Comma AI / OpenPilot Autopilot Progress on R1!

[risingphoenix]

I had this same question, so I poked around the Comma Discord server and found that it's supposed to shut itself off after a little time. When I asked about this in the Rivian channel on that server, a Tesla owner confirmed that it has that behavior in their vehicle, so presumably Rivian will be the same and run away battery drain is no more an issue for us as it is for a Tesla owner.

If you're concerned about it, though, I've also seen mention of a magnetic mount so that you could easily connect and disconnect it when you'd like to be certain it's not going to drain your 12V - like maybe if you're going to be parked for a long time while away on a trip or something.

With the newer design of the harness it gets power from the AXM so should be managed like the rest of the electronics (turns off after a few minutes of parking with sleep). Only a concern if you're using the older harness with power that comes from the OBD port (which also tends to turn off after a few minutes so likely not an issue there either). If you are concerned about powering from OBD port you could put a USB-C adapter that powers off after a few minutes (ie Garmin Constant Power Cable).

Sponsored

 

[JSports]

I noticed that the discord mentioned something about SET SPEED. So, I have a few questions for the folks that already have a comma 3x in their Rivian. Does the comma control your speed in stop-in-go traffic that is on a road where the Rivian ACC will not engage? In areas where the Rivian ACC will engage in stop-in-go traffic is the speed and breaking being controlled by the Rivian system or Comma Openpilot? Finally, why did Lukas remove his Rivian Fork, have all of this Rivian changes been rolled into the main Openpilot release?

 

[Ecupip]

I noticed that the discord mentioned something about SET SPEED. So, I have a few questions for the folks that already have a comma 3x in their Rivian. Does the comma control your speed in stop-in-go traffic that is on a road where the Rivian ACC will not engage? In areas where the Rivian ACC will engage in stop-in-go traffic is the speed and breaking being controlled by the Rivian system or Comma Openpilot? Finally, why did Lukas remove his Rivian Fork, have all of this Rivian changes been rolled into the main Openpilot release?

1. Openpilot is in complete control. Without the longitudinal control, OP uses Rivian's radar for distance control.
2. You can engage OP at any speed and it will work in stop and go traffic.
3. Rivian is now fully supported under the master OP fork.

From the comma website:
R1T/RIS
2022, 2023, 2024

openpilot upgrades your Rivian R1T with automated lane centering at all speeds, and adaptive cruise control that automatically resumes from a stop. Traffic light and stop sign handling is also available in Experimental mode

 

[JSports]

1. Openpilot is in complete control. Without the longitudinal control, OP uses Rivian's radar for distance control.
2. You can engage OP at any speed and it will work in stop and go traffic.
3. Rivian is now fully supported under the master OP fork.

From the comma website:
R1T/RIS
2022, 2023, 2024

openpilot upgrades your Rivian R1T with automated lane centering at all speeds, and adaptive cruise control that automatically resumes from a stop. Traffic light and stop sign handling is also available in Experimental mode

Got it. I had seen the main statement on the comma website, it was the discussion yesterday in the discord about the SET SPEED that was making me wonder what was going on. Thanks for clearing up.

 

[Tatnai]

To my knowledge OP hadn't figured out longitudinal control yet for Rivian; it does longitudinal control for most cars, for Rivian we are stuck with Rivian's ACC for longitudinal (for now). While you can only activate Rivian's Highway Assist on mapped roads (divided highways, when it works), Rivian's ACC can be used on any road.

 

[Tatnai]

Installed this last night on my 2023 R1S. I picked up the Rivian harness directly from Lukas, and the comma 3x plus the 8 degree mounts from comma. A few notes:

1. Harness is a little tricky to get into place. This is the hardest part of the install, everything else is easy. Tips from the install video linked on Lukas' page were helpful. I would add pay attention to the orientation of the plug when you remove it, so that you are putting the harness plug back in in the right orientation(the side of the plug with the two large ridges all the way to the edge faces towards the back of the vehicle).

2. The 6 foot USB C extension cable is just about a foot too short to reach if you are hiding the cable around the windshield and down the door weather strip, definitely pick up a longer one.

3. As of 0.9.8 (just released), Rivian is supported in the default/primary open.ai tree. You can just download/install that, no need for alternate trees

4. Rivian ACC is in control of longitudinal still as of 0.9.8 (you can tell because there is no yellow triangle with the car in front of you, and longitudinal feels exactly like Rivian ACC). The team continues to work on brining open.ai longitudinal support to Rivian AFAIK.

5. I used it on my short in-town drive to work this morning. I was on a two lane road with a bike lane between me and the curb to my right, and there was a delivery truck parked in the bike lane and protruding into my lane. Open.ai smoothly altered the driving course to avoid the truck even though this meant shifting basically onto the yellow line to my left. Was super natural and exactly as I would have handled it (smooth and dare I say chill), and Rivian ACC (or Driver+ for that matter, if we were on a road that could use it) would have totally been incompetent at handling it. Super excited to try it some more.

Cheers.

 

[Tarkus]

Very nice report as It pretty much "mirrors" what I did last night & today. Only difference I drove Tarkus (my R1S) some 300+ miles on all kinds of roads getting use to what OpenPilot/Comma can do & not do... while working today.
Luv this stuff!

 

[JM.]

I would add pay attention to the orientation of the plug when you remove it, so that you are putting the harness plug back in in the right orientation(the side of the plug with the two large ridges all the way to the edge faces towards the back of the vehicle).

Just remember that the release lever will always be in the most accessible position. In this case, towards you.

2. The 6 foot USB C extension cable is just about a foot too short to reach if you are hiding the cable around the windshield and down the door weather strip, definitely pick up a longer one.

Lukas ships it with a 10'. (It's Lukas not Lucas right?)

4. Rivian ACC is in control of longitudinal still as of 0.9.8 (you can tell because there is no yellow triangle with the car in front of you, and longitudinal feels exactly like Rivian ACC). The team continues to work on brining open.ai longitudinal support to Rivian AFAIK.

@CTRedCanyon do you know if using the new longitudinal test/feedback software helps with this at all? I think no, since it seems to be simply to fine-tune the deceleration algorithm?

 

[Tatnai]

No he ships it with a 6' cable

There is no release lever, it slips in and out without being secured

 

[JM.]

An order received this week included the 10' cable, and yeah, it should be taped to prevent separation. Photos were posted on the RCA group.

 

[risingphoenix]

An order received this week included the 10' cable, and yeah, it should be taped to prevent separation. Photos were posted on the RCA group.

Would you mind posting a link to that? I'm not familiar with the RCA group.

 

[JSports]

Installed this last night on my 2023 R1S. I picked up the Rivian harness directly from Lukas, and the comma 3x plus the 8 degree mounts from comma. A few notes:

1. Harness is a little tricky to get into place. This is the hardest part of the install, everything else is easy. Tips from the install video linked on Lukas' page were helpful. I would add pay attention to the orientation of the plug when you remove it, so that you are putting the harness plug back in in the right orientation(the side of the plug with the two large ridges all the way to the edge faces towards the back of the vehicle).

2. The 6 foot USB C extension cable is just about a foot too short to reach if you are hiding the cable around the windshield and down the door weather strip, definitely pick up a longer one.

3. As of 0.9.8 (just released), Rivian is supported in the default/primary open.ai tree. You can just download/install that, no need for alternate trees

4. Rivian ACC is in control of longitudinal still as of 0.9.8 (you can tell because there is no yellow triangle with the car in front of you, and longitudinal feels exactly like Rivian ACC). The team continues to work on brining open.ai longitudinal support to Rivian AFAIK.

5. I used it on my short in-town drive to work this morning. I was on a two lane road with a bike lane between me and the curb to my right, and there was a delivery truck parked in the bike lane and protruding into my lane. Open.ai smoothly altered the driving course to avoid the truck even though this meant shifting basically onto the yellow line to my left. Was super natural and exactly as I would have handled it (smooth and dare I say chill), and Rivian ACC (or Driver+ for that matter, if we were on a road that could use it) would have totally been incompetent at handling it. Super excited to try it some more.

Cheers.

I'm waiting on my harness, but figured I'd might start working on routing the USB cable. What version of USB C cable do we need? I read it somewhere, but I can't find it. Is it USB 3.2?

 

[DayTripping]

This is what Lukas recommended before but it is too long (10'). "USB C Extension Cable 10ft, Type C 3.1 Gen2 Male to Female Cord, 100W Fast Charging 4K 60Hz Video 10Gbps Data Transfer"

https://www.amazon.com/dp/B0D5QTF3L...l_share=cm_sw_r_cp_ud_dp_HD43DN152HZQDHVHA970

 

[Tatnai]

An order received this week included the 10' cable, and yeah, it should be taped to prevent separation. Photos were posted on the RCA group.

That's a nice update, I received mine from Lukas Monday with a 6' cable

 

[JM.]

Would you mind posting a link to that? I'm not familiar with the RCA group.

Rivian Clubs Of America, which is run on Whatsapp. I'm not kidding. It's quite horrible, and finding the photos/links would be tough or impossible. Plus you have to be a member to view.

Sponsored