I Turned my Toyota Corolla into a Self Driving Car
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- Опубликовано: 16 июл 2024
- Using a Comma Three and Openpilot from comma.ai, I gave my car advanced driver assistance abilities. Lets take it for a test drive and see what it can do.
Comma: comma.ai/
Openpilot: github.com/commaai/openpilot
0:00 Intro (What is Openpilot?)
1:58 Start test drive
5:18 Intersection Tests
9:38 Dense Backgroads
11:31 Rotaries
14:51 Outro
#Openpilot
#Self Driving Car 
Наука
Cool video! The overhead map visualization was really helpful!
Thanks! Your videos are really awesome, love those hyperlapses.
@@GreerViauhi, what fork do you use now? I've been running the stock system, I don't think it's as great, don't know what fork is best for my Toyota Corolla Hybrid 2020... What do you suggest?
You have goals. Can not wait to see where they go. Thank you.
Great job Greer.... you are going to be a big part of this revolution.
I can't wait to be watching AI racing where they have been taught to drive 140 mph
why so slow ?
@@Chris-hw4mq you want to die early?
It’s an useful video for me.
I just ordered a comma 3 for my Toyota Corolla.
This is really cool. Thanks for sharing!
Dev this project is a genius :)
I installed a Comma Two on my 2021 Prius Prime, right before a big road trip. I had a few problems, but overall the experience was amazing. My wife has commented on how much safer she feels, but still very engaged in the drive. I just upgraded to the Comma 3, and it seems less likely to overheat (the Comma Two couldn't take Texas heat like at all).
TL;DR - yes, it is chill driving and I'm obviously "all in" or I wouldn't have upgraded.
It doesnt look like it can take twisty roads, maybe on highway its great but in the city or hill terrain doesnt look good
@@Chris-hw4mqit's more likely limited by the strength of the vehicles steering. Not the software.
Texas guy here, got the 2024 Prime. Waiting for Toyota security to be hacked so I can use openpilot. The TSS 3.0 is pretty good but hate the steering wheel nag. Also really looking forward to the experimental mode.
When I first heard about comma AI I instantly bought the comma 2 when it was announced at ces and then had to get the comm three. Just the two was so good
B E S T Comma 3 review so far. You're making me get a Corolla Hybrid now.
How is it?
How is it?
Lets be hones, the real advantage of the comma is you never need to touch the steering wheel or whatever to confirm you are paying attention. No annoying beep sound every minute and so on. but keeps an eye on you if you would lose your oversight.
I kinda feel we need beacons at certain locations to update cars in real time on unusual conditions, like say if a road floods, instead of letting it blunder into it we could give the AI a heads up.
That's actually been thought about and is being developed. A few years ago when I was a research assistant I worked on a V2X (vehicle to everything) communication. One of the things we had to do was to be able to interface (in our case we only had to receive) with what are called RSUs, or Road-Side Units, which are basically radios that would be setup long places like freeways and broadcast information about what's going on, like road conditions and traffic. The standard we were using seems to ultimately have gone to the wayside in favor of CV2X, cellular V2X, and will largely use 5G cellular radios to do that sort of thing.
@@rocktheworld2k6 In the UK we have actual 360 radar sensors along some sections, they can resolve down to 1cm for car/people detection to detect broken down vehicles
@@rocktheworld2k6 The 3GPP 5G specifications incorporate low latency communications intended for V2X so it is probably just a matter of time before this becomes commonplace.
great video! you broke this down very well. Just found out about this and it blew my mind
Realized you were from Ma when I started recognizing the roads lol getting openpilot for my 2020 rolla
Wow nice one dude
Wow. So I recently took a trip to Salem, and kept thinking "this town reminds me of Salem." Saw "Mandee's Pizza" @8:25, google-mapped it, and the street view perfectly lined up. Hah. neat.
w all the hoopla over tesla... & look at this amazing video... just 7K views & only 188 likes ??? thats it ??? anyhow, this was an awesome video, thank you for doing this, all the production, its fantastic ... & wow. i have a long 4 hr drive on a basically straight stretch & this would be awesome ! ... thank you so much for posting...
The comma 2 (an older model) outperformed Tesla's FSD in every situation.
I feel like a self driving system where you know you'll have to intervene frequently is far more stressful than just driving yourself at all times.
That's why it's driver ASSIST
The disengagement rate is not what I’d describe as “frequent”.
This technology is still in it's infancy stage. In 10 or more years, this could help save lives. Expecting it to be fully self driving at this point is unrealistic but highways are were it does better.
@LifeRx ADAS has already saved my life once as a Type 1 Diabetic, specifically FSD Beta. This technology will be game changing for people with chronic medical issues or disabilities.
Yeah I agree. It's not ready for mainstream adoption. I'll wait till comma 10 comes out.
Cool, I'm thinking of getting one.
Awesome, just make sure you check their website to confirm that your car is supported, they currently support 140+ makes and models.
I loved it. I love you. FOSS car AI
How do you feel about the system after almost a year? Good purchase, waste of money? Broadly useful, or only narrowly useful?
Lane Keep Assist really struggles when the lines on the road aren't well defined or they've faded. How does this handle roads with lanes that fade in and out?
very interesting
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Your video pushed me to pull the trigger on a comma 3. Thanks!
How has it been
Have your concerns about over acceleration into turns been corrected?
freaking coollll
can you show a picture of how u're setting up ur camera to film this?
Thanks for the video! I'm about to grab a 3X for my 2019 Corolla hatchback. How has your experience been since the video and do you have any recommendations based on your experience? All the best - Jordan
My experience has been great, I use it all the time. It has gotten much better since this video, I primarily use experimental mode and the end to end model is really good. A couple issues with the end to end lateral (gas and brake) where it goes too slow for me on the highway, but it feels much more natural especially in traffic. It's only getting better though. Enjoy!
this is cool a great strest test for this software is NYC
Nice. Was about to crash in 6:13?
1:25 First time I've heard someone correctly say "OBD-C cable". Call me shocked and surprised. 😲 😀
It does not offer stereo vision as it is not used into software for this purpose. It's said from the presentation with George
The device has stereo vision capability, the software just doesn't utilize it yet
Thanks.
Did you car come with stop and go capabilities or was that added somehow? I have a 2018 corolla and my adaptive cruise only goes to about 20-30mph so i'm trying to figure out how to gain the stop and go ability as that would truly take this to another level
Get the comma
Thats very good, I expected alot worse :)
How does it know what speed to go? Can you set it to "speed" on the highway? i.e. above the speed limit?
I`m just curious about does it operates on any cars? or it can just operated on some type of car with a digital controlling system, like you wire your device and it will do the trick, then if my car doesn`t have this system and it just can`t work?
How are you using this below 25 mph? Mine only engages at 25 mph.
I went back to 8:10 to see if it was you or Comma that crowded the crosswalk. I had to give you 15 demerits Greer. That crosswalk is suppose to be clear before you cross it (In Washington State). Because it was a baby carriage I considered 15 more bonus points. Comma and Open Pilot? I'll wait for version 4.
But there were no pedestrians so it crossed it
@@mikros2430 There was a person pushing something in the crosswalk at 8:10 or so.
@unclegeorge7845 you're right, my phone for some reason when I clicked on the timestamp it went to 8:11 or 12 and I didn't see that, my mistake
How is the Comma OpenPilot working out for you these days?
Out of morbid curiosity, what would happen if the module lost its adhesion to the windshield and fell down while the car was in motion? I ask because anything I mount with a suction cup never adheres for any significant length of time. (Yes, I clean it and it still falls down!)
I guess it's always a possibility, I would be curious to know if the device has a failsafe to disengage if it experiences any erratic movement like falling down. The device isn't mounted with a suction cup though, the mount is stuck to the windshield with industrial grade 3M tape, which is very hard to remove without lots of force, even on hot days. So I wouldn't be concerned about it falling off like that, but still a good concern
@@GreerViau Glad to know I was wrong about the suction cup. The industrial 3M tape is exceptionally good, so you're right in that it probably mitigates that particular problem. (Still, it would be an interesting experiment - assuming one could do it safely)
@@jmarshallpresnell6719 Maybe Ill try it in a parking lot or something and make a video. If its not a feature already I might look into implementing it myself. Good idea!
@@GreerViau It doesn't, happened to a guy I know's car while engaged. It saw lanes in his headliner and held the wheel straight with no warning, luckily he took over. C3 and C2 have accelerometers in them iirc so only a software update off of being safer.
The speed controller need to be limited by the steering wheel angle to reduce the weird acceleration you feel
Comma is working on implementing slowdown for turns. Not a real issue on highways but for backroads it's essential.
@@GreerViau Yeah that's why the steering wheel angle is a good input to implement a simple rate limiter regarding the acceleration/speed of the car
Newer Toyota's have this as a part of the Full Speed Dynamic Radar Cruise Control - it's called turn speed reduction I believe and is in the settings on the MID in the instrument cluster. Mine has it (22 Camry Hybrid)@@GreerViau
Is possible adapt to Nissan X-Trail 2019?
Has this gotten better?
I dont know if you know but you have a very rare french-canadian/french last name
I think the reason that Openpilot continues accelerating when unable to classify a car is an issue of using the 2D drivable space. If they substituted it with the representation with an occupancy grid model, it might become better at such tasks.
At the time of this video open pilot only tracked the lead car using the cars built in radar
Interest
If Tesla is Apple (closed system) this seems like windows os for cars with all its flaws.. but can you take such risks on the road is the question.
Do i stil have Brake assist if i add coma
I noticed you weren't using your turn-signal in many situations. Would Openpilot take cues from someone that uses turn-signals?
Openpilot does have the ability to do automatic lane changes which is activated from the turn signals, but still requires the driver to nudge the wheel to start the lane change.
I have a few questions. Did you add hardware to control the steering wheel and pedals, or was there equipment already on the car? (In my country, car technology is very old and I have no information about new cars) The next question is about the driver consciousness test, what does the system do if the system detects that the driver is not conscious?
No I didnt have to add any hardware to control the wheel or pedals, all of the cars their software officially supports have Lane Keep Assist and Radar Cruise Control so the car already has hardware to control them, the device just hijacks the controls. It is possible to put hardware into older cars to be used with this, people have done it but it is much more involved and user specific. As for consciousness testing, the system warns you when you arent paying attention, and I do believe if you arent paying attention for long enough it will disengage. This makes me believe that it would disengage if the driver lost consciousness. While that sounds bad, I think that scenario is very unlikely, and it would be a bigger problem if the system didnt disengage after long enough because people could abuse it and just sleep. They would have to find a way to solve the warning beeps if they wanted to but that probably wouldnt stop them from doing it, so I think its necessary to have a repercussion for not paying attention even if its not 100% perfect.
@@GreerViau Dear friend, I am very glad that you paid attention to my question and took the time to answer it. ❤️🌹I think that in different situations, the reaction of the system should be different. That's absolutely right, you should not give control of a car to a device. This is not technically and morally acceptable. But a scenario can be considered in which the driver is in urgent need of medical attention, in this scenario the car can save a human life and stopping the car will cause his death.
@@pooriamir6553 Agreed, the challenge is distinguishing whether its an emergency and the driver is unable to take over because of it, or the driver is just abusing the system and sleeping. An interesting subject for comma.ai to think about.
@@GreerViau 🌹thank you
This is Salem, Massachusetts.
Question: I am considering this exact setup, Corolla + Comma3. How do you find visibility with the Comma3 taking up that windshield space? Is it in your line of sight or above and out of the way?
I dont find it to be an issue, it helps if you mount it as high as possible.
@@GreerViau thank you for the reply! I ordered my Comma3x the other day.
Hello ! What app are you talking about at 16:30 ? And is it publicly available?
No it was an app I built for myself to collect driving data for my own self driving car project.
I'd be happy if it could handle typical country roads (not gentle curved "country highways", but so far not a chance it appears...
It's improved a lot since this video, Ill make an update soon. Still might not be good enough for real country roads but we'll see.
What year was it?
what year is corolla
8:06 it didn't stop for the pedestrian
No promo this year and no boxing day. Also partial payement error on canadian number. It does send and accept code but not working after that. I dont think it works well with corolla hybrid as it needs more of human attention than doing things by sort of itself. Im not a fan of tesla auto pilot but i heard that is better version.
How does it turn your steering wheel and gas/brake pedal?
It connects to your cards LKA system and acts like a man in the middle, sending the same kind of commands that the cars LKA system would send.
How is the hardware holding up a year later? I had many issues with Comma 2
Still works great. The hardware is going to be more than capable for the foreseeable future. They designed the comma 3 to be capable at least until OP 1.0. They're just starting to utilize the stereo cameras.
It’s great that we have the self driving and self parking technology already. I know that someday when motor vehicles become fully autonomous self driving, people are going to trust it, laws are going to be changed and there will be no more accidents, no more speeding tickets, no more stop sign/red light running tickets, no more DUIs, no more distracted driving, no more texting while driving tickets, no more idiots swerving or drifting in & out of traffic or lanes and hopefully no more road kills either. I know that with self driving cars, everyone will have an easy way to get around, including the elderly and disabled or who ever has difficulty getting around. I know that there will be self driving trucks and RVs too. What's the point of needing a drivers license when you can get a self driving car lol? More charging stations need to be built for electric and plug in hybrid vehicles.
Its the future for sure. The end goal of saving lives on the road is very exciting, also the improved lifestyle it will offer is gonna be great. It will definitely take time for people to adopt and accept the technology, but hopefully that will improve as the technology advances and proves to be a safer alternative. But the state its at right now is super exciting. I just got back from a 300 mile, 5 hour road trip and I probably drive 5-10 minutes of that entire time.
@@GreerViau I hope that I’ll get a Tesla someday. If I win a million dollars on a scratch off lottery ticket, I’ll buy one. I want a Model 3.
^^^ This is why I am dreading my future and wish I was born before 2000, as someone who loves to *drive*. Really makes me depressed.
ok, so, you see, there is no probleme with that *camera freezing* . . . hey everyone, i'm DIED lol
Yo, upload bro
I'm nervous for you lol. 😬 is hard to trust that in city roads. Also afraid to be too relaxed and falling asleep.
Well yeah ofc
Don't sleep and drive. It's supposed to be driver assistance, not FSD.
Tesla's thing is driver assistance, and openpilot outperforms it.
It's supposed to do most of the driving for you, but you need to be aware and are in control.
What did the beeping sound mean when you were going around the rotary?
The steering wheels in cars have a physical torque limit, meaning that the motor cant turn the steering wheel faster than specified by the manufacturer. If open pilot is trying to take a sharp turn, but it cant turn the wheel fast enough, then it beeps to alert you that the turn radius is exceeded. This doesnt happen often though, the rotary is an extreme circumstance. Also if you drive slower, then it doesnt need to turn the wheel as fast and it can do sharper turns fine.
@@GreerViau Thanx for your quick response. Helpful. Amazing tech.
Does comma link up with navigation to guide its decisions on turns and things like that?
That feature is hopefully coming in the next software release
@@GreerViau that’s good to hear! I’m really salty most Kia’s require smart cruise control as an option to use comma. We have a forte with lane centering and was really hoping to add a comma 3 unit for it but it cannot manage longitudinal control only lateral. Do you know any forums or anywhere where I can find info on fitting a system to a “non compatible” car? Thanks for the response!
@@eyetvideos467 join the comma discord I'm sure someone there can help
Update??
This is the most recent of your posts I could find.
I was wondering if you had ever studied the "Dancing Links" algorithm of Donald Knuth, & if so, do you have any opinions about it's ability (or failure) to find all of a problem's possible solutions...
...& how well you feel it does at avoiding redundant solutions...
...& how well you feel it does at avoiding profitless 'dead ends' in the search tree that it builds.
The use of correction data will be very useful - driving style is important.
I don't feel comfortable installing it myself. Any suggestions on who I can pay to install it for me?
Im not sure, it really isnt that difficult to do on your own. Theres only one cable you have to disconnect from the car, the rest is just cable management and plugging in some cables. They have detailed instructions on how to install it on their website. Is there a reason you dont feel you can do it on your own?
If I can do it you can do it!
isnt the weird accerleration due to longitudenal be controlled by stock acc not OP, only latitude is openpilot for now.
No my corolla has support for openpilot ACC, but some cars dont, its all listed on the supported cars document on their github
@@GreerViau They are also working on e2e longitudenal similar to what they have done for lateral. I am really looking forward to that as it made a huge improvement to lateral in my opinion.
@@brettlynch78 My 2019 Camry Hybrid LE unfortunately only does stock ACC so once they achieve e2e longitudinal does that mean my car will work on Openpilot longitudinal instead of stock ACC?
What I wear sunglasses? Does it still see my eyes and allow driving?
yes it works with sunglasses, it still uses head pose to tell if you are paying attention.
This was two years ago and I don't expect to get any answers, but here's what bothered me about the video, Greer kept wondering which direction the car was going to go, and I was thinking, didn't he have a destination programmed in via GPS? Or doesn't it do that? Or what?
They have navigation available now, however it is experimental, a work in progress. Not ready for prime time. TBH, Openpilot is not something you would normally use in heavy city driving at this point, unless you’re one of those who likes to push the envelope. Openpilot really shines in highway use and long drives. M
I thank you for your response, but it did not answer my original question. @@Jimmy-Legs
At the time of this video openpilot didnt have navigation, it was designed to simply follow the most obvious path to drive. This works perfectly on highways where all you want to do is stay in your lane, and thats really what it is designed for but this video I was trying to test it outside of its comfort zone to see what the lane-less model could do. The current version does have navigation where you can plug in a destination and it should take the correct path based on the map.
Thank you so much for your kind reply! I really liked the video, too! @@GreerViau
How is the parking experience with it?
It doesn't do parking yet
I have a 2023 Toyota Corolla hatchback says it's not supported. unfortunate
that must be because a port for it hasnt been made yet. I know that car has been hard to get, but hopefully someone will add support for it soon.
@@GreerViau I don't see this available at all for the mazda3 hatchbacks?
@@RedCdot If its a car that was recently released, it probably wouldnt be. It takes time for either the comma team or more likely one of the contributors to get the car and add support for it.
Can the screen be turned off?
Not a stereo vision, a Wide and Narrow, close and far.
I dont believe it can be turned off, that might be a safety risk because the screen is also used for indicators and alerts. I see how people might find it distracting but you actually dont pay attention to the screen much once you get used to it.
@@GreerViau I just don't want it there at night. Have you tried it out during dark?
@@JasonCarmichael Yes, I use it all the time on night drives, works great. I understand the brightness concern but in my case my cars center console display is brighter and more distracting.
"see y'all later" indeed
They should ship it with 2 side cameras for tight turns
It has two 181 degree fov cameras, so it can already see 360 degrees around itself, side cameras wouldn't make a difference.
@@GreerViau Well yeah cause then it would be able to read corners better
can youu uuse dark sunuglassess without it crying?
ya if you wear sunglasses it just watches your head position
Can you do this on safet sense 1.5
If its the same as TSS-P then yes you can. I have comma 2 installed on my 2019 Camry Hybrid LE with TSS-P and have similar experience as in this video. Right now Im waiting for my comma 3 shipment so will end up selling my comma 2.
There will be illegal mods for "bully mode" and "getaway driver"
And by the way as a person from the UK with the most roundabouts in the world they are called roundabouts not what you called them.
Technically no, the traffic circle I went through is called a rotary. A roundabout is the more modern version of a rotary and are typically much smaller and slower with more direct traffic markings. Rotaries are much larger and allow cars to move at higher speeds.
@@GreerViau You got me there
Is this compatible with Tesla?
Yes, I believe one of the employees made a port for Tesla
beverly massachusetts
Big Question: can it be used to control Remotely from Home?
I'm looking to build a self-driving and remotely controlled cart to cut down on shipping costs.
Absolutely not
@@tannisroot That's disappointing.
Internet lag is not safe
Check out the Comma "Body" its a mobile robot platform that uses the Comma 3 camera system.
Yo do you really not have the vehicle year? Is this a 2018/9? Big sw difference. I have an '18 and wondering to trade up but no videos with the corolla 2018.
this is a 2020 corolla
Hi, is it works without LKAS and ACC ?
I don't even have a car, what the hell am I doing here
I have a question 🤔 can u put ur feet off the pedals
ya, I dont touch anything while using openpilot. It controls everything
6:12 il a faillit
How are insurance companies handling this? I worry that I’d be on the hook because insurance wouldn’t cover me in a wreck if they knew I had this.
It’s driver *assist* not an autopilot so should only add to driver safety
It is a valid concern. I'm honestly not sure cuz I think it depends on the state youre in. I know where I am in Massachusetts, insurance companies cannot deny coverage to a vehicle that has third part add-ons. Though typically those add-ons are mufflers or suspensions, and aren't driving the car, but I think the law still applies. Also it technically is an enhancement of the assist feature that is already present in the car, so I would bet its no different than if you got in an accident with the default lane keep or cruise control.
@@GreerViau LOL, someone has never dealt with a car insurance company. Technically an "enhancement" to the thing you ripped out and replaced with beta software and a third party hardware not authorized in anyway whatsoever by Toyota (congrats, you also invalidated your warranty). You are delusional if you think any regular car insurance policy is going to cover liability for accidents you cause while using an unapproved device, not to mention that one described as a beta and 'research test' device by comma (who also won't be taking any responsibility). There's a difference between denying coverage and denying claims. Learn the difference. Call your insurance and get your policy modified. Or cause a pileup send people to the hospital and lose your house. Idiot.
You won't be covered. Obviously.
@@tubbytuber I called my insurance provider and they actually said they would cover it and also implies they might pay for it
Tesla autopilot: haha I'm a better driver, I'm the only one who has autopilot
Corolla hybrid: but I have open pilot, I drive my self too
Tesla Autopilot: WHAT!?, THATS NOT FAIR, WAIT WHA?
Landline or laneless mode which one more reliable ?
Right now the landline model will keep you more centered in the lane, and that's very important so for now I would say it's more reliable than laneless. But laneless is the major focus of comma right now and once it's good enough they'll be phasing out the laneline model for laneless. But even right now laneless can do some amazing stuff
From where do u power supply the microcontroller?
its powered by the car via the OBD2 port
@@GreerViau the OBD2 provides 12V and u afterwards you feed it to a buck down converter or your microcontroller can tolerate 12V?
@@Athens1992 I believe the comma 3 runs on 12v, its not actually a micro controller its really just a linux computer
comparison to Tesla autopilot?
I bought this for my supported car and it didn't work. They offer no support and don't really stand behind their product. When it didn't work my only option was to pay them to return it. Avoid this company, they have zero support and won't help you at all.
This has not been my experience, their support team has always been super helpful with super fast response time plus they have a discord server full of useful info and members that are always willing to help. They also offer 30 day money back guarantees. They stand completely behind their product, this isn't some cheap device made by a huge company that doesn't care, they're a small team of people dedicated to their vision. Also not sure how it wouldn't work if you checked that your car was supported, what model make and year is your car? If your car is too old and doesn't have an adas system then it wouldn't be able to work in the first place, but you can also check on their website before you buy.
is this even allowed?
You should always check your state laws and regulations regarding after market products for your car but I know where I live its not a problem. ADA systems have become standardized in most modern cars, and openpilot is really just a smarter ADA system.
judging by your test now I know why so many Tesla drivers on autopilot ended up in Hospital.....
This is not Tesla's crap.
Also, it's open source so anyone can fix the bugs. Even you could do it.
The 'odd' acceleration bugs have been worked on. It's smoother and safer around corners when getting up to speed.
You just focus only the road while driving by yourself. Otherway, you focus road and ai at the same time which makes you uncomfortable :)