Comma AI self driver assistant

[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.

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[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.

 

[UncleTony]

Hey all, I’m officially sold out of the 180 couplers as of today. If you place an order this coming week, they may be delayed the full week lead time. DHL has them estimated to arrive on the 28th, but they generally arrive a lot sooner than stated once they are in Texas (which they have been since Thursday).
Best case, I will have them Monday morning and can ship them then, worst case, I’ll have them Saturday the 28th and I can ship them that day with the fastest method possible that won’t break the bank.

 

[Ajzride]

Guess I forgot to post this yesterday:

BluePilot 6.0 has Exited Beta Testing and is Now Available for General Use

https://bluepilot.dev/2026/03/26/the-beginners-guide-to-bluepilot-on-ford-vehicles/

 

[tatanka]

Thank you for the excellent knowledge base in this forum.

I just finished my install of the Comma 4 in my F150 Lightning (2022, Lariat trim). I used the coupler from Uncle Tony and the sliding dock. The comma 4 shipped with the Q4 harness and 2 cables (one short, one long). I used the long cable from the harness to the connector, and the short cable from the connector to the dock. After installing the harness as per Ajzride’s video, and prior to sliding in the Comma, I received the following warning:

“Electrical system drain, Service Required”

The warning persists each time I start the vehicle.

Any suggestions as to the cause and recommended fix? Looking online it looks like I should use a shorter cable, but that may not be specific for my issue.

 

[Ajzride]

Thank you for the excellent knowledge base in this forum.

I just finished my install of the Comma 4 in my F150 Lightning (2022, Lariat trim). I used the coupler from Uncle Tony and the sliding dock. The comma 4 shipped with the Q4 harness and 2 cables (one short, one long). I used the long cable from the harness to the connector, and the short cable from the connector to the dock. After installing the harness as per Ajzride’s video, and prior to sliding in the Comma, I received the following warning:

“Electrical system drain, Service Required”

The warning persists each time I start the vehicle.

Any suggestions as to the cause and recommended fix? Looking online it looks like I should use a shorter cable, but that may not be specific for my issue.

This just means your 12v battery is on the fritz. The only thing you can really do from the comma standpoint is to set it to power off after being idle for an hour.

 

[tatanka]

This just means your 12v battery is on the fritz. The only thing you can really do from the comma standpoint is to set it to power off after being idle for an hour.

Perfect. Will do.

(I see a 12v battery replacement in my future!)

Thank you again!

 

[Lake Placid Lightning]

I installed bp-6.0.1-beta when initially setting up my C4 last week.

Is there any reason I should install the new BluePilot 6.0 instead of keeping 6.0.1 beta?

 

[Ajzride]

I installed bp-6.0.1-beta when initially setting up my C4 last week.

Is there any reason I should install the new BluePilot 6.0 instead of keeping 6.0.1 beta?

The beta won't be getting any more bug fixes.

Currently, the only fix of note in bp-6.0 that is not in the beta is something to remove lock files on boot.

I wouldn't say it is urgent to update, but I would do it when it's convenient.

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