commaai / openpilot
commaai / openpilot
openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system in 300+ supported cars. Docs · Roadmap · Contribute · Community · Try it on a comma four Quick start: bash <(curl -fsSL openpilot.comma.ai)
openpilot 是一个机器人操作系统。目前，它为 300 多款受支持的汽车升级了驾驶辅助系统。文档 · 路线图 · 贡献 · 社区 · 在 comma four 上试用 快速开始：bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma four, available at comma.ai/shop/comma-four.
- Software: The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 300+ supported cars.
- Car Harness: You will also need a car harness to connect your comma four to your car. We have detailed instructions for how to install the harness and device in a car. Note that it’s possible to run openpilot on other hardware, although it’s not plug-and-play.
在汽车上使用 openpilot
要在汽车上使用 openpilot，你需要准备四样东西：
- 受支持的设备： 一台 comma four，可在 comma.ai/shop/comma-four 购买。
- 软件： comma four 的设置程序允许用户输入自定义软件的 URL。使用 URL
openpilot.comma.ai来安装发布版本。 - 受支持的汽车： 确保你拥有的汽车在 300 多款受支持车型之列。
- 汽车线束 (Car Harness)： 你还需要一个汽车线束将 comma four 连接到你的汽车上。我们提供了关于如何在车内安装线束和设备的详细说明。请注意，虽然可以在其他硬件上运行 openpilot，但它并非即插即用。
Branches
Running master and other branches directly is supported, but it’s recommended to run one of the following prebuilt branches:
分支
虽然支持直接运行 master 和其他分支，但建议运行以下预构建的分支之一：
| comma four branch | comma 3X branch | URL | description |
|---|---|---|---|
| release-mici | release-tizi | openpilot.comma.ai | This is openpilot’s release branch. |
| release-mici-staging | release-tizi-staging | openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
| nightly | nightly | openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
| nightly-dev | nightly-dev | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
| comma four 分支 | comma 3X 分支 | URL | 描述 |
|---|---|---|---|
| release-mici | release-tizi | openpilot.comma.ai | 这是 openpilot 的发布分支。 |
| release-mici-staging | release-tizi-staging | openpilot-test.comma.ai | 这是发布的预发布（staging）分支。使用它可以提前体验新版本。 |
| nightly | nightly | openpilot-nightly.comma.ai | 这是最前沿的开发分支。请勿期望其保持稳定。 |
| nightly-dev | nightly-dev | installer.comma.ai/commaai/nightly-dev | 与 nightly 相同，但包含针对某些车型的实验性开发功能。 |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub. Join the community Discord. Check out the contributing docs. Check out the openpilot tools. Code documentation lives at https://docs.comma.ai. Information about running openpilot lives on the community wiki. Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
开始开发 openpilot
openpilot 由 comma 和像你一样的用户共同开发。我们欢迎在 GitHub 上提交 Pull Request 和 Issue。加入社区 Discord。查看贡献文档。查看 openpilot 工具。代码文档位于 https://docs.comma.ai。关于运行 openpilot 的信息可以在社区维基中找到。想通过开发 openpilot 获得报酬吗？comma 正在招聘，并为外部贡献者提供大量赏金。
Safety and Testing
openpilot observes ISO26262 guidelines, see SAFETY.md for more details. openpilot has software-in-the-loop tests that run on every commit. The code enforcing the safety model lives in panda and is written in C, see code rigor for more details. panda has software-in-the-loop safety tests. Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes. panda has additional hardware-in-the-loop tests. We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
安全与测试
openpilot 遵循 ISO26262 指南，详情请参阅 SAFETY.md。openpilot 拥有在每次提交时运行的软件在环（software-in-the-loop）测试。执行安全模型的代码位于 panda 中并使用 C 语言编写，详情请参阅代码严谨性说明。panda 拥有软件在环安全测试。在内部，我们有一个硬件在环（hardware-in-the-loop）Jenkins 测试套件，用于构建和单元测试各种进程。panda 还有额外的硬件在环测试。我们在一个包含 10 台 comma 设备的测试柜中运行最新的 openpilot，并持续回放行驶路线。
MIT Licensed
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified. Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user. THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
MIT 许可
openpilot 在 MIT 许可下发布。软件的某些部分根据指定的其他许可发布。本软件的任何用户应赔偿并使 Comma.ai, Inc. 及其董事、高管、员工、代理人、股东、关联公司、分包商和客户免受因用户使用本软件而引起、相关或导致的任何指控、索赔、诉讼、要求、损害、责任、义务、损失、和解、判决、成本和费用（包括但不限于律师费和诉讼费）。这是仅供研究目的的 Alpha 质量软件。这不是产品。你有责任遵守当地法律法规。不提供任何明示或暗示的保证。
User Data and comma Account
By default, openpilot uploads driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone. openpilot is open source software, and users can disable data collection if they wish. openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera and microphone are only logged if you explicitly opt-in in settings. By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
用户数据与 comma 账户
默认情况下，openpilot 会将驾驶数据上传到我们的服务器。你也可以通过 comma connect 访问你的数据。我们使用你的数据来训练更好的模型并为所有人改进 openpilot。openpilot 是开源软件，用户如果愿意，可以禁用数据收集。openpilot 会记录路面摄像头、CAN 总线、GPS、IMU、磁力计、热传感器、崩溃信息和操作系统日志。驾驶员监控摄像头和麦克风仅在你于设置中明确开启时才会被记录。使用 openpilot 即表示你同意我们的隐私政策。你了解使用本软件或其相关服务将产生特定类型的用户数据，这些数据可能会由 comma 自行决定进行记录和存储。接受本协议即表示你授予 comma 使用这些数据的不可撤销、永久、全球性的权利。