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Open Pilot Comma 2

Discussion in 'Prime Accessories and Modifications' started by High Mileage, Jun 10, 2020.

  1. High Mileage

    High Mileage Active Member

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    Mistermojorizin, I am still on 7.6.1. My unit was one of the ones that shipped out with incorrect firmware and was not running the fan:( and necessitated the emergency update.
    My work schedule gives me time to eat-sleep-work. My shift ends on Wednesday. I will try then to see about Putty SSH or workbench and try out Erich's 7.6 fork without ZSS while waiting for return of the SDSU and the new ZSS. Cirruspete lives 5 miles or so from me and hopefully we can work together and learn.
    I need to go Erich, is on discord with a starting statement "I feel like you didn't understand much of what I said"...….. I think I am about to get chewed out some more.
     
  2. mistermojorizin

    mistermojorizin Active Member

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    @High Mileage
    Oh boy. FWIW, Erich's 076 includes the fix and identifies itself as 0.7.6.1 on the device.
     
  3. robertjackson17

    robertjackson17 Junior Member

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    I think we've all had that feeling. But he's still talking to us, so we can't have pissed him off too much.
     
  4. robertjackson17

    robertjackson17 Junior Member

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    My understanding is that you have either:
    1) Toyota's Dynamic Radar Cruise Control (DRCC) allowing the steering wheel button to vary the following distance, or
    2) OpenPilot longitudinal control with OP having some parameters that control the following distance (and the steering wheel button has no effect).

    The various set-up combinations are:
    A) Without OP connected and with a regular DSU (or with an SDSU), you are always in scenario 1. This is Toyota's DRCC.

    B) With OP and with a regular DSU, you always had scenario 1.

    C) With OP and an unplugged DSU, you get scenario 2 (and lose emergency braking).

    D) With OP and the SDSU, you get scenario 2.

    I only ever drove my car with set-ups A, B, and D. In terms of longitudinal control, A and B always felt the same (not surprisingly). My impression, and for my driving conditions which are mostly highways with sweeping turns, set-up D feels the smoothest. Not having the ability to vary the following distance has not been an issue.

    In a post yesterday, you mentioned something about a "switch". I'm guessing that would allow you to toggle/switch the DSU between a regular DSU and an SDSU (and thus switch between scenarios 1 and 2). That's new to me. I don't think Erich put that in mine.

    In terms of the coarseness of the lateral control, the ZSS will improve that. I don't think it will affect the hugging the left side of the lane (perhaps shifting your mount would help that?).

    I hope that answers your questions.
     
    #64 robertjackson17, Jul 7, 2020
    Last edited: Jul 7, 2020
  5. correctclick

    correctclick Junior Member

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    I was one of the early adopters of comma2 and I have it on my 2020 Prius Prime XLE.
    I drove a Model S in the past and a Model 3 in the recent past, Open Pilot is much better than Tesla Autopilot (base version and not the full self driving).

    Open pilot can handle unmarked roads, it helps you with lane change with a soft nudge (above 48 mph) and also if you apply more gas at times, it doesn’t disengage. Auto pilot is not that sophisticated.
     
  6. High Mileage

    High Mileage Active Member

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    Robertjackson17, Thank you for the information. Your statements and those from Mistermojorizin are helpful for understanding the different basic scenarios of OP.
    Right now I am running the standard version of OP 7.6.1, with no DSU and "Community Features" enabled. I had to enable Community Features to be able to use OP with the DSU missing. This is probably not a common scenario for many but it will be what I am stuck with for as long as Erich has my DSU.
    Before removing the DSU, OP would handle LAT, and DRCC would handle LONG. I was happy with the way DRCC handled LONG control. LAT was somewhat choppy, but everyone said it was due to the crappy steering angle sensor for the Prius. In my current situation when I go through turns the green steering wheel on the C2 changes to a symbol that looks like a curvy road sign. When this happens the car slows down abruptly, then accels back up, this may continue through several cycles depending on the length of the turn. Drivers behind me must think I am impaired or drunk when this is happening. I can only assume this situation is part of the Community Features since I never saw it before.
    upload_2020-7-8_7-9-5.png
    LONG control right now with OP is very different. There is no deadband, any deviation from the set speed results in extremely hard acceleration or deceleration and drive modes ECO, Normal, or PWR do not seem to have any effect.

    Robertjackson17 said "In terms of the coarseness of the lateral control, the ZSS will improve that. I don't think it will affect the hugging the left side of the lane (perhaps shifting your mount would help that?)." Once I get more proficient with SSH I hope to try some tweaking. I did get my mount more centered, previous it was 2.6 up, 2.0 right, after remount it is 2.4 up, and .1 right. This change had no effect on lane centering and hugging the left lane on long sweeping LH turns. Virtually Chris eluded to some bug in the current code that they may be working on. For me OP does a good job on harder LH or RH turns, but seems to anticipate too much on the less aggressive turns, and ends up running on the bots dots of the double yellow.

    Apparently Erich has done very few of the SDSU's with the "Switch" as it takes longer, is more involved, and he doesn't like doing it. I feel like for me its the best option to give me control over OP or DRCC having LONG control. My driving situation varies a lot and I think having the ability to select what has control over LONG is valuable. Like I said, what I have right now for LONG control is terrible for me in the foothills where I drive. For freeway driving it might be great. Maybe once I have my SDSU and can disable community features things will be great with OP controlling LONG, but with the switch I can give control to what suits the driving situation best.
    Hopefully this info is helpful now, or for someone in the future. As far as Comma and Open Pilot I wish they had a page that broke down all the slang.
    OP=open pilot, software from Comma AI that gives Level 2 (Partial Driving Automation) to your vehicle.
    COMMA 2=the latest hardware platform from Comma AI that runs the OP application. Earlier hardware called the EON? Also uses extra devices called PANDA and GIRAFFE to interact with the vehicle control area network, CAN.
    LONG=longitudinal control, acceleration/deceleration.
    LAT=lateral control, steering the vehicle left/right.
    DSU=Toyota Driver Support Unit. One module that works with radar and forward camera in control of LONG and LKA
    LKA/LDA/LDW Lane Keep(Departure) Assist(Warning)=Use steering control to help keep the vehicle in the lane. Assist actually nudges the vehicle back in the lane, not really designed to keep the vehicle centered. Warning does not move the vehicle back in the lane, only warns.
    DRCC=Dynamic Range Cruise Control=uses forward radar to control following distance to vehicle in front.
    FCW=Forward collision warning, uses forward camera to warn driver.
    AEB=Automatic emergency braking, uses forward camera to apply the brakes if a collision is imminent.

    I think I better wrap this up for now.
     
  7. mistermojorizin

    mistermojorizin Active Member

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    Interesting. Why is Tesla full driving better, you think? The stoplights and stop signs? Iwas reading that Tesla FSD still requires you totouch the wheel, which seems like a downgrade compared to OP.
     
  8. mistermojorizin

    mistermojorizin Active Member

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    @High Mileage I'm not sure community features does anything except let you use some features in some situtions. I dont think it changes the quality of OP driving itself. I could be wrong though and i hope that makes sense. Fwiw, i always had community features enabled, just in case.

    Ive personally experienced the stock op behavior youre describing, and that was all fixed by going to Erichs fork and adjusting the v_curvature multiple i was talking about earlier. Too big and it cant handle tight curves, too little and it slows down too much for long sweepers.
     
  9. correctclick

    correctclick Junior Member

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    I agree regarding the need to keep hands on the steering wheel. That’s a level down from OP. However FSD will change lanes for you without you having to check for Blind Spots and apparently it stops at red lights now. I still like my Comma2 and Open Pilot better.
     
  10. a_scalzi

    a_scalzi Junior Member

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    I have been chewed on by Erich in the past but I like working with him. He is the Prius Guru. Just be cool.
     
  11. a_scalzi

    a_scalzi Junior Member

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    @High Mileage you wrote: Maybe once I have my SDSU and can disable community features things will be great with OP controlling LONG, but with the switch I can give control to what suits the driving situation best.

    My impression is to leave community features enabled. The comma pedal, SDSU, and ZSS are considered community features. Check the WIKI at discord - Welcome - before asking a question - WIKI - Supported Cars - Toyota/Lexus - Community features. Just a suggestion.
     
  12. High Mileage

    High Mileage Active Member

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    Thanks a_scalzi, I have and will continue to search discord before I ask questions.
    I purchased a spare DSU on Ebay and put it in while I am waiting for Erich to complete my SDSU and ZSS. He said it will be a few weeks since he was out of stock on the switches.
    I am currently running Erich's 076 fork and have the SDSU plugged in so DRCC can control long. It is the best driving experience I have had so far with OP. Hopefully with the ZSS I can just enjoy the drive.
    I am not sure what changed but with installing Erich's 076 fork and performing a "Clearing Params" the issue of hugging and going over the center divider lane on long sweeping LH turns is much improved.
     
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  13. a_scalzi

    a_scalzi Junior Member

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    These are the changes to stock OP 0.7.6.1 when you downloaded Erich's 076 branch: Curvature learner, anti-slowdown fix, power mgmt., Internet requirement easing, and SnG hack. When you install ZSS it gets even smoother.
     
  14. mistermojorizin

    mistermojorizin Active Member

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    Sounds like you figured out how to SSH and install forks, but I thought I'd share I recently learned how to install some forks without needing SSH through the UI. Just uninstall OP and type the URL of the fork you want: how_to_change_openpilot_fork_via_ui · Openpilot 中文 Wiki This was something I asked about when I first got my comma 2 and no one told me about it. I'm running v 0.7.7 now and it drives a lot better because it uses a localizer (which I guess is like GPS), to make sure the car is going where it's supposed to.
     
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  15. High Mileage

    High Mileage Active Member

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    mistermojorizin, thanks for the info. Yep got the SSH done, now got to learn how to "Tweak". Still waiting for ZSS. Glad to hear 7.7 is working well, hopefully it comes out as a full release soon.
     
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  16. Chris Black

    Chris Black Junior Member

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    Looking to buy an open pilot as well (2020 xle prius prime). I have a few questions:
    - Can I buy a new dsu and send that to eric to get the upgrade, so as to have the original dsu unchange. Does anyone know where I can get one.
    - I see I do not need a ZSS, but will I need a pedal to start after stopping
    - If I do get a pedal im unclear how to connect it to a comma 2, isnt the Ethernet port being used to attach to the obd?
    - Can I use a OBD Y splitter and connect both the comma 2 and a OBDlink

    Thank you for your help with this.
     
  17. High Mileage

    High Mileage Active Member

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    Chris Black, I actually purchased 2 DSU's on Ebay by accident. I had put in an offer, and then found one buy it now cheaper, then of course offer got accepted.
    I used the DSU for a couple of weeks while Erich had mine. I had requested a "Switch" on my SDSU which took longer.
    If you want one of the ones I purchased I would love to sell one. They both came out of wrecked vehicles.
    I do not think you need a pedal, but Erich can confirm. He has some custom forks that should give you the SNG, StopNGo.
    From what I have seen people are using splitters to connect more than one device to the OBD2 port.
     
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  18. Chris Black

    Chris Black Junior Member

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    High mileage, thank you. Yes Id be interested. I will DM you
     
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  19. Hydrocket

    Hydrocket Member

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    I recently installed the Comma 2.

    So far, enjoying the functionality with the stock software.

    Is anyone using anything other version/fork you think is better? And why?

    Thanks!!
     
  20. High Mileage

    High Mileage Active Member

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    Hydrocket, I have Erich's SDSU and ZSS. The ZSS smooths out the steering control from the C2, the SDSU complements the connection of the ZSS talking to the car and some other features. I am running Erich's fork .081_ZSS and like the tuning specific to the Prius.
    I want to try a fork from Shane that allows some easy tweaking of C2 parameters. 95% of my drive is on 2 lane roads with no center divider and lots of large trucks. When I am driving I tend to hug the RH white line, when C2 drives it centers or is closer to the middle of the lane than I desire so I am hoping the "offset" tunable might improve. 85K miles on my Prime, ~34K with C2 driving.
     
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