Comma AI self driver assistant

[KingStraasha]

Thanks, I am using lateral control but wasn't sure the specific settings required for the Lightning. As you said, hunting for the information can be hard and I am not sure what info from BP 2, 3, or 4 still apply to BP 5.

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[Ajzride]

Here is a quick and dirty dump from GitHub:

• [Lane Change Factor] - This is a tunable reduction in lane change signal to enable less aggressive lane changes. Lower numbers equal slower lane changes. Too low and the lane chagne might fail.
• [Use Custom Tuning Profile] - There are 2 preset tuning profiles which are automatically selected based on the vehicle driven (CAN or CANFD). Toggling this parameter will enable custom tuning values for lateral control
• [Predicted Curvature Blend Ratio Low] - This setting allows for a blend of desired curvature and predicted curvature on straight aways to achieve smoother signals. Lower numbers will make steering more aggressive. To tune this value begin to increase the blend ratio until the car starts to "wander" or experience a slow ping pong effect at highway speeds. If using advanced lateral control, leave it at a wander, it is not desired for this number to be low enough for complete control, because if the signal is too strong it will conflict with the other signals. If not using advanced lateral control, then lower the PC Blend Ratio back down until wadnering stops. Default Values are CANFD = 0.65, CAN = 0.4
• [Predicted Curvature Blend Ratio High] - This setting allows for a blend of desired curvature and predicted curvature in curves to achieve smoother signals. Lower numbers will make steering more aggressive. To tune this value begin to decrease the blend ratio until the car starts to ping pong inside of curves, then increase slightly until the behavior stops. Default Values are CANFD = 0.4, CAN = 0.2
• [Enable Advanced Lane Positioning] - This settings enables the OEM style logic with path_offset and path_angle variables. This allows for custom in lane positioning. Disabling this setting will revert to only using curvature and curvature_rate which was the previous behavior in bluepilot 1.0
• [Enable Legacy Style Lanefull Mode] - This setting enables the legacy style lanefull mode which will use lane lines to determine the ideal path for the vehicle rather than Commas model. This setting is only applicable when linelines are strong and the lane width is not too wide.
• [In lane offset] - This setting allows for custom in lane positioning. Negative numbers will move the car to the left, positive numbers will move the car to the right.
• [Low Curvature PID Gain] - This setting controls how aggressive the path_angle signal is applied to correct for deviations from the ideal path. Default Values are CANFD = 3.0, CAN = 5.0

 

[Drayday55]

If it hasn't already been said before thank you AJ and Uncle Tony for all the work to get our platform working. Crazy amount of work and effort.

 

[galstaf]

Here is a quick and dirty dump from GitHub:

• [Lane Change Factor] - This is a tunable reduction in lane change signal to enable less aggressive lane changes. Lower numbers equal slower lane changes. Too low and the lane chagne might fail.
• [Use Custom Tuning Profile] - There are 2 preset tuning profiles which are automatically selected based on the vehicle driven (CAN or CANFD). Toggling this parameter will enable custom tuning values for lateral control
• [Predicted Curvature Blend Ratio Low] - This setting allows for a blend of desired curvature and predicted curvature on straight aways to achieve smoother signals. Lower numbers will make steering more aggressive. To tune this value begin to increase the blend ratio until the car starts to "wander" or experience a slow ping pong effect at highway speeds. If using advanced lateral control, leave it at a wander, it is not desired for this number to be low enough for complete control, because if the signal is too strong it will conflict with the other signals. If not using advanced lateral control, then lower the PC Blend Ratio back down until wadnering stops. Default Values are CANFD = 0.65, CAN = 0.4
• [Predicted Curvature Blend Ratio High] - This setting allows for a blend of desired curvature and predicted curvature in curves to achieve smoother signals. Lower numbers will make steering more aggressive. To tune this value begin to decrease the blend ratio until the car starts to ping pong inside of curves, then increase slightly until the behavior stops. Default Values are CANFD = 0.4, CAN = 0.2
• [Enable Advanced Lane Positioning] - This settings enables the OEM style logic with path_offset and path_angle variables. This allows for custom in lane positioning. Disabling this setting will revert to only using curvature and curvature_rate which was the previous behavior in bluepilot 1.0
• [Enable Legacy Style Lanefull Mode] - This setting enables the legacy style lanefull mode which will use lane lines to determine the ideal path for the vehicle rather than Commas model. This setting is only applicable when linelines are strong and the lane width is not too wide.
• [In lane offset] - This setting allows for custom in lane positioning. Negative numbers will move the car to the left, positive numbers will move the car to the right.
• [Low Curvature PID Gain] - This setting controls how aggressive the path_angle signal is applied to correct for deviations from the ideal path. Default Values are CANFD = 3.0, CAN = 5.0

I want to echo Drayday's sentiment with a huge thank you for everything the BP team does to make this work. The fact that Ford cannot make a product that comes close to working as well with all their resources and full access to the vehicle subsystems is a testament to that.

I have researching the terminologies used so I have some idea of what you guys are talking about ... and when I read posts like this

https://bluepilot.dev/2025/07/13/ho...-why-are-they-such-a-challenge-for-openpilot/

https://bluepilot.dev/2026/01/07/what-exactly-are-the-limits-of-ford-lane-assist-signals/


it gives me a real appreciation for all the work you guys have done. I am beginning to realize just how little I know about this stuff. lol

 

[galstaf]

only use those if you have a lateral control
issue. all of that information exists on the F150gen14 forum and GitHub, but neither are easy to find it on. I’ve literally been working on moving it all to the BluePilot website this afternoon. It’s going to take a few days to get it all put together though.

Hey Alan,

Do you find that the system behaves differently even on the same make and model of Ford? Such that it would require different tuning from one F150 lightning to another?

 

[Ajzride]

Hey Alan,

Do you find that the system behaves differently even on the same make and model of Ford? Such that it would require different tuning from one F150 lightning to another?

Modifications to the truck can have an effect, especially a lift, which changes the suspension's weight distribution. But most of the tuning comes down to the local roads, and personal preference. Some areas have excessive road crown for better draining, which might benefit from different tuning than somewhere with flat roads. Concrete roads with their expansion joints tend to benefit from different tuning than asphalt roads, which don't have that constant bumping from the joints. But the biggest driver in tuning is personal preference. Some people can't tolerate even the slightest side-to-side movement, and they will tune that out, even though it results in a more robotic feeling ride. Other people want it to be as smooth as possible and are okay with a little sway as long as it is slow and smooth. Some people claim their car is hugging one side, when another person in the exact same car will think it is dead center, just based on how we learned to drive.

 

[PJnc284]

Finally made the Comma angry. Got a "speed to high, Model uncertain at this speed" message. My bad but grandma was going too slow.

 

[Ajzride]

Finally made the Comma angry. Got a "speed to high, Model uncertain at this speed" message. My bad but grandma was going too slow.

If you only had a flux capacitor, you would have time-traveled before you got the warning.

 

[branden]

I've used BP 2.1, 3 and 4 in my Lightning on my 3X and now BP 5.0 and after doing 800+ miles in the last 48 hours with it, I can easily say that BP 5.0 is by far the most stable and OEM-like (better) experience. Even went from wife-hesitant to wife-approved.

 

[galstaf]

You can get a coupler here:

https://bluepilot.dev/lightning-coupler-order-page/

Just Ordered! Thanks Tony!

Just for the record, some pictures of the actual current version of your connector and a bit of background info on the sale page would be a nice touch.

 

[truthlesshunter]

it's too bad that both konik and comma don't have the harness in stock (backordered, but still)....lots of delay if you want to try this out (like myself, possibly)

 

[Ajzride]

it's too bad that both konik and comma don't have the harness in stock (backordered, but still)....lots of delay if you want to try this out (like myself, possibly)

If you are near Houston I think I have a spare you could borrow.

 

[UncleTony]

Just Ordered! Thanks Tony!

Just for the record, some pictures of the actual current version of your connector and a bit of background info on the sale page would be a nice touch.

I have been slowly working on improving the page as I’ve had time. I just recently switched it to use square to make the process less cumbersome. I’m planning on adding some more info soon.

Did you automatically get a square receipt when you checked out?

 

[ZheWiz]

Trying to install BP 5.0 on a new comma 4. I enter "installer.comma.ai/BluePilotDev/bp-5.0" and I get "download failed. incompatible openpilot version". Same if I try 4.0.

two options - reboot and retry, both just put me back to the "slide to use open pilot" or "slide to use custom software."

Any insight?

Thanks!

 

[Ajzride]

Trying to install BP 5.0 on a new comma 4. I enter "installer.comma.ai/BluePilotDev/bp-5.0" and I get "download failed. incompatible openpilot version". Same if I try 4.0.

two options - reboot and retry, both just put me back to the "slide to use open pilot" or "slide to use custom software."

Any insight?

Thanks!

Comma4 is not compatible with BP-5.0

https://bluepilot.dev/2025/12/17/bluepilot-on-the-comma4/

After you install bluepilot, go into the menu and find the SunnyLink pairing option. Once paired to Sunnylink, you can go in through the web browser and force it to recognize your vehicle.

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