). Pressing the X (left) keypad button or the brake pedal will disengage openpilot.

Mode 2 - Lateral control mode: Use the stock cruise control button (right button on steering wheel keypad) to toggle steering control only. Openpilot will look after steering, but you will need to control your speed using the accelerator pedal.

Mode 3 - Lateral control mode with stock cruise control: Use the stock cruise control button (right button on steering wheel keypad) to toggle steering control only as described in Mode 2. Immediately after engaging steering control mode, press the Set/- button to engage your vehicle's stock cruise control. Adjust your desired sped using the +/- buttons.'

Acknowledgments

This fork is maintained by @whrho (Discord user @jc01rho) of Korea (kjnice@gmail.com). Special thanks to Jason Shuler of Stand Back Labs for his extensive openpilot development work on GM vehicles--especially the Bolt EV, GM giraffe, GM harness, GM Pedal, pedal firmware, and panda coding. Without his work the creation of this fork would not have been possible. Starting with version 0.8.14 this fork is based on the work of @neokii with the Hyundai-Kia fork. Thanks to hanabi95 (@hanabi95) for safety and CAN bus related content. Thank you @Hammie K for the lat_icon_image, and @neokii for the screenrecorder.

Donations

If you find this fork useful, please consider donating to support the continued development and maintenance. Donations can be made at https://jc01rho.com/donation

볼트EV + 콤마3 전용 오픈파일럿 포크

콤마2 혹은 lepro 이온 사용불가합니다. comma2_Eon-final을 사용하세요.

일반 사용자분들은 "develop" 혹은 "release" 브랜치를 사용하세요. 버전이 올라가도 최신을 그곳에 유지하겠습니다.

0.8.14부터 @neokii님의 HKG향 코드를 기반으로 하고있습니다.

pedal 사용자의 경우 옵션에서 켜주셔야합니다 꼭. (v0819-c3)

0.9.1 부터 @ajouatom님의 apilot 코드를 기반으로 하고있습니다.

문의사항은 이슈 생성으로 주십시오. 감사합니다.

working tested : BoltEV premier 2017, 2018, 2019, 2020

thx for @andyroo-t that BoltEV premier 2020 tests rkjnice@gmail.com

What is openpilot?

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years. In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

Running on a dedicated device in a car

To use openpilot in a car, you need four things

We have detailed instructions for how to mount the device in a car.

Running on PC

All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.

With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See the tools README for more information.

You can also run openpilot in simulation with the CARLA simulator. This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.

A PC running openpilot can also control your vehicle if it is connected to a webcam, a black panda, and a harness.

Community and Contributing

openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Bug fixes and new car ports are encouraged. Check out the contributing docs.

Documentation related to openpilot development can be found on docs.comma.ai. Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the wiki.

You can add support for your car by following guides we have written for Brand and Model ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. Join our Discord to discuss car ports: most car makes have a dedicated channel.

Want to get paid to work on openpilot? comma is hiring.

And follow us on Twitter.

User Data and comma Account

By default, openpilot uploads the driving data to comma.ai's servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.

openpilot is open source software: the user is free to disable data collection if they wish to do so.

openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

Safety and Testing

Directory Structure

.
├── cereal              # The messaging spec and libs used for all logs
├── common              # Library like functionality we've developed here
├── docs                # Documentation
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN
├── third_party         # External libraries
├── pyextra             # Extra python packages
└── system              # Generic services
    ├── camerad         # Driver to capture images from the camera sensors
    ├── clocksd         # Broadcasts current time
    ├── hardware        # Hardware abstraction classes
    ├── logcatd         # systemd journal as a service
    └── proclogd        # Logs information from /proc
└── selfdrive           # Code needed to drive the car
    ├── assets          # Fonts, images, and sounds for UI
    ├── athena          # Allows communication with the app
    ├── boardd          # Daemon to talk to the board
    ├── car             # Car specific code to read states and control actuators
    ├── controls        # Planning and controls
    ├── debug           # Tools to help you debug and do car ports
    ├── locationd       # Precise localization and vehicle parameter estimation
    ├── loggerd         # Logger and uploader of car data
    ├── manager         # Daemon that starts/stops all other daemons as needed
    ├── modeld          # Driving and monitoring model runners
    ├── monitoring      # Daemon to determine driver attention
    ├── navd            # Turn-by-turn navigation
    ├── sensord         # IMU interface code
    ├── test            # Unit tests, system tests, and a car simulator
    └── ui              # The UI

Licensing

openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.

THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.

openpilot tests Total alerts Language grade: Python Language grade: C/C++ codecov

======================= APILOT inegration temporary readme