Comma AI self driver assistant

[Lake Placid Lightning]

Was very happy to see the Blue Cruise "Hands-Free" logo on my dash after engaging the C4.

I have the Lariat SR that came without Blue Cruise (and rain sensing wipers, moonroof, bed scales, pro trailer, power tilt steering wheel, PAAK, heated rear seats).

I was able to add the rain sensing wipers with the help of @Jesse-Infotainment .

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[hakimstl]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

 

[Lake Placid Lightning]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

Make sure all the USB connections are tight. They should "click" when inserted.

I've seen advice given to others to "flip" one end of the USB-C plug. Unplug, twist 180 degrees, re-insert.

You have a coupler, right?

 

[Ajzride]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

definitely not related to a recall.

 

[Ajzride]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

The quickest test is to take the device off of the windshield, use just the short USB provided by comma to connect to the harness box under the dash. You can't drive like that, but whether you get errors will help determine if the problem is in the long USB, or in the connection to the car.

 

[hakimstl]

Thanks will try tomorrow

 

[ENDianDigital]

Hey guys, new to this thread but not new to the forum or Comma

I have the C4 installed and working in my '23 Lariat, but I'm wondering: is longitudinal (e2e vision I think it's called) actually viable with any BP build or training model?

I decided to go the Comma route due to my frustration with the jerkiness of the stock adaptive cruise, but I'm currently running BP 6.0.1 with WD40 and am getting pretty lackluster results with longitudinal. If anything, I think it's more just-got-a-driver-permit level of jerkiness.

Totally open (and hoping for) the idea that I'm just not dialed in yet, but curious to hear what the experts here have to say.

I've heard some things from the devs that we're in store for a sea change in e2e capability, and I'm here for it, I'm just eager to have it operational in my truck.

Not trying to dog on Comma at all; I've been a fan for a long time (had it in my old Bolt!) and a lot of things are clearly superior (MADS for sure).

Thanks in advance!

 

[EVO]

Hey guys, new to this thread but not new to the forum or Comma

I have the C4 installed and working in my '23 Lariat, but I'm wondering: is longitudinal (e2e vision I think it's called) actually viable with any BP build or training model?

I decided to go the Comma route due to my frustration with the jerkiness of the stock adaptive cruise, but I'm currently running BP 6.0.1 with WD40 and am getting pretty lackluster results with longitudinal. If anything, I think it's more just-got-a-driver-permit level of jerkiness.

Totally open (and hoping for) the idea that I'm just not dialed in yet, but curious to hear what the experts here have to say.

I've heard some things from the devs that we're in store for a sea change in e2e capability, and I'm here for it, I'm just eager to have it operational in my truck.

Not trying to dog on Comma at all; I've been a fan for a long time (had it in my old Bolt!) and a lot of things are clearly superior (MADS for sure).

Thanks in advance!

Are you running Blupilot? Do you have modified suspension? Is your unit centered just under mirror? Most people use Wd-40 or Nevada model located in the legacy folder.

 

[Ajzride]

Hey guys, new to this thread but not new to the forum or Comma

I have the C4 installed and working in my '23 Lariat, but I'm wondering: is longitudinal (e2e vision I think it's called) actually viable with any BP build or training model?

I decided to go the Comma route due to my frustration with the jerkiness of the stock adaptive cruise, but I'm currently running BP 6.0.1 with WD40 and am getting pretty lackluster results with longitudinal. If anything, I think it's more just-got-a-driver-permit level of jerkiness.

Totally open (and hoping for) the idea that I'm just not dialed in yet, but curious to hear what the experts here have to say.

I've heard some things from the devs that we're in store for a sea change in e2e capability, and I'm here for it, I'm just eager to have it operational in my truck.

Not trying to dog on Comma at all; I've been a fan for a long time (had it in my old Bolt!) and a lot of things are clearly superior (MADS for sure).

Thanks in advance!

Long control is very binary in openpilot. I wrote about it here;

https://bluepilot.dev/2026/02/23/thoughts-on-ford-longitudinal-control-adaptive-cruise-control/

What is interesting is that you think stock ACC is jerky. Almsot universally everyone thinks stock ACC is really smooth. I would be intested in taking a peek at some logs where you have alpha long turned off so I can look at the stock ACC behavior on your truck. I wonder if there might be something going on with your regen that is causing issues.

 

[chriserx]

Long control is very binary in openpilot. I wrote about it here;

https://bluepilot.dev/2026/02/23/thoughts-on-ford-longitudinal-control-adaptive-cruise-control/

What is interesting is that you think stock ACC is jerky. Almsot universally everyone thinks stock ACC is really smooth. I would be intested in taking a peek at some logs where you have alpha long turned off so I can look at the stock ACC behavior on your truck. I wonder if there might be something going on with your regen that is causing issues.

Love it, the analysis, not the end result. Wonder if the reasoning has to do with the number of vehicles supported and the fact that not all of them are going to coast at the same predictable rate, but surely even if it were the case, the model could just apply more braking. I also wonder if all vehicles even allow for the simultaneous braking and accelerator input. It seems most vehicles are going the way of reducing if not disabling the accelerator input with the brake depressed. Even so, does that limitation even apply if a module requests it, or does it only apply during manual input. Considering his original work was on Corollas, and Toyota were among the first to implement the accel cut under braking it makes me think it's just a legacy workaround that happened to work on that particular model car.

Thanks for the insight into why OP long is cray!

 

[ENDianDigital]

Long control is very binary in openpilot. I wrote about it here;

https://bluepilot.dev/2026/02/23/thoughts-on-ford-longitudinal-control-adaptive-cruise-control/

What is interesting is that you think stock ACC is jerky. Almsot universally everyone thinks stock ACC is really smooth. I would be intested in taking a peek at some logs where you have alpha long turned off so I can look at the stock ACC behavior on your truck. I wonder if there might be something going on with your regen that is causing issues.

Thanks for the interesting read; great write-up. The other article you wrote and referenced in that post seems to possibly getting at what I really had in mind.

I think I misspoke when I described the stock ACC behaviour as "jerky". Its really not that, its more 'panicky'. For example, when using stock ACC, seemingly regardless of the distance-keeping settings I've selected, I'll get situations where a car merges into my lane well ahead of me and the truck will pretty aggressively apply the brakes despite that not really being necessary from a safety perspective and leading to that "just-got-a-driver-permit" reaction that I referenced. Is my truck an outlier in that behaviour? If not, I'd hoped the (hopefully superior) OP/BP logic would more gracefully react to those situations and give me the driving dynamics that I - as a non-permit-wielding human driver - would prefer.

Which brings me to the interesting item in your other post: "This was utilizing OpenPilot longitudinal controls mixed with Ford Radar."

Is this some hybrid mode that BP is capable of? If the normally smooth stock ACC could be augmented by the vision system and some amount of OP/BP logic that more gracefully handles far afield activity, it seems like that would be the goldilocks zone. My understanding though is that that level of system interplay is not really possible. Would love to know if that's not that case though since that sounds ideal.

 

[ENDianDigital]

Are you running Blupilot? Do you have modified suspension? Is your unit centered just under mirror? Most people use Wd-40 or Nevada model located in the legacy folder.

Yes, I'm running Bluepilot 6.0.1 with the WD-40 model. I just called Bluepilot "BP". Is that not what that acronym means ? Pretty new this branch of Openpilot, so I'm just getting all the terminology down still.

To your other questions: yes, I'm dead center (laterally) under the mirror and am on stock suspension, wheels, tires, etc.

 

[Ajzride]

I think I misspoke when I described the stock ACC behaviour as "jerky". Its really not that, its more 'panicky'. For example, when using stock ACC, seemingly regardless of the distance-keeping settings I've selected, I'll get situations where a car merges into my lane well ahead of me and the truck will pretty aggressively apply the brakes despite that not really being necessary from a safety perspective and leading to that "just-got-a-driver-permit" reaction that I referenced. Is my truck an outlier in that behaviour?

If a vehicle changes lanes to be in front of me, and it is travelling as fast or faster than me, my truck never hits the brakes. if it is travelling slower than me, and it is inside the designated gap, it applies brakes.

if your vehicle behaves differently, then I would say something is wrong. This is why I was interested to look at your logs.

If not, I'd hoped the (hopefully superior) OP/BP logic would more gracefully react to those situations and give me the driving dynamics that I - as a non-permit-wielding human driver - would prefer.

Which brings me to the interesting item in your other post: "This was utilizing OpenPilot longitudinal controls mixed with Ford Radar."

Is this some hybrid mode that BP is capable of? If the normally smooth stock ACC could be augmented by the vision system and some amount of OP/BP logic that more gracefully handles far afield activity, it seems like that would be the goldilocks zone. My understanding though is that that level of system interplay is not really possible. Would love to know if that's not that case though since that sounds ideal.

The "blend" right now is that we use radar data to verify the camera data. The radar provides a lot more accurate distance and speed than camera. There is no blending however of the control logic. I actually attempted on multiple occasions to blend the logic. Use Ford ACC logic unless a stop sign, redlight, or traffic jam was detected, then switch to OP logic. The problem with that is that if the ford ACC sends a signal that gets ignored even once, it stops sending signals for the rest of the drive. You have to cycle power on the vehicle to get the ACC to start working again.

 

[ENDianDigital]

If a vehicle changes lanes to be in front of me, and it is travelling as fast or faster than me, my truck never hits the brakes. if it is travelling slower than me, and it is inside the designated gap, it applies brakes.

if your vehicle behaves differently, then I would say something is wrong. This is why I was interested to look at your logs.

OK, yeah, might just be me/my truck thing then it sounds like. Bummer...

Anyway, thanks for the very kind offer to look at my logs. Would you just need the rlog dump? I can get that from sunnylink I think. I have a DM here with you from our time collaborating on the rotary shifter mod, I'll send them that way if that works.

 

[Ajzride]

OK, yeah, might just be me/my truck thing then it sounds like. Bummer...

Anyway, thanks for the very kind offer to look at my logs. Would you just need the rlog dump? I can get that from sunnylink I think. I have a DM here with you from our time collaborating on the rotary shifter mod, I'll send them that way if that works.

just upload the route to connect and send me the link.

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