3rd party self-driving options for Gen1 R1? Comma 4?

[ChitownRivianFan]

Hello everyone,

I have a Gen1 R1S. On a recent visit to service center I was given R1s Gen2 as a loner, I was impressed with its ‘self-drive’ capabilities. I tried to do a trade-in and Gen2 but the offer was not good and dropped the idea. Other than for this self drive capabilities I like Gen1 and want to keep it so.

I have been reading on Comma 4 and watched couple of videos. I want to get expert opinion on few things

1. Is Comma 4 the only 3rd party option or do we have other companies as well, if so please provide them
2. If I get Comma 4, does it come with everything, or do I need to buy any additional harnesses/devices? If so, what are those
3. Does installing this device create any issues for the car? I read that some users had error codes and Rivian wouldn’t fix them.
4. Installation: I think I can do most but might need help, are there any body shops/car mechanics who install this?
5. Feedback: can one of you please share your real-life feedback on this device – does it provide similar to Gen2’s capabilities?

Thanks for all your help

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[JayH]

Hello everyone,

I have a Gen1 R1S. On a recent visit to service center I was given R1s Gen2 as a loner, I was impressed with its ‘self-drive’ capabilities. I tried to do a trade-in and Gen2 but the offer was not good and dropped the idea. Other than for this self drive capabilities I like Gen1 and want to keep it so.

I have been reading on Comma 4 and watched couple of videos. I want to get expert opinion on few things

1. Is Comma 4 the only 3rd party option or do we have other companies as well, if so please provide them
2. If I get Comma 4, does it come with everything, or do I need to buy any additional harnesses/devices? If so, what are those
3. Does installing this device create any issues for the car? I read that some users had error codes and Rivian wouldn’t fix them.
4. Installation: I think I can do most but might need help, are there any body shops/car mechanics who install this?
5. Feedback: can one of you please share your real-life feedback on this device – does it provide similar to Gen2’s capabilities?

Thanks for all your help

Like you, I am very happy with my Gen1 except for the nearly useless driver assist it has. Even though it uses Mobileye which my 2015 Tesla did too, they have it so incredibly Geo fenced and overly sensitive it wasn't even close to the usability of my 11 year old Model S. So when I heard of the Comma I was very hopeful it might provide an experience closer to what I was used to.

I ordered the Comma 4 back in Dec and received it about 2 weeks ago. From what I could find online I had determined I wanted the Lukas wiring harness to get the fullest functionality (steering, acceleration, braking) and cleanest integration with the existing Rivian systems and steering wheel controls. That part arrived from Germany back in late January.

I'd watched every video I could find and read enough to feel prepared to get the thing installed myself without too much trouble. Before I go into how it went, I first want to say in my opinion the Comma works beautifully!

BUT...

For me it was an incredibly challenging install and learning curve. I'll share how it went and what I feel I learned in the hope more of you get the Comma and avoid some of my frustrations. Neither the Comma or harness come with any instructions, diagrams or photos. The videos provided are so generic they're useless.

The one frustration you can't avoid is the physical challenge of the install. I'm 63 so it may not be quite as bad if you're younger, have experience in the art of contortion or hands the size of a 5 year old. The access to the harness port is barely visible and even less accessible. If not for the video by The Electric Valentines I would have thought it was impossible without more disassembly of things To get access. So watch this first-



It won't make it nearly as easy as it looks in the video, but it will provide you proof it's possible! I found no clarity of what fuse port to use for the power tap connection, but in the video it is visible for a split second to pause and screen shot for the location. Pay attention to the direction you insert it. It matters. I'd read several opinions of different slots to use, all claiming they were the best or only one that works. I saw no slots numbered on my fuse box to match up with any of them anyway. So again, I used my screen shot from the video as my target. (Slot #35 if yours are numbered)

If you don't have trim removal tools get a set at any local auto parts store first. About $15.

I'd either seen or read about a needed mount that has an 8 degree angle for the the slope of the Rivian windshield. Ignore that, the simple flat mount that comes with the Comma works fine.

Once the device and cabling were installed there was the question of what software to install. I new from The Electric Valentines videos I wanted the Sunnypilot version instead of the default Openpilot from Comma.

The correct URL to enter on the Comma 4 for the Rivian is:

staging.sunnypilot.ai
(no "https://" needed in front of it)

I hope this doesn't discourage anyone from getting the Comma 4 because it's a great driver assist system. My intention is to help those that do get one to save some time and have realistic expectations that its not simple but well worth it.

IMO it works even better than the improved system in the Gen 2 and with the sunnylink.ai tools you can customize the way it works. I doubt any brand's OEM system will ever provide drivers with that ability.

 

[SkiDoc]

I’ve been lurking on this forum and watching the videos for several months. I haven’t seen the ability to adjust speed to curves, even on interstates. Can anyone comment on that capability? Also, would I get the ability to resume cruise control?

 

[godfodder0901]

I’ve been lurking on this forum and watching the videos for several months. I haven’t seen the ability to adjust speed to curves, even on interstates. Can anyone comment on that capability? Also, would I get the ability to resume cruise control?

If you use Rivian longitudinal, you get CSA. If you use Lukas' harness and Sunnypilot, you can optionally enable a vision based speed assist for curves.

You will not get resume.

 

[gerrylum]

The following community-sourced document is a great resource for anyone interested in installing a Comma in their Rivian and I highly recommend reading it thoroughly before attempting it.

https://docs.google.com/document/u/0/d/1clodGRssTx-dSPSUrQITq_vqumgWcpSUw83zdcAZR-A/mobilebasic

 

[Semibruce]

+1 on the documentation. For example, it will advise you to make sure your Rivian is asleep. Follow that and Gerry's videos. The Out of Spec video was well-intended, but misleading, if I recall.

For me, a pair of hemostats saved the day to angle/align the harness so that it could be pushed back in place.

As for driving, I did a trip recently to upstate NY recently with plenty of mountain driving. My Comma 3 was excellent on curves and turns. I actually liked that it didn't slow TOO much (or make me take control) , which had been my experience with the stock capabilities.

 

[DuoRivians]

I was curious about comma 4. Found out it’s $1000 plus cost of cables. I realize you can get a small discount for the next version of comma, if you trade in your old one. But now I’m reluctant to buy this until the feature set is more finalized, and software less beta?

That just seems like a money to commit right now…

 

[mkhuffman]

https://www.rivianforums.com/forum/search/6789572/?q=Comma&c[title_only]=1&o=date

 

[Singletracker]

FWIW, I recently installed a Comma 4 on my ‘23 R1T. I have to say, I’m very impressed with how that little sucker performs. It is rock solid on normal streets and highways - tracks shockingly well (better than I could) and instills real confidence. I even tested it on some dirt trails and it actually worked, although this probably is not its ideal use case. 90º intersection turns and roundabouts will require intervention - no big deal. Mine needs a little encouragement to stay in its lane on some shorter radius, sweeping mountain type turns. In those instances, a light nudge on the wheel to reprimand it does the trick. I’d like to think it is paying attention and will learn from this, but, who knows. After only a few days of use, I find that the first thing I do is engage it, almost wherever I go. Using a version of SunnyPilot with MADS is an absolute must for around town and mountain driving!!! It would be a whole different animal without MADS.

BTW, I do not have the Lukas longitudinal adaptor. Can always add that later, if desired.

 

[schlosrat]

If you buy the Comma you'll get all the essential harness parts needed, but it will not include the Lukas Longitudinal harness, which means you won't get quite all of the functionality you could get.

There is a thread here (https://www.rivianforums.com/forum/threads/comma-ai-owner-demo-drive-connect-thread.54059/) to help connect people like yourself with those of us who've got a Comma installed and are willing to offer a demo drive so you can see it in action for yourself.

Personally, I love mine and use it essentially every time I drive.

A lot of the Rivian Comma users have the optional Xnor.shop (Lukas) longitudinal harness. You can get it from the start, or add it later. Using it allows the Comma device (either 3 or 4) to intercept CAN Bus messages so that the Comma can read steering wheel button presses, allowing you to use your speed-set commands to control OpenPilot's longitudinal functions. You would need to use a compatible fork of OpenPilot to get this, but that's really easy to find and install.

https://xnor.shop/products/rivian-r1s-r1t-gen1-longitudinal-upgrade-kit

 

[strykerwsu]

I was curious about comma 4. Found out it’s $1000 plus cost of cables. I realize you can get a small discount for the next version of comma, if you trade in your old one. But now I’m reluctant to buy this until the feature set is more finalized, and software less beta?

That just seems like a money to commit right now…

Best $1k you will ever spend. No reason I want to get rid of my Gen 1s now. Way more human experience and control than latest Oem fsd style modes.

 

[ChitownRivianFan]

Thanks every one. documentation and videos are very helpful. after watching a few I am worried about my fingers not fitting into tight spaces , its a real problem. Wonder if anyone who already installed locally can help

 

[gerrylum]

Thanks every one. documentation and videos are very helpful. after watching a few I am worried about my fingers not fitting into tight spaces , its a real problem. Wonder if anyone who already installed locally can help

@Pouyafrankie is in Bartlett, IL.

 

[ChitownRivianFan]

Thanks Gerry, I sent him a DM to him, waiting for his response.

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