commaai/openpilot

openpilot is an open-source advanced driver assistance system, software that upgrades the existing driver assistance features in your car to give you a more capable hands-free driving experience. Modern cars from Toyota, Honda, Hyundai, and many other manufacturers already include lane-keeping and adaptive cruise control features, but they are often basic and limited. openpilot replaces or enhances those systems using a neural network running on a small dedicated device that plugs into your car's existing wiring harness. The system works by connecting a hardware device called the "comma four" to your car's internal communication bus, the network that lets the car's computers talk to each other. openpilot reads sensor data from the car (speed, steering angle, lane camera feeds), runs its own computer vision and control models, and sends steering and acceleration commands back through that same bus. Supported on over 300 car models, it provides features like automatic lane centering, adaptive cruise control, and automatic lane changes. Behind the scenes, openpilot is organized as a robotics operating system: multiple concurrent processes handle perception, planning, and control independently, communicating through a shared message-passing system. Safety is a core design principle, with a separate low-level component called "panda" implementing safety checks in C that are validated against automotive standards (ISO 26262). You would use openpilot if you own a supported car and want to improve its driver assistance capabilities beyond what the manufacturer provides. It requires purchasing the comma four device and a car-specific harness. Driving data is uploaded to comma.ai's servers by default to improve the models, though this can be disabled. The primary codebase is Python, with safety-critical components in C. It runs on Linux on the comma four hardware device.