Comma AI/OpenPilot Update -- Watch it in Action on Gen1 Rivian (Video)

[RohrSchach]

I hope you were able to connect with him because it looks like he may have sold the last one he had in stock!

Yessir! Grabbed the last one he had.

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[JM.]

My dream would be to swap out the rivian cameras and use those natively as well as use center screen for interface.

Right, sure, and Sofia Vergara visits me nightly to um, "tuck me in." And we get native CarPlay.

 

[Riv_Ian]

Do I need an invite link to join the Discord server group for comma ai? I haven’t used Discord before. I have downloaded the app and created an account.

 

[gerrylum]

Do I need an invite link to join the Discord server group for comma ai? I haven’t used Discord before. I have downloaded the app and created an account.

Visit https://discord.comma.ai

 

[DayTripping]

Do I need an invite link to join the Discord server group for comma ai? I haven’t used Discord before. I have downloaded the app and created an account.

Discord is a real piece of work and very cludgy to use. Heaven help you if you want to find something later. I liken it more to a stream of consciousness conversation that is about as well organized. Think a crappy old 2600 baud bulletin board experience but with a nice interface.

On an unrelated note, I think I found the max speed comma will let you go. I think it about 90 mph when it gave up and said I exceeded its speed limit. I am not sure of the exact amount but I was accelerating pretty hard and was just coming up on 90 when it gave up.

 

[gerrylum]

Discord is a real piece of work and very cludgy to use. Heaven help you if you want to find something later. I liken it more to a stream of consciousness conversation that is about as well organized. Think a crappy old 2600 baud bulletin board experience but with a nice interface.

On an unrelated note, I think I found the max speed comma will let you go. I think it about 90 mph when it gave up and said I exceeded its speed limit. I am not sure of the exact amount but I was accelerating pretty hard and was just coming up on 90 when it gave up.

On an unrelated note, I think I found the max speed comma will let you go. I think it about 90 mph when it gave up and said I exceeded its speed limit. I am not sure of the exact amount but I was accelerating pretty hard and was just coming up on 90 when it gave up.

At least it's not WhatsApp!

Also, 90mph still beats the Driver+ and Autopilot limit. That may be some sort of ISO standard, though.

 

[DayTripping]

I am not complaining about the speed. Now that I am in the range of it, I'll go back and see if is what I thought it was. Not to mention, the Comma's speed is pretty much the true speed, not like Tesla or many others, based on what the speed says, which is often optimistic.

 

[JM.]

At least it's not WhatsApp!

Sure, if we're comparing prison food to hospital food...

What is everyone using as a driving model? I have the default and I've heard people claim it's not great.

Also my Comma totally shut down again. And I may have a pattern. After a day of self driving, it was unreasanably annoying to have to finish the drive home after that.

And OpenPilot helps keep my car clean. Stuck in slow traffic, where it really doesn't need supervision, I can detail my interior.

 

[Tatnai]

I'm currently using Lukas sunny build. Thinking about going back to sunny mads prebuilt. Really like mads, can't go back to main fork anymore.

 

[JM.]

I'm currently using Lukas sunny build. Thinking about going back to sunny mads prebuilt. Really like mads, can't go back to main fork anymore.

My question is on the driving model. Each build can also select from many driving models. It's at the top right of your software menu.

 

[gerrylum]

Been using Filet o Fish without many issues. Looking forward to Tonb Raider 6. Been hearing good things.

 

[User433]

Here's what I think the state of things are:
* You need two harnesses
* You get lat and long with blind spot monitoring
* it's a private branch of sunny pilot that isn't optimized so things like boot times are long
* steering is limited to 90 degrees of wheel turn.

Is that right?

Couple of questions

* will handle stop and go freeway traffic? What about red light / stop signs?
* can it handle getting on/off highway or do you need to nudge into the right path?
* When will it make it to Sunny Pilot mainline or Open Pilot?
* Is there an issues list that details the major open issues?
* Is the hardware parts finalized or will there potentially be a change coming?

 

[gerrylum]

Here's what I think the state of things are:
* You need two harnesses
* You get lat and long with blind spot monitoring
* it's a private branch of sunny pilot that isn't optimized so things like boot times are long
* steering is limited to 90 degrees of wheel turn.

Is that right?

Couple of questions

* will handle stop and go freeway traffic? What about red light / stop signs?
* can it handle getting on/off highway or do you need to nudge into the right path?
* When will it make it to Sunny Pilot mainline or Open Pilot?
* Is there an issues list that details the major open issues?
* Is the hardware parts finalized or will there potentially be a change coming?

You don’t need two harnesses unless you want the additional inputs like steering wheel button control or blind spot monitoring (BSM). Many users are happily running Lukas’ test branch with just the standard harness and using the UI buttons on screen.
The modified harness is fully optional and can be added later at any time.

You get both lateral and longitudinal control, and BSM if you're using the upgraded harness.

The branch is a private fork of Sunnypilot, and while it’s not fully optimized yet:
– It’s not precompiled, so boot times are longer for now.
– A precompiled release is planned, and Lukas is working on compiling his test branch too—so that should be resolved soon.

Autosteering is currently limited to 90° of steering wheel rotation, due to Rivian’s EPS system. In Openpilot's current state, this is not an issue 99% of the time, but there are some situations where it would be nice in MADS mode (and later when we have e2e navigation) to be able to autosteer past 90°.



Now to your questions:

• Will it handle stop-and-go freeway traffic? What about red lights/stop signs?
Yes, it handles stop-and-go freeway driving well.
As for red lights and stop signs—kind of, but not reliably.
There is limited support through Experimental Mode, which includes vision-based stopping behavior. However, this mode is still in alpha, comes with many tradeoffs and known bugs, and is not ready for prime time. It’s better to assume you’ll need to take over for intersections and traffic lights until Experimental Mode matures significantly.

• Can it handle highway on-ramps/off-ramps?
If you’re talking about a full “navigate on autopilot”-style experience: technically yes, it can.
End-to-end lateral planning was previously implemented in Openpilot 0.9.5 (see here), which allowed for automatic ramp navigation. However, that feature was removed to focus on developing MLSIM and improving the driving models first.
So, while the capability exists and will likely return in the future, right now, using on and off-ramps still requires at least some manual intervention.

• Will it be merged into mainline Sunnypilot or Openpilot?
Unlikely—it will probably remain a separate, Rivian-specific branch. Of course, that could change depending on future development.

• Is there a public issues list?
No, but there are not many issues to speak of. Beyond the 90° steering issue referenced above there aren't any glaring outstanding issues beyond Rivian-specific tuning.

• Is the hardware finalized?
Yes, the harness and harness upgrades are finalized. The current setup is stable and production-ready.

 

[Doc]

Okay, I can see how a limit of 90-degree steering wheel rotation is an issue on anything other than highways since rotating my steering wheel so the 12 o'clock position (centered) ends up at the 9 o'clock position (90 degrees to the left) gives very little angle on the front wheels. In fact, the pointer is still in the white section of the arc which means the wheels are very close to pointing straight ahead:

Thanks...this just provided me with an AHA moment.
I've had issues with the autosteer on some of the nearby winding country roads and even in my development. About a block from my house there's a sweeping turn of about 60 degrees or so. No matter how slow I take the turn, my truck starts the turn just fine....the green path shows turning completely thru the turn...BUT after about 45 degrees thru the turn, it's like the system just gives up. It would just keep going straight ahead (at about 45 degrees) if I didn't take over steering. I was blaming the Pirelli tires. It looks like its the 90-degree steering wheel rotation limit. I'll have to find a big, empty parking lot and see what kind of turn a 90-degree movement of the steering wheel provides...I'm betting its in the neighborhood of 45-degrees or so. Hopefully, there's a way to get around this limitation. Otherwise, the Sunny-Lukas MADS version is great...especially on main highways.

 

[SoCal Rob]

Thanks...this just provided me with an AHA moment.
I've had issues with the autosteer on some of the nearby winding country roads and even in my development. About a block from my house there's a sweeping turn of about 60 degrees or so. No matter how slow I take the turn, my truck starts the turn just fine....the green path shows turning completely thru the turn...BUT after about 45 degrees thru the turn, it's like the system just gives up. It would just keep going straight ahead (at about 45 degrees) if I didn't take over steering. I was blaming the Pirelli tires. It looks like its the 90-degree steering wheel rotation limit. I'll have to find a big, empty parking lot and see what kind of turn a 90-degree movement of the steering wheel provides...I'm betting its in the neighborhood of 45-degrees or so. Hopefully, there's a way to get around this limitation. Otherwise, the Sunny-Lukas MADS version is be great...especially on main highways.

Edit: never mind, you were replying to that! I guess I brought the conversation, um, full circle. Sorry for not catching that.

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