Table of Contents

• Join our Discord
• Read Before Installing
• Installation
• Highlight Features
• Driving Enhancement
• Branch Definitions
• ✅Recommended Branches✅
• How-Tos
• 💰Donate💰
• Pull Requests
• Special Thanks
• Licensing

---

💭 Join our Discord 💭

Join sunnyhaibin's sunnypilot server!

• https://discord.gg/wRW3meAgtx

🚨 Read Before Installing 🚨

It is recommended to read this entire page before proceeding. This will ensure that you fully understand each added feature on sunnypilot and you are selecting the right branch for your car to have the best driving experience.

sunnypilot is recommended to be used for most of the following car makes' models:

• Hyundai/Kia/Genesis (HKG)
• Honda/Acura
• Toyota/Lexus
• Subaru
• Chrysler/Jeep/RAM (FCA)
• General Motors (GM)

It is a fork of comma.ai's openpilot. By installing this software, you accept all responsibility for anything that might occur while you use it. All contributors to sunnypilot are not liable. ❗Use at your own risk.❗

Safety Modifications

All official sunnypilot branches from sunnypilot's official GitHub repository strictly adhere to comma.ai's safety policy.

The following changes are a VIOLATION and ARE NOT included:

• Driver Monitoring
  • ❌ "Nerfing" or reducing monitoring bounds ❌
• Panda safety
  • ❌ No disengaging of LONGITUDINAL CONTROL (acceleration/brake) on brake pedal press ❌ (was never included in MADS)
  • ❌ Re-engaging of LONGITUDINAL CONTROL (acceleration/brake) on brake pedal release ❌ (was never included in MADS)
  • ❌ No disengaging on ACC MAIN in OFF state ❌

⚒ Installation

Comma URL (Comma 3 only quick setup)

8.14 was last updated in July 2022, many changes have been made since then so test-c3 is recommended

1. Factory reset/uninstall previous software if you already installed a branch
2. Select Custom Software
3. Input the following URL: installer.comma.ai/sunnyhaibin/test-c3

Comma 2 / non-test fork for comma 3

To install sunnypilot's fork, simply use the installer.comma.ai URL (thanks Shane!) on the setup screen for "Custom Software" after you factory reset or uninstalled sunnypilot from a previous install:

HTTPS:// prepend is required for comma 2, This is not required for comma 3!

https://installer.comma.ai/sunnyhaibin/<insert_branch_name>

For example, if you would like to install the branch for HKG:

• 0.8.12-prod-full-hkg:

  https://installer.comma.ai/sunnyhaibin/0.8.12-prod-full-hkg
  

• 0.8.12-prod-personal-hkg:

  https://installer.comma.ai/sunnyhaibin/0.8.12-prod-personal-hkg
  

🚗 Highlight Features

Driving Enhancement

• Modified Assistive Driving Safety (MADS) - sunnypilot Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC) / Smart Cruise Control (SCC) can be engaged independently of each other
  • This feature is enabled by default and can be disabled in the "sunnypilot" menu
• Dynamic Lane Profile (DLP) - Dynamically switch lane profile base on lane recognition confidence
• Enhanced Speed Control - Utilizes data from vision or OpenStreetMap to achieve dynamic speed control without user's intervention
  • Vision-based Turn Speed Control (VTSC)
  • Map-Data-based Turn Speed Control (MTSC)
  • Speed Limit control (SLC)
  • HKG only: Highway Driving Assist (HDA) status integration - on applicable HKG cars only
• Gap Adjust Cruise (GAC) - Enable the GAP/INTERVAL/DISTANCE button on the steering wheel or on screen button to adjust the cruise gap between the car and the lead car
• Quiet Drive 🤫 - Toggle to mute all notification sounds (excluding driver safety warnings)
• Auto Lane Change Timer - Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set
• Force Car Recognition (FCR) - Use a selector to force your car to be recognized by sunnypilot
• Fix sunnypilot No Offroad - Enforce sunnypilot to go offroad and turns off after shutting down the car. This feature fixes non-official devices running sunnypilot without comma power
• Enable ACC+MADS with RES+/SET- - Engage both ACC and MADS with a single press of RES+ or SET- button

Visual Enhancement

• M.A.D.S Status Icon - Dedicated icon to display M.A.D.S. engagement status
  • Green🟢: M.A.D.S. engaged
  • White⚪: M.A.D.S. suspended or disengaged
• Lane Color - Various lane colors to display real-time Lane Model and M.A.D.S. engagemenet status
  • 0.8.14 and later:
    • Blue🔵: Laneful mode, M.A.D.S. engaged
    • Green🟢: Laneless mode, M.A.D.S. engaged
  • Before and not 0.8.14:
    • Green🟢: Laneful mode, M.A.D.S. engaged
    • Red🔴: Laneless mode, M.A.D.S. engaged
  • White⚪: M.A.D.S. suspended or disengaged
  • Black⚫: M.A.D.S. engaged, steering is being manually override by user
• Developer (Dev) UI - Display various real-time metrics on screen while driving
  • 1. Enable "Show debug UI elements" in the "sunnypilot' menu
  • 2. Click on the "MAX" box on the top left of the sunnypilot display to toggle different metrics display
• Stand Still Timer - Display time spent at a stop with M.A.D.S engaged (i.e., at a stop lights, stop signs, traffic congestions)
• Braking Status - Current car speed text turns red when the car is braking by the driver or ACC/SCC

Operational Enhancement

• Fast Boot - sunnypilot will fast boot by creating a Prebuilt file
• Disable Onroad Uploads - Disable uploads completely when onroad. Necessary to avoid high data usage when connected to Wi-Fi hotspot
• Brightness Control (Global) - Manually adjusts the global brightness of the screen
• Driving Screen Off Timer - Turns off the device screen or reduces brightness to protect the screen after car starts
• Driving Screen Off Brightness (%) - When using the Driving Screen Off feature, the brightness is reduced according to the automatic brightness ratio
• Max Time Offroad - Device is automatically turned off after a set time when the engine is turned off (off-road) after driving (on-road)

🚗 Driving Enhancement

Modified Assistive Driving Safety (MADS)

The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driving experience with modified behaviors of driving assist engagements. This feature complies with comma.ai's safety rules as accurately as possible with the following changes:

• sunnypilot Automatic Lane Centering and ACC/SCC can be engaged independently of each other
• Dedicated button to toggle sunnypilot ALC:
  • CRUISE (MAIN) button: All supported cars on sunnypilot
    • LFA button: Newer HKG cars with LFA button
    • LKAS button: Honda, Toyota, Global Subaru
• SET- button enables ACC/SCC
• CANCEL button only disables ACC/SCC
• CRUISE (MAIN) must be ON to use MADS and ACC/SCC
• CRUISE (MAIN) button disables sunnypilot completely when OFF (strictly enforced in panda safety code)
• NEW❗ Disengage Lateral ALC on Brake Press Mode toggle:
  1. ON: BRAKE pedal press will pause sunnypilot Automatic Lane Centering; BRAKE pedal release will resume sunnypilot Automatic Lane Centering; BRAKE pedal release will NOT resume ACC/SCC without an explicit entry (strictly enforced in panda safety code)
  2. OFF: BRAKE pedal press will NOT pause sunnypilot Automatic Lane Centering; BRAKE pedal release will NOT resume ACC/SCC without an explicit entry (strictly enforced in panda safety code)
• TURN SIGNALS (Left or Right) will pause sunnypilot Automatic Lane Centering if the vehicle speed is below the threshold for sunnypilot Automatic Lane Change
• Event audible alerts are more relaxed to match manufacturer's stock behavior
• Critical events trigger disengagement of Automatic Lane Centering completely. The disengagement is enforced in sunnypilot and panda safety

Dynamic Lane Profile (DLP)

Dynamic Lane Profile (DLP) aims to provide the best driving experience at staying within a lane confidently. Dynamic Lane Profile allows sunnypilot to dynamically switch between lane profiles based on lane recognition confidence level on road.

There are 3 modes to select on the onroad camera screen:

• Auto Lane: sunnypilot dynamically chooses between Laneline or Laneless model
• Laneline: sunnypilot uses Laneline model only.
• Laneless: sunnypilot uses Laneless model only.

To use Dynamic Lane Profile, do the following:

1. sunnypilot Settings -> SP - Controls -> Enable Dynamic Lane Profile -> ON toggle
2. Reboot.
3. Before driving, on the onroad camera screen, toggle between the 3 modes by pressing on the button.
4. Drive. 

Enhanced Speed Control

This fork now allows supported cars to dynamically adjust the longitudinal plan based on the fetched map data. Big thanks to the Move Fast team for the amazing implementation!

Supported cars:

• sunnypilot Longitudinal Control capable
• Stock Longitudinal Control
  • Hyundai/Kia/Genesis (non CAN-FD)
  • Honda Bosch
  • Volkswagen MQB

Certain features are only available with an active data connection, via:

• comma Prime - Intuitive service provided directly by comma, or;
• Personal Hotspot - From your mobile device, or a dedicated hotspot from a cellular carrier.

Features:

• Vision-based Turn Speed Control (VTSC) - Use vision path predictions to estimate the appropriate speed to drive through turns ahead - i.e., slowing down for curves
• Map-Data-based Turn Speed Control (MTSC) - Use curvature information from map data to define speed limits to take turns ahead - i.e., slowing down for curves
  • Note: Requires data connection
• Speed Limit Control (SLC) - Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits
  • HKG only: Highway Driving Assist (HDA) status integration - on applicable HKG cars only
  • Note: Requires data connection
    • Speed Limit Offset - When Speed Limit Control is enabled, set speed limit slightly higher than the actual speed limit for a more natural drive
      • Note: Requires data connection
• Hands on Wheel Monitoring - Monitors and alerts the driver when their hands have not been on the steering wheel for an extended time

Custom Stock Longitudinal Control

While using stock Adaptive/Smart Cruise Control, Custom Stock Longitudinal Control in sunnypilot allows sunnypilot to manipulate and take over the set speed on the car's dashboard.

Supported Cars:

• Hyundai/Kia/Genesis
  • CAN platform
  • CAN-FD platform with 0x1CF broadcasted in CAN traffic
• Honda Bosch
• Volkswagen MQB

Instruction

📗 How to use Custom Longitudinal Control on sunnypilot 📗

When using Speed Limit, Vision, or Map based Turn control, you will be setting the "MAX" ACC speed on the sunnypilot display instead of the one in the dashboard. The car will then set the ACC setting in the dashboard to the targeted speed, but will never exceed the max speed set on the sunnypilot display. A quick press of the RES+ or SET- buttons will change this speed by 5 MPH or KM/H on the sunnypilot display, while a long deliberate press (about a 1/2 second press) changes it by 1 MPH or KM/H. DO NOT hold the RES+ or SET- buttons for longer that a 1 second. Either make quick or long deliberate presses only.

‼ Where to look when setting ACC speed ‼

Do not look at the dashboard when setting your ACC max speed. Instead, only look at the one on the sunnypilot display, "MAX". The reason you need to look at the sunnypilot display is because sunnypilot will be changing the one in the dashboard. It will be adjusting it as needed, never raising it above the one set on the sunnypilot display. ONLY look at the MAX speed on the sunnypilot display when setting the ACC speed instead of the dashboard!

(Courtesy instructions from John, author of jvePilot)

Gap Adjust Cruise

This fork now allows supported openpilot longitudinal cars to adjust the cruise gap between the car and the lead car.

Supported cars:

• sunnypilot Longitudinal Control capable

🚨PROCEED WITH EXTREME CAUTION AND BE READY TO MANUALLY TAKE OVER AT ALL TIMES🚨

There are 4 modes to select on the steering wheel and/or the onroad camera screen:

• Far Gap: Furthest distance - 1.8 second profile
• Normal Gap: Stock sunnypilot distance - 1.45 second profile
• Aggro Gap: Aggressive distance - 1.2 second profile
• 🚨Maniac Gap🚨: Extremely aggressive distance - 1.0 second profile

Availability

Car Make	Far Gap	Normal Gap	Aggro Gap	Maniac Gap
Honda/Acura	✅	✅	✅	⚠
Hyundai/Kia/Genesis	✅	✅	✅	⚠
Toyota/Lexus	✅	✅	✅	❌

⚒ Branch Definitions

Tag	Definition	Description
prod	Production branches	Include features that are tested by users and ready to use. ✅
staging	Staging branches	Include new features that are not tested by users. No stability guaranteed. 🚨
feature	Feature branches	Represent new features being added to the system. No stability guaranteed. 🚨
test	Test branches	For experimenting with concepts that might not get used in the project. No stability guaranteed. 🚨
develop	Development branches	All features are gathered in respective versions. Reviewed features will be committed to develop. No stability guaranteed. 🚨
full	Full Feature branches	All features inclusive within the branch.
personal	sunnyhaibin's personal branches	On top of Full Feature.
hkg	Hyundai/Kia/Genesis(HKG)-specific branches	Only for HKG cars.
honda	Honda/Acura - Specific branches	Only for Honda/Acura cars.
toyota	Toyota/Lexus - Specific branches	Only for Toyota/Lexus cars.
subaru	Subaru - Specific branches	Only for Subaru cars.
volkswagen	Volkswagen - Specific branches	Only for Volkswagen cars.

Example:

• 0.8.12-prod-full-honda: 0.8.12-based, Production, Full Feature, Honda branch
• 0.8.12-prod-personal-hkg: 0.8.12-based, Production, sunnyhaibin's personal Full Feature, Hyundai/Kia/Genesis branch

📰 Recommended Branches

Branch	Definition	Compatible Device	Changelogs
0.8.14-prod-c3	• Latest production/stable branch • Based on commaai's openpilot 0.8.14	comma three	0.8.14-prod-c3 Changelogs
test-c3	• Latest test branch with experimental features • Based on commaai's openpilot latest upstream	comma three	test-c3 Changelogs

SSH (More Versatile)

If you are looking to install sunnyhaibin's fork via SSH, run the following command in an SSH terminal after connecting to your device:

• 0.8.12-prod-full-hkg:

  cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-full-hkg --depth 1 --single-branch --recurse-submodules --shallow-submodules https://github.com/sunnyhaibin/openpilot.git openpilot; cd openpilot; reboot; sudo reboot
  

• 0.8.12-prod-personal-hkg:

  cd /data; rm -rf ./openpilot; git clone -b 0.8.12-prod-personal-hkg --depth 1 --single-branch --recurse-submodules --shallow-submodules https://github.com/sunnyhaibin/openpilot.git openpilot; cd openpilot; reboot; sudo reboot
  

After running the command to install the desired branch, reboot the comma device to ensure to take the change in effect:

1. C3: sudo reboot
2. C2 or EON: reboot

📗 How Tos 📗

How-To instructions can be found in HOW-TOS.md.

💰 Donate 💰

If you find any of the features useful, feel free to donate to support for future feature development.

Thank you for your continuous love and support! Enjoy 🥰

PayPal:

PayPal QR Code:

🎆 Pull Requests 🎆

We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

Pull requests should be against the most current prod-full branch.

🏆 Special Thanks

• spektor56
• rav4kumar
• mob9221
• briantran33
• Aragon7777
• sshane
• jung
• dri94
• JamesKGithub
• twilsonco
• martinl
• multikyd
• Move Fast GmbH
• dragonpilot
• neokii
• Aragon7777
• AlexandreSato

Licensing

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.

---