Volkswagen
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Comma AI currently has official support for a limited number of VAG Vehicles, but a community port is available with support for most VAG MQB Vehicles, with plans to upstream more vehicles for official support in the near future. The community port is designed to support any VAG MQB vehicle with at least an ACC radar. Check the Vehicle Support section for details and caveats. For more detailed information ask at #volkswagen on comma.ai Discord.
This article is about MQB platform (2014-2021). There is a development going on for the PQ platform (2005-2014) - for more information see Volkswagen PQ.
The community port should be able to support most VAG MQB vehicles (2014-2021) .
See Volkswagen Supported Cars for details.
Vehicles on the PQ platform (2005-2014) should check out the Volkswagen PQ page.
Purchasing the comma two (c2) is the easiest way to get started.
The comma two relay box connects to the vehicle through the Driver Assistance Systems Front Camera R242 (the LKAS camera at the top center of the front windscreen). Vehicles without LKAS will not have an R242 and will be connected to the Data Bus on Board Diagnostic Interface J533 Gateway, located underneath the dash.
You will integrate at the R242 camera. You will need a comma two DevKit with the MQB Development Harness. The harness comes with the relay box that you will need. (VW Golf and MQB development car harness's are the same)
You will integrate at the J533 gateway since there is no R242 camera. You will need a comma two DevKit, a VAG J533 Harness, and a Comma Relay. Comma does not make J533 Harnesses, so you will have to make your own.
Additionally, you must recode the steering rack and instrument cluster to make the car believe it has LKAS using VCDS/OBDEleven or VCP (this allows lateral control via CAN messages to the steering rack). Modify control module 17 (instruments) and module 44 (steering assist). See this video for instructions (VCDS).
step by step guide for installing openpilot in a MK7 Golf
This has not been explored very much yet. Theoretically, you could retrofit ACC (example guide) and then continue as if your car only has ACC. It may also be possible just to do the coding of other parts for ACC (according to mqb.pl article) without the physical radar. However, this has not been tried and it is possible that an ACC fault will arise from the missing radar and other parts (engine, brakes) it would stop responding to ACC commands.
To run the Community port, you MUST install stock openpilot first.
Newer C2 ship with NEOS 15. You must have NEOS 14 for the Community port to work.
To downgrade use the following command via SSH:
cd /data && rm -rf openpilot && git clone -b release2 https://github.com/jyoung8607/openpilot && cd /data/openpilot/installer/updater && rm update.json && wget https://cdn.discordapp.com/attachments/538741329799413760/774123747257876480/update.json && reboot
Automatic URL Install
(currently broken due to the NEOS update - use the method above until the fork is updated)
If you're at the EON/Comma Two installer prompt and it's asking for a download URL, then use https://volkswagen.opcfork.org/ instead of the comma URL. Continue the install using the normal methods and instructions.
Manual Install
Alternatively, you can install the Community Port manually. Enable developer and SSH in the setting menu. Then, connect via SSH and run the following command:
cd /data && mv openpilot backup-openpilot && git clone https://github.com/jyoung8607/openpilot.git -b release2 && reboot
Integration Location
Once installed, C2/BP owners default to integrating at the R242 camera (official comma harness), grey Panda owners default to integrating at the gateway(Dream Harness/J533). If this isn't what you have, you need to SSH in and do the following as appropriate for where you are wired:
echo -n "gateway" > /data/params/d/ForceNetworkLocation
or
echo -n "camera" > /data/params/d/ForceNetworkLocation
Control over the steering wheel is provided by OpenPilot. All VAG MQB vehicles tested to-date support steering down to 0mph.
Available steering torque is adequate for most highway driving conditions. All MQB models support the exact same amount of commanded torque, but the different steering rack and suspension geometry between models can result in different effective performance.
The minimum Adaptive Cruise Control setpoint is 20mph/30kph.
Longitudinal control remains with stock Adaptive Cruise Control, although OP takes control of the engagement process for additional safety and feature needs. The exact behavior depends on whether the vehicle has "ACC High" or "ACC Low" from the factory.
These vehicles support follow-to-stop and automatic resume if the stop is less than three seconds, from the factory. OP can improve on that by resuming on behalf of the driver after longer delays by emulating repeated RES presses at standstill. "ACC high" requires an electronic parking brake, and does make use of it under certain conditions. If the vehicle in question has an EPB, chances are good it supports "ACC high".
These vehicles generally support follow-to-stop (XXX review this: maybe near-stop only) but will require the driver to take over and hold the brake after a very short delay. Resume from stop is moot as "ACC low" vehicles will not hold themselves at a stop. Any vehicles with a manual parking brake, either foot or hand-operated, will fall into this category.
*THERE ARE VARIATIONS TO BOTH VARIATIONS, This is only a basic overview.
See Volkswagen PQ page.
For general terms, go here.
| Term | Abbreviation | Definition |
|---|---|---|
| Modularer Querbaukasten / Modular Transverse Matrix | MQB | 2014-2021 Strategy for shared modular design between VAG group makes and models. MQB cars with ACC work with Openpilot. |
| Electronic Parking Brake | EPB | A handbrake system powered by electric motors. Wiki |
| Component Protection | CP | Component Protection is required on some newer parts to unlock them in working in that vehicle. |
| Adaptive cruise control | ACC | Control of the speed of the car; usually through use of radar in factory systems |
| Longitudinal | long | basically ACC but usually in the OP context |
| Lateral | lat | Control of the steering wheel |
| Lane keep assist | LKAS | Same as lat but usually in the context of the factory system |
| jyoung8607 | jyoung | First to make OP work in VW |
| Edgy | Edgy | First to make OP long work in VW PQ (2005-2014) |
- Adaptive Cruise Control retrofit – ACC on MQB
- Tutorial – Retrofiting Lane Assist | Sign Assist | Light Assist – 5Q0980653
-Set point creep: On cars where the RES button increases the cruise speed set point by 1, the set point will often go up, especially when the car in front is already moving but we aren't moving yet. Will probably be fixed in a future update by incorporating ["ESP_21"]['ESP_Haltebestaetigung'] as a condition for emulating RES presses when at a standstill.
-Radar/Vision Fusion for OP long control: Unlike some other cars, MQB cars don't give much raw Radar data. Because of this the radar fusion won't be as easy. Once OP long control is as reliable as stock radar based ACC it can still be implemented.
-Fingerprinting: On VW cars we currently only use FPv1. The current V2 is WIP.