LKAS AND ACC control question

Discussion in 'Prime Accessories and Modifications' started by Mikhail Bond, Dec 23, 2019.

  1. Mikhail Bond

    Mikhail Bond Junior Member

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    anyway to disable this annoying hindrance?

    I think it's absolutely baffling that factory ECU automatically cancels LKAS and ACC control when stopped for longer than 3 seconds.

    I would be perfectly content in traffic if it would stop and go by itself. I sit in LA 405 traffic. sometimes we are stopped for 30 seconds to 3 minutes. Why the hell would I want to continuously re-enable something every 3 seconds?

    anybody see something in techstream for this?
     
  2. Tideland Prius

    Tideland Prius Moderator of the North
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    ? It doesn’t cancel after 3 seconds (it says “Waiting...”). It cancels after 3 minutes of idle, the drivers door open or you shift to Park.
     
  3. Mikhail Bond

    Mikhail Bond Junior Member

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    mine says waiting, then one of two things happen.

    1. most likely scenario: it says waiting, then asks me to press the gas to resume(this interrupts my Openpilot system(comma.ai)

    2. abruptly starts beeping, stating system cannot be resumed and I have to reengage.
     
  4. Tideland Prius

    Tideland Prius Moderator of the North
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    1. Is correct. It does not have an auto resume function. Either press the accelerator or push up on the CC stalk.

    ok you’re talking about comma.ai. You can’t blame an OEM system on the function of an aftermarket system.
     
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  5. Mikhail Bond

    Mikhail Bond Junior Member

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    i just installed the unit today.

    the #2 issue was present even before the aftermarket system.
    it just says system cannot resume press the brake now(i thought this was weird because it sits still anyway)
     
  6. Tideland Prius

    Tideland Prius Moderator of the North
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    #2 shouldn’t happen unless you triggered one of the scenarios above. Haven’t you tried taking it to the dealer under warranty to get it inspected for codes or adjustment (camera or radar)?
     
  7. Mikhail Bond

    Mikhail Bond Junior Member

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    unfortunately i've hit 100k and im out of warranty now for anything but the battery
     
  8. Tha_Ape

    Tha_Ape Member

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    There's a way to enable auto resume in Open Pilot. It's literally commenting out 2 lines of code. (Not sure why it's in there). It tells the car to go into standstill mode

    Learn how to SSH into the device, then edit (I use nano) carcontroller.py and put a "#" in front of lines 178/9 in the attached pic.

    The line numbers can change, you're looking for the lines regarding "standstill".

    Then reboot and voila. The car will auto resume if the car in front of you move . It's the best part of open Pilot if you ask me... stop and go traffic sucks, but this mode makes it a lot more bearable.
     

    Attached Files:

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  9. Mikhail Bond

    Mikhail Bond Junior Member

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    thanks! i setup a linux laptop just to SSH into the device when i received it (bad panda).
    I'll do this after my trip and let you know how it goes.
     
  10. vvillovv

    vvillovv Active Member

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    nice catch @Tha_Ape ! I'll have to take a quick look at it one of these days during an update. Do you know if the release is python 2 or 3?
     
  11. illumiN8i

    illumiN8i Member

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    Tap resume on the cruise stalk instead of pressing gas pedal to avoid disengaging openpilot. You can hit resume as soon as the car comes to a stop.

    Posted via the PriusChat mobile app.
     
  12. illumiN8i

    illumiN8i Member

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    Just be aware that the openpilot auto resume code hack fails if the car is on an incline. It will just sit still and be unable to start moving by itself.

    Posted via the PriusChat mobile app.
     
    #12 illumiN8i, Dec 27, 2019
    Last edited: Dec 27, 2019
  13. vvillovv

    vvillovv Active Member

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    Does AutoPilot gracfully handle all possible resume scenarios from the stick?
    That looks to me like B mode in reverse. I have trouble always remembering to shift out of B mode and back into Drive after slowing or stopping, than continuing. Just imagine using B mode as well as AutoPilot, that is, if I'm understanding the description correctly.
     
  14. Tha_Ape

    Tha_Ape Member

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    Im not sure. Ive only edited parameters in some files. I highly suggest joining the discord community. Great folks over there with a lot more technical knowledge than me.
     
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  15. Tha_Ape

    Tha_Ape Member

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    Yes, I've only had that happen once though, at a stop light. It needs to be a pretty substantial hill. You still need to pay attention. But in most situations it's wonderful.
     
  16. illumiN8i

    illumiN8i Member

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    Yes, tapping resume as soon as the vehicle comes to a stop works perfectly fine for me with openpilot.
     
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