Angle-based steering now working on Comma for Gen 1 Rivians!

[jrmbadger]

Okay, okay. Now, I’m getting pretty excited about shelling out some more cash for this upgrade 🫤 Hey, it’s only money, right

I do have one question. I have found that the North Nevada model is clearly the best I have experienced for longer sweeping curves. However, even that model can struggle sometimes to stay away from crowding the inside lines of longer curves. The center lane divider line, on left hand curves, is the biggie. Does this latest Lukas angle steering device do a better job of keeping the vehicle centered in the lane on longer curves?

One thing to try out is to confirm it actually IS crowding the centerline. While you are on the curve, switch to the cameras on the main screen. On the overhead view you can clearly see the lane positioning of the car.

I've found that what "felt" like crowding of the center line or right line was often just fine, or slightly crowding, but acceptable because of my perception biases based upon the somewhat limited in cabin sight lines of the R1S (its a tall truck with a big hood and that messes with your perceptions of where you are between the lines).

If it still is crowding your opinion, you can adjust the sunnypilot settings (Camera Offset) Be aware that this isn't just for curves, so it may adjust slightly to the right.

One thing I will say too, the comma seems to learn as you go, so you need to spend some quality driving time with a model before you can really get the full picture. I like Down To Ride v 6, WMI (latest), and I'm going to try Tomb Raider (latest) at some point.

Edit: Quoted the wrong post of @Singletracker - I've edited it to correct

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[LivingInKaos]

Comma 4

Do you have an 8deg wedge on there? Comma says it's not needed, but I've found that it does help with cutting corners issues.

 

[Singletracker]

One thing to try out is to confirm it actually IS crowding the centerline. While you are on the curve, switch to the cameras on the main screen. On the overhead view you can clearly see the lane positioning of the car.

I've found that what "felt" like crowding of the center line or right line was often just fine, or slightly crowding, but acceptable because of my perception biases based upon the somewhat limited in cabin sight lines of the R1S (its a tall truck with a big hood and that messes with your perceptions of where you are between the lines).

If it still is crowding your opinion, you can adjust the sunnypilot settings (Camera Offset) Be aware that this isn't just for curves, so it may adjust slightly to the right.

One thing I will say too, the comma seems to learn as you go, so you need to spend some quality driving time with a model before you can really get the full picture. I like Down To Ride v 6, WMI (latest), and I'm going to try Tomb Raider (latest) at some point.

Edit: Quoted the wrong post of @Singletracker - I've edited it to correct

It’s definitely crowding/crossing the lines, as seen from the cameras. All 5 models, that I’ve tried, exhibited the same behavior, some worse than others. I’ve tried Down to Ride a couple of times and it was not as good as North Nevada V2. For me, North Nevada is able to negotiate situations that Down to Ride and the others, that I have tried, simple don’t. I don’t want to mess with the camera offset as it stays laser lane centered in normal, straight road/highway situations. No human could drive this straight

To be clear, the issue occurs on longer (90º+/-), sweeping curves. It enters the curve just fine, stays pretty well aligned for about 1/2-2/3 of the way around the curve, then begins to drift towards the inside line, whether that be right or left. I just kind of know when I’m entering that type of situation and monitor it, giving it a little nudge, when necessary. I try to keep it in line and hope that it will learn, but……

 

[Singletracker]

Do you have an 8deg wedge on there? Comma says it's not needed, but I've found that it does help with cutting corners issues.

Yes

 

[gerrylum]

It’s definitely crowding/crossing the lines, as seen from the cameras. All 5 models, that I’ve tried, exhibited the same behavior, some worse than others. I’ve tried Down to Ride a couple of times and it was not as good as North Nevada V2. For me, North Nevada is able to negotiate situations that Down to Ride and the others, that I have tried, simple don’t. I don’t want to mess with the camera offset as it stays laser lane centered in normal, straight road/highway situations. No human could drive this straight

To be clear, the issue occurs on longer (90º+/-), sweeping curves. It enters the curve just fine, stays pretty well aligned for about 1/2-2/3 of the way around the curve, then begins to drift towards the inside line, whether that be right or left. I just kind of know when I’m entering that type of situation and monitor it, giving it a little nudge, when necessary. I try to keep it in line and hope that it will learn, but……

If you have a route where that happens, please share a route with logs. I'd love to see what the model is trying to do - ie is it the model pathing that's drifting or is the pathing working fine but the steering isn't able to keep up?

 

[Singletracker]

One thing to try out is to confirm it actually IS crowding the centerline. While you are on the curve, switch to the cameras on the main screen. On the overhead view you can clearly see the lane positioning of the car.

I've found that what "felt" like crowding of the center line or right line was often just fine, or slightly crowding, but acceptable because of my perception biases based upon the somewhat limited in cabin sight lines of the R1S (its a tall truck with a big hood and that messes with your perceptions of where you are between the lines).

If it still is crowding your opinion, you can adjust the sunnypilot settings (Camera Offset) Be aware that this isn't just for curves, so it may adjust slightly to the right.

One thing I will say too, the comma seems to learn as you go, so you need to spend some quality driving time with a model before you can really get the full picture. I like Down To Ride v 6, WMI (latest), and I'm going to try Tomb Raider (latest) at some point.

Edit: Quoted the wrong post of @Singletracker - I've edited it to correct

During turns, I have monitored the tire position with the cameras. It definitely can start crowding, even riding, the lane border lines. As I have noted, this is mostly a concerning issue on left hand turns where one might be dealing with oncoming traffic. In this case, riding the line is not acceptable. The vehicle should stay relatively centered in the lane, IMHO.

I also have messed a bit with the camera offset. But that has mixed results, as too much offset to the right creates lane centering issues on the right and can lead to off-road excursions on unmarked rural type roads.

I have now tested at least 7 different models. Not only do I test for lane centering on the aforementioned curves, but also for how well they perform on unmarked rural roads. So far, on my rig, the only model that I feel really comfortable with is the North Nevada V2. It rocks on those less than perfect, unmarked, narrow rural roads - stays nicely on my side of the road while never trying to drive me off the road and into a ditch. It’s remarkable how it can skirt along right near the edge of pavement without ever going off it. Even on right turns, like most of the other models, it stays on the pavement. It is also the best, but not perfect, at those sweeping curves on regular marked roads.

I took a 90+ mile drive over the Sierras a couple of weeks ago. Two lane, mountain highways most of the way. I would detail the drive, but it wouldn’t mean much if one is not familiar with this area. Basically, went from the Carson Valley in Nevada over to Shingle Springs, CA. Anyway, I drove the whole way using mostly MADS mode and let the North Nevada model handle virtually all the lateral work. It bllew me away.

 

[Singletracker]

If you have a route where that happens, please share a route with logs. I'd love to see what the model is trying to do - ie is it the model pathing that's drifting or is the pathing working fine but the steering isn't able to keep up?

Okay, Gerry. I will have to work on that. Model pathing? Do you mean what is being displayed on the nearly invisible Comma display. I know I don’t usually get any warning chirps from the Comma, unless the curve is more extreme. I do wonder if it is an issue with the Comma not seeing what is ahead (although it should be) or some other physical issue having to do with the torque based steering. I thought the upcoming Lukas upgrade might clear all this up

 

[gerrylum]

Okay, Gerry. I will have to work on that. Model pathing? Do you mean what is being displayed on the nearly invisible Comma display. I know I don’t usually get any warning chirps from the Comma, unless the curve is more extreme. I do wonder if it is an issue with the Comma not seeing what is ahead (although it should be) or some other physical issue having to do with the torque based steering. I thought the upcoming Lukas upgrade might clear all this up

Yeah, exactly, just curious to see what the model pathing is doing when these issues occur. This could give insight into wether it's a model issue or something else.

 

[Singletracker]

Yeah, exactly, just curious to see what the model pathing is doing when these issues occur. This could give insight into wether it's a model issue or something else.

To be clear, every model I have tried exhibits this shortcoming to one degree or another. I will have to go out at night to try the path observation, as seeing the Comma display during the day is virtually impossible. I can’t watch road, watch for potential oncoming traffic, steer the truck and keep an eye on the display all at the same time, You’ve tried rubbing your head while patting your tummy. Well, this Comma challenge takes that to a whole new level

 

[gerrylum]

To be clear, every model I have tried exhibits this shortcoming to one degree or another. I will have to go out at night to try the path observation, as seeing the Comma display during the day is virtually impossible. I can’t watch road, watch for potential oncoming traffic, steer the truck and keep an eye on the display all at the same time, You’ve tried rubbing your head while patting your tummy. Well, this Comma challenge takes that to a whole new level

you can export the video after the fact with the UI overlay - makes it eaiser to see.

 

[Singletracker]

you can export the video after the fact with the UI overlay - makes it eaiser to see.

Not sure what UI overlay you are referring to.

I’ve been kinda busy and haven’t had a lot of time to mess with this issue. Having said that, I did get into it today. I have tried a bunch of different models and, as I’ve said before, the only one I would use is the North Nevada V2. It does most things very well, without drama, but not perfect on some of those longer curves. Today, I tried a couple more of the more popular models and they sucked. Then, as I was about to give up, I tried Tomb Raider 16. Well, howdy Bob. Darned if I don’t have a new favorite. It just edges out North Nevada on those sweeping curves, staying mostly in its lane. And, it handles unmarked, more primitive rural roads very nicely, just like N. Nev, managing to stay off the shoulders and out of the ditches I haven’t put many miles on Tomb Raider, but am optimistic that it is a keeper.

I will be heading out on a camping trip in a couple of days. Lots of two lane highway, some a little mountainous. Also, there will be a fair amount of dirt roads involved. Tomb Raider will get a good test.

 

[Singletracker]

Today, I took a couple of slow, residential area, 90º+ turns never expecting the truck to do it, as I am still running the stock Comma 4 setup. Much to my surprise the steering wheel blew waaay past the 90º steering wheel lockout and made the turns. How was that This is not to say that it was happy doing any 90º turn, but the point is, it didn’t completely balk when the steering wheel hit 90º, which has been my past experience.

Has there been any update from Lukas about the new angle steering harness availability? The website has been saying 6 weeks for awhile now.

 

[gerrylum]

Today, I took a couple of slow, residential area, 90º+ turns never expecting the truck to do it, as I am still running the stock Comma 4 setup. Much to my surprise the steering wheel blew waaay past the 90º steering wheel lockout and made the turns. How was that This is not to say that it was happy doing any 90º turn, but the point is, it didn’t completely balk when the steering wheel hit 90º, which has been my past experience.

Has there been any update from Lukas about the new angle steering harness availability? The website has been saying 6 weeks for awhile now.

That's great! Are you running Adventure Pilot or were you able to do 90º+ turns on stock Sunnypilot?

The angle steering harness is shipping on a first-come, first-served basis and is going to start shipping to customers very shortly if it hasn't already. The 6-week timeframe is the conservative estimate but likely sooner depending on when you order.

Not sure what UI overlay you are referring to.

I'm referring to videos with the User Interface overlay like this:

 

[josh0]

The angle steering harness is available to order now? Am I missing something? All I see is a single harness for each gen. Is there just one option now? Is xnor.shop not where I should be looking?

Never mind! Just noticed the extreme dev kit!

 

[gerrylum]

The angle steering harness is available to order now? Am I missing something? All I see is a single harness for each gen. Is there just one option now? Is xnor.shop not where I should be looking?

Never mind! Just noticed the extreme dev kit!

Here is the full announcement. If you are a current customer of the longitudinal upgrade kit, you can also apply a 25% discount off your order. Don't forget to do that!


R1S/R1T (GEN1) Extreme Dev Kit / Angle Control Upgrade is now available for pre-order
@everyone the new Angle-based harness for Rivian GEN1 unlocks steering angle control for the R1S / R1T (GEN1). All features of the Longitudinal Upgrade are built into the same box, and you no longer need a second USB-C cable. Ships in approximately 6 weeks.

25% off for Longitudinal Upgrade owners
If you already bought the Longitudinal Upgrade, use code FXTY9FKP9N69 at checkout for 25% off. Valid for 60 days, through July 15, 2026. Important: This coupon is only for people who previously bought the Longitudinal Upgrade. If the name or email on your order does not match our list of Longitudinal Upgrade buyers, the order will be canceled.

Already own the Rivian GEN1 Harness? Read this.
If you bought the Rivian GEN1 Harness (not the Longitudinal Upgrade) and your order number is #1628 or later, you already have a car harness that is compatible with angle control, even though it was not advertised as such at the time. You only need to buy the box, not the full kit with the harness. Since the box cannot be bought on its own in the online shop, just send me an email at [email protected] with your order number and I'll set you up.

https://xnor.shop/products/r1s-r1t-gen1-extreme-dev-kit

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