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

[dekeen]

Definitely agree with that assessment, but Sunny longitudinal is way too laid back, any kind of traffic and I have a merge fest in front of me. And yes, I have it set to aggressive, which honestly didn't make much of a difference. Also I get occasionally phantom braking on it. So for my use case it's honestly a wash between Rivian longitudinal and sunny for longitudinal control. Opinions will clearly vary depending on use case and driving habits.

Could not agree more.

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[ScoobieSteve]

I was bummed to hear bgill66 is out of the Chun harnesses. Hopefully he's able to restock soon.

As for the new harness and steering wheel button control - did you just get Lukas' harness, or did you get the harness and the modification? You'll need both in order to get steering wheel button support.
https://xnor.shop/products/rivian-r1s-r1t-gen1-longitudinal-upgrade-kit

I got the harness and just saw the 4 week expected delivery on the modification so I will run the USB and leave it in place so I can add that in when the modification arrives. One more question if you don’t mInd. should I install both open pilot and sunny to the unit and is this something I will find in options once I instal? Thanks for the help as always!

 

[gerrylum]

I got the harness and just saw the 4 week expected delivery on the modification so I will run the USB and leave it in place so I can add that in when the modification arrives. One more question if you don’t mInd. should I install both open pilot and sunny to the unit and is this something I will find in options once I instal? Thanks for the help as always!

You can only run one at a time. When you run the install for the first time it will ask you to either install "Openpilot" or "Custom Software". Choose Openpilot if you want to run the official version of Openpilot, or choose "Custom Software" if you want to install anything else (like Sunnypilot).

 

[ScoobieSteve]

You can only run one at a time. When you run the install for the first time it will ask you to either install "Openpilot" or "Custom Software". Choose Openpilot if you want to run the official version of Openpilot, or choose "Custom Software" if you want to install anything else (like Sunnypilot).

Thanks so much for the kind help!

 

[ScoobieSteve]

I have been running with Open Pilot as I wait for the latest mod from Lukas. It has performed well, with the exception of curves on a secondary road in which I have to intervene very frequently unless I place the speed on cruise control below the speed limit. Is Sunny Pilot better than Open pilot in this regard? The current settings on Open Pilot are on "Chill Mode". It will not let me change to other settings. I have read that I will need to change to Sunny Pilot once the Longitudinal Mod arrives, and will explore how to do this. Do you all recommend Open Pilot, or should I switch to Sunny Pilot now on my R1T?

 

[DayTripping]

I am using SunnyPilot (SP) with good luck so far. There are limitation regarding how far the steering wheel can turn and how much torque can be applied. This will impact both OP and SP.

I would suggest getting used to SP now. You can use its speed control already. You just can't set it from the buttons. MADS is very cool as well. With MADS, you let SP steer the car while you control the speed. I find this very useful at times. I would say I now have SP engaged about 95% of the time as I can easily take over whenever I want and with MADS I can control the speed better when necessary.

I can just set the speed on the Comma itself for normal SP usage. A cool thing about it is let's say I am in a 45 mph zone and the limit changes to 65. I initially have the cruise set at 45. If I just accelerate up to let's say 69 to go with the traffic flow, SP will no reset my cruise control speed automatically to the speed I stop accelerating at. If I need to go slower, I can disengage by braking or use the minus button the Comma screen. I don't really need to use any steering wheel control buttons once I figured this out.

 

[ScoobieSteve]

I am using SunnyPilot (SP) with good luck so far. There are limitation regarding how far the steering wheel can turn and how much torque can be applied. This will impact both OP and SP.

I would suggest getting used to SP now. You can use its speed control already. You just can't set it from the buttons. MADS is very cool as well. With MADS, you let SP steer the car while you control the speed. I find this very useful at times. I would say I now have SP engaged about 95% of the time as I can easily take over whenever I want and with MADS I can control the speed better when necessary.

I can just set the speed on the Comma itself for normal SP usage. A cool thing about it is let's say I am in a 45 mph zone and the limit changes to 65. I initially have the cruise set at 45. If I just accelerate up to let's say 69 to go with the traffic flow, SP will no reset my cruise control speed automatically to the speed I stop accelerating at. If I need to go slower, I can disengage by braking or use the minus button the Comma screen. I don't really need to use any steering wheel control buttons once I figured this out.

This is excellent. I will install Sunny Pilot today and start working with it. Thanks for the information. I am off on a 4.5 hour road trip this weekend from NH to Rhoad island and will get lots of time to give it a go.

 

[gerrylum]

I have been running with Open Pilot as I wait for the latest mod from Lukas. It has performed well, with the exception of curves on a secondary road in which I have to intervene very frequently unless I place the speed on cruise control below the speed limit. Is Sunny Pilot better than Open pilot in this regard? The current settings on Open Pilot are on "Chill Mode". It will not let me change to other settings. I have read that I will need to change to Sunny Pilot once the Longitudinal Mod arrives, and will explore how to do this. Do you all recommend Open Pilot, or should I switch to Sunny Pilot now on my R1T?

The ability of your vehicle to handle curves isn’t affected by whether you’re using Openpilot or Sunnypilot—that all comes down to how much steering torque is available, which is mostly determined by your tires.

Lukas will have an Openpilot branch that supports the Longitudinal Mod, so switching to Sunnypilot isn’t required. That said, I’d still recommend making the switch—if only to take advantage of features like MADS.

 

[ScoobieSteve]

The ability of your vehicle to handle curves isn’t affected by whether you’re using Openpilot or Sunnypilot—that all comes down to how much steering torque is available, which is mostly determined by your tires.

Lukas will have an Openpilot branch that supports the Longitudinal Mod, so switching to Sunnypilot isn’t required. That said, I’d still recommend making the switch—if only to take advantage of features like MADS.

Ok. Thanks for the help as always. I am installing Sunny Pilot now and am looking forward to trying it out. Without a doubt, this Comma 3 has changed my intention to trade up to a 2nd Gen. I will hold on for much longer with these types of resources. I was advised that the new Longitudinal Mo will come with directions on how to download Lukas' branch. Do you think the limitations on torque and 90 Degrees will be overcome?

 

[gerrylum]

Ok. Thanks for the help as always. I am installing Sunny Pilot now and am looking forward to trying it out. Without a doubt, this Comma 3 has changed my intention to trade up to a 2nd Gen. I will hold on for much longer with these types of resources. I was advised that the new Longitudinal Mo will come with directions on how to download Lukas' branch. Do you think the limitations on torque and 90 Degrees will be overcome?

I am very optimistic that we'll be able to overcome the 90-degree limit! But it may be a few more months before we can get to that.

As for torque limitations, we have been looking into this for months.

Openpilot ties into the Rivian's LKAS system to control steering, rather than the ADAS system. LKAS is a torque-based system, and ADAS is angle based. So, bearing that in mind, some Rivians are already near the ISO torque limits with their wheel and tire setups - as high as 2.8 m/s² (the ISO limit is 3.0 m/s² ). While Openpilot is capable of sending more steering torque, we can't do it on a universal basis because that would potentially push those Rivians beyond the safety limit.

We thought we could send more torque to specific vehicles by EPS part number, which Openpilot can see in the CANbus signals. That way we could target specific vehicles for more torque. Unfortunately, the EPS isn't the issue, it's the tires. This is unfortunate in the sense that we can't target vehicles to send more torque through Openpilot, but the silver lining is that it is still an aspect that we have some amount of control over.

Check this out: https://github.com/commaai/openpilo...n-for-Best-Openpilot-Autosteering-Performance

 

[ScoobieSteve]

I am very optimistic that we'll be able to overcome the 90-degree limit! But it may be a few more months before we can get to that.

As for torque limitations, we have been looking into this for months.

Openpilot ties into the Rivian's LKAS system to control steering, rather than the ADAS system. LKAS is a torque-based system, and ADAS is angle based. So, bearing that in mind, some Rivians are already near the ISO torque limits with their wheel and tire setups - as high as 2.8 m/s² (the ISO limit is 3.0 m/s² ). While Openpilot is capable of sending more steering torque, we can't do it on a universal basis because that would potentially push those Rivians beyond the safety limit.

We thought we could send more torque to specific vehicles by EPS part number, which Openpilot can see in the CANbus signals. That way we could target specific vehicles for more torque. Unfortunately, the EPS isn't the issue, it's the tires. This is unfortunate in the sense that we can't target vehicles to send more torque through Openpilot, but the silver lining is that it is still an aspect that we have some amount of control over.

Check this out: https://github.com/commaai/openpilo...n-for-Best-Openpilot-Autosteering-Performance

Fascinating! I am amazed at what you have already discovered.

Question: I installed Sunny Pilot, but it will not deploy. It stated that I have the Sunnypilot/release-c3. The target branch says: release-c3.

I did a hard reset, and it will not activate. Can you share what I am missing?

thanks!

 

[gerrylum]

Fascinating! I am amazed at what you have already discovered.

Question: I installed Sunny Pilot, but it will not deploy. It stated that I have the Sunnypilot/release-c3. The target branch says: release-c3.

I did a hard reset, and it will not activate. Can you share what I am missing?

thanks!

If you want to try Sunnypilot using Rivian's built in ACC, try sunnypilot/tesla-mads-prebuilt

If you want to try Sunnypilot using Openpilot Longitudinal, try xnor-tech/sunny-mads-buttons-ui

If you use the last one, keep in mind you'll have to use the on-screen buttons to change your set-speed. Other than that, it's a really nice build.

 

[ScoobieSteve]

If you want to try Sunnypilot using Rivian's built in ACC, try sunnypilot/tesla-mads-prebuilt

If you want to try Sunnypilot using Openpilot Longitudinal, try xnor-tech/sunny-mads-buttons-ui

If you use the last one, keep in mind you'll have to use the on-screen buttons to change your set-speed. Other than that, it's a really nice build.

I installed the second thread and it is awesome! I like this so much better than Open Pilot on smaller roads. It feels

 

[gerrylum]

I installed the second thread and it is awesome! I like this so much better than Open Pilot on smaller roads. It feels

Nice! Glad to hear it! Be aware that there is a known bug on the current version of that branch if you happen to run into it. It should be fixed tomorrow and an update released.

 

[ScoobieSteve]

I installed the second thread and it is awesome! I like this so much better than Open Pilot on smaller roads. It feels

Have you seen this error? I have tried to uninstall and reinstall, but keep getting this error message on the road and it just quits while the speed is frozen at whatever speed it was at when it stalled.

Nice! Glad to hear it! Be aware that there is a known bug on the current version of that branch if you happen to run into it. It should be fixed tomorrow and an update released.

Hmmm. I think I may have found it? I am getting an error message, then have to both reinstall and hard reset, but it continually comes back. Is this what you are referring to?

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