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[其他] Autopilot: an open source driving agent

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╃亼惢險惡 发表于 2016-12-1 06:18:17
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Welcome to openpilot

  openpilot is an open source driving agent.  
  Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas and Acuras. It's about on par with Tesla Autopilot at launch, and better than    all other manufacturers.  
  The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
  Hardware

  Right now openpilot supports the    neo research platformfor vehicle control. We'd like to support    Open Source Car Controlas well.  
  To install it on the NEO:
  1. # Requires working adb in PATH
  2. cd installation
  3. ./install.sh
复制代码
Supported Cars

  
       
  •       Acura ILX 2016 with AcuraWatch Plus
              
    • Limitations: Due to use of the cruise control for gas, it can only be enabled above 25 mph      
            
  •       Honda Civic 2016 Touring Edition
              
    • Limitations: Due to limitations in steering firmware, steering is disabled below 18 mph      
          
  Directory structure

  
       
  • board -- Code that runs on the USB interface board   
  • cereal -- The messaging spec used for all logs on the phone   
  • common -- Library like functionality we've developed here   
  • dbcs -- Files showing how to interpret data from cars   
  • installation -- Installation on the neo platform   
  • phonelibs -- Libraries used on the phone   
  • selfdrive -- Code needed to drive the car
              
    • assets -- Fonts for ui        
    • boardd -- Daemon to talk to the board        
    • calibrationd -- Camera calibration server        
    • common -- Shared C/C++ code for the daemons        
    • controls -- Python controls (PID loops etc) for the car        
    • logcatd -- Android logcat as a service        
    • loggerd -- Logger and uploader of car data        
    • sensord -- IMU / GPS interface code        
    • ui -- The UI        
    • visiond -- embedded vision pipeline      
          
  To understand how the services interact, see    common/services.py  
  Adding Car Support

  It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
  The Honda Accord uses different signalling for the steering and probably requires new hardware.
  Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
  User Data / chffr Account / Crash Reporting

  By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
  It's open source software, so you are free to disable it if you wish.
  It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. It does not log the user facing camera or the microphone.
  By using it, you agree to    our privacy policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.  
  Contributing

  We welcome both pull requests and issues ongithub. See the TODO file for a list of good places to start.  
  Licensing

  openpilot is released under the MIT license.
  THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
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vkvln 发表于 2016-12-1 09:10:34
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