Comma AI self driver assistant

[Ajzride]

First, I want to thank everyone who has made this community an awesome experience to be a part of. There has been an amazing amount of collaboration and positive feedback for the entire BluePilot team. As we reach the two-year anniversary of the launch for BluePilot, I am taking a moment to let the community know that I am shifting my priorities now that BluePilot 6.0 has been released. I never had a desire to lead my own fork; the whole project started because I was passionate about improving how openpilot behaved on Ford vehicles. After I developed several key improvements, but my PRs were rejected or ignored by Comma and the popular forks, and since I felt guilty about how much better my experience was than everyone else driving a Ford, I started BluePilot. While I have learned a lot from leading this project, it is not the type of activity that I enjoy. The grind of keeping up with the changes forced on forks from Comma has left me with no time to pursue the aspects of the project I do enjoy. I have been unable to make any progress on better lateral control, firmware unlocks (I bought a spare PSCM over a year ago and have not had an opportunity to work with it), and new vehicle ports (Big Bronco anyone?). Now that bluepilot is in a very stable state, I will shift my focus back to the efforts I believe will have a greater long-term impact on the community. My reduced online presence will require other members of the community who have benefited from the last two years of work to give back by helping new users get started in the ecosystem. @tonesto7 will be continuing to support the project, ensuring the platform can remain current by incorporating upstream changes and supporting compatibility going forward. I am also seeking individuals who would be willing to take on a role of interfacing with the community for bluepilot, soliciting feedback on new and future features, testing, and developing the future branches. If you are interested in taking up this mantle, please reach out to me via a direct message.

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[UncleTony]

First, I want to thank everyone who has made this community an awesome experience to be a part of. There has been an amazing amount of collaboration and positive feedback for the entire BluePilot team. As we reach the two-year anniversary of the launch for BluePilot, I am taking a moment to let the community know that I am shifting my priorities now that BluePilot 6.0 has been released. I never had a desire to lead my own fork; the whole project started because I was passionate about improving how openpilot behaved on Ford vehicles. After I developed several key improvements, but my PRs were rejected or ignored by Comma and the popular forks, and since I felt guilty about how much better my experience was than everyone else driving a Ford, I started BluePilot. While I have learned a lot from leading this project, it is not the type of activity that I enjoy. The grind of keeping up with the changes forced on forks from Comma has left me with no time to pursue the aspects of the project I do enjoy. I have been unable to make any progress on better lateral control, firmware unlocks (I bought a spare PSCM over a year ago and have not had an opportunity to work with it), and new vehicle ports (Big Bronco anyone?). Now that bluepilot is in a very stable state, I will shift my focus back to the efforts I believe will have a greater long-term impact on the community. My reduced online presence will require other members of the community who have benefited from the last two years of work to give back by helping new users get started in the ecosystem. @tonesto7 will be continuing to support the project, ensuring the platform can remain current by incorporating upstream changes and supporting compatibility going forward. I am also seeking individuals who would be willing to take on a role of interfacing with the community for bluepilot, soliciting feedback on new and future features, testing, and developing the future branches. If you are interested in taking up this mantle, please reach out to me via a direct message.

Now you just need to buy a rivian and come help me with my lateral issues

 

[BluesClues]

Happy to help where I can with community questions.

I tried LCD, didn’t love how it felt in curves.

tried the reverse drive (return) in the default model (cd210). Only issue I’m encountering is sporadic right curves hugging the right side.

otherwise I’m enjoying default settings with default.

EDIT:

Going to change one setting with Custom Tuning:

BluePilot: Low Curvature PID Gain = 3.05

I didn't really notice much ping pong, so I think it's mostly about holding center.

UPDATE:

tried default (cd210) and LCD and tried tuning. Couldn’t stop the lane hugging. Lane hugging was even worse with LCD.

Setup the recommended WD40 (Advanced lane position, -0.05 lane offset and default tune)

will try again tomorrow!

MAJOR UPDATE BELOW:

ultimately ended up on wd40 with the recommended settings (my lane offset is -0.10 probably bc of local uniqueness)

 

[BluesClues]

Is recalibration recommended after changing models?

just did a drive to airport but will push lane adjustment more. Was consistently to the right side.

 

[EVO]

Is recalibration recommended after changing models?

just did a drive to airport but will push lane adjustment more. Was consistently to the right side.

I have always recalibrated when I changed models. I don't know if it's recommended or not.

 

[KingStraasha]

Yes, recalibrate after each model change so that it will begin learning about your vehicle.

 

[KingStraasha]

@BluesClues I have been toying with the POP models. I didn't like POP V2 but I do like POP v1. I am using these settings with good success. I feel like it stays centered while going straight but it goes slightly towards the inner line during curves (this is most likely the model):

Use Custom Tuning Profile: True
Predicted Curvature Blend Ratio Low: 0.30
Predicted Curvature Blend Ratio High: 0.30
Enable Advanced Lane Positioning: True
Enable Lanefull Mode: True
Custom In-Lane Offset: -0.0
Low Curvature PID Gain: 2.0

I am not sure how they will work with WD40 though.

 

[BluesClues]

@BluesClues I have been toying with the POP models. I didn't like POP V2 but I do like POP v1. I am using these settings with good success. I feel like it stays centered while going straight but it goes slightly towards the inner line during curves (this is most likely the model):

Use Custom Tuning Profile: True
Predicted Curvature Blend Ratio Low: 0.30
Predicted Curvature Blend Ratio High: 0.30
Enable Advanced Lane Positioning: True
Enable Lanefull Mode: True
Custom In-Lane Offset: -0.0
Low Curvature PID Gain: 2.0

I am not sure how they will work with WD40 though.

my understanding of lanefull was that it works for the legacy models but for e2e models, they’re all laneless

I might be misinterpreting:

when I get back from my trip I’m going to retry default and recalibrate before tuning.

tbh cd210 “felt” the best to me so far (all default settings) but I didn’t recalibrate

 

[Ajzride]

my understanding of lanefull was that it works for the legacy models but for e2e models, they’re all laneless

I might be misinterpreting:

when I get back from my trip I’m going to retry default and recalibrate before tuning.

tbh cd210 “felt” the best to me so far (all default settings) but I didn’t recalibrate

comma switched the output of the model to be “laneless“. However, BluePilot adds back a lanefull mode using the extra signals ford has.

 

[B177y]

comma switched the output of the model to be “laneless“. However, BluePilot adds back a lanefull mode using the extra signals ford has.

You can take the engineer away from the Comma but you can't take the Comma away from the Engineer.... Or however that saying is supposed go...

 

[BluesClues]

I fast forwarded through this:

Rewrite OS called vamOS - for faster booting and better reliability?

eSIM support coming

A look at a revamped Comma Connect - more stats for engagements and streaks for autonomy

someone built a cool road hazard marker system that can remember problem areas to train the fleet

Sunnypilot team showed some refined math for lateral and full 180 turns (???). They’re trying to merge MADS into Openpilot as well.

 

[Ajzride]

They’re trying to merge MADS into Openpilot as well.

Clarification: They are adding some hooks for MADS into upstream so that driver monitor can be smarter based on how in-control the driver is. Something I've actually been working on in my private branch.

 

[Ajzride]

Docks with integrated lightning couplers are back in the shop and should start shipping Monday.

https://bluepilot.dev/dock-order-page/

 

[ZheWiz]

Docks with integrated lightning couplers are back in the shop and should start shipping Monday.

https://bluepilot.dev/dock-order-page/

Is this the revised version with the Lightning coupler integrated with the windshield piece instead of the comma 4 piece?

 

[Ajzride]

Is this the revised version with the Lightning coupler integrated with the windshield piece instead of the comma 4 piece?

Yes.

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