Comma.ai Openpilot thoughts

[hbkdinobot]

I have a Gen1 quad motor R1S. Since Rivian seems to have abandoned updating Gen1 autonomous driving I have ordered a Comma 3 since they just started officially supporting Rivian.

Does anyone have any experience using comma.ai and Openpilot? Any thoughts or tips?

does anyone have experience with the forks of Openpilot (Sunnypilot, Frogpilot, Dragonpilot) and which one would be best for the R1S?

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[2kwik4u]

https://www.rivianforums.com/forum/...atch-it-in-action-on-gen1-rivian-video.39647/

 

[risingphoenix]

It is a significant upgrade for gen 1 vehicles but is early in development. There are still missing capabilities (set speed) that do not allow full longitudinal control. It is a difficult install as the plug to replace is in a difficult spot. If you like tinkering and software in development it’s already far superior to Driver+.

 

[cjust2006]

Have used it in other vehicles and it's awesome. No question better than what we currently have. Don't know any specifics on custom forks for Rivians though.

My only complaint, which seems common across all current autonomous driving platforms, is that the creators always promise the current hardware will be able to do everything they'll ever need, only to renege and ask you to buy the new hardware. This happens, of course, conveniently right after warranty support is up on your current gen hardware... But WE PROMISE, the new hardware will do what we envisioned... Comma has done this thrice.

 

[gregeast]

I have a Comma 3x and harness on order and am excited to give it a try.

That said, as mentioned above, this is not yet a fully baked solution. If you like to tinker and explore like I do I suspect you'll like it but if you are expecting an easy, OEM level of sophistication and integration it might not be for you.

I'd recommenced joining the Rivian specific Discord forum to learn more.

 

[DrMario]

I have been using Openpilot for a bit. I don't know that the other forks are available yet. So far it works pretty well. I like the fact that it works on any road which is where I do most of my driving. Of course, it is not perfect. Hopefully with time it will keep getting updated and continue to improve.

The only things that I have noticed is that if the road has a pitch where the vehicle has to turn the wheel to the right to stay centered, it had difficulty doing so and would drive on the line causing the lane departure warning to be triggered constantly.

The other issue I noticed is that the turning torque is different. There is a notable difference when the vehicle is trying to turn towards the right when compared to the left. When turning right depending on how fast you're going and how tight the curve is, it almost runs into the other lane.

Again, hopefully with time this will get corrected or improved. I am looking forward to all the things that may be possible with it. Hope this helps.

 

[risingphoenix]

I have been using Openpilot for a bit. I don't know that the other forks are available yet. So far it works pretty well. I like the fact that it works on any road which is where I do most of my driving. Of course, it is not perfect. Hopefully with time it will keep getting updated and continue to improve.

The only things that I have noticed is that if the road has a pitch where the vehicle has to turn the wheel to the right to stay centered, it had difficulty doing so and would drive on the line causing the lane departure warning to be triggered constantly.

The other issue I noticed is that the turning torque is different. There is a notable difference when the vehicle is trying to turn towards the right when compared to the left. When turning right depending on how fast you're going and how tight the curve is, it almost runs into the other lane.

Again, hopefully with time this will get corrected or improved. I am looking forward to all the things that may be possible with it. Hope this helps.

The turning torque (especially at lower speeds) has already been improved with master. Yet another example of the benefits of constantly evolving software.

 

[DayTripping]

I am one of the earlier adopters with it for the Rivian. Probably close to 1k miles now. It isn't perfect but very usable. Stick with OpenPilot for now. SunnyPilot has a lot of work yet to get to where it is at with other cars.

Steering torque is vastly improved. I am also running a branch where it is helped more as it seems as some '22 models don't have enough. Torque is still inadequate in some scenarios but I can pretty much tell when it is going to be an issue in advance. It doesn't give up like Tesla would but just gradually starts to drift wide.

One thing to not, make sure you get the mount and device centered as best you can when you mount it. Also make sure if you remove it from the window and put it back, that you do it the same way every time. I noticed mine was cocked just a tiny bit and it was riding the edge of the road.

I hope they will put in some sort of SW adjustment to allow you to fine tune where it drives in the lane.

I am not going back to stock and it works better than what the Gen 2 has currently. Best money I've spent on my truck so far.

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