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cylemmulo-1 / openpilot

The goal of this fork is to enhance the user driving experience for Hyundai vehicles with openpilot with modified behaviors of openpilot engagements, the Modified Assistive Driving Safety (MADS) Mode. This fork complies with Comma's safety rules as accurately as possible.

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Table of Contents

🚨 Read Before Installing 🚨

It is recommended to read this entire page before proceeding. This will ensure that you are selecting the right branch for your car to have the best driving experience.

This fork is recommended to be used for Hyundai, Kia, and Genesis (HKG) cars. 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 this fork are not liable. Use at your own risk.

🚗 Highlight Features

Driving Enhancement

🚗 Driving Enhancement

NEW❗ Modified Assistive Driving Safety (MADS)

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

  • openpilot ALC and Hyundai SCC/ACC can be engaged independently of each other
  • LFA button (only on newer HKG vehicles) or CRUISE (MAIN) button toggles openpilot ALC
  • SET- button enables Hyundai SCC/ACC
  • CANCEL button only disables Hyundai SCC/ACC
  • CRUISE (MAIN) button disables openpilot completely when OFF (strictly enforced in panda safety code)
  • BRAKE pedal press will pause openpilot ALC; BRAKE pedal release will resume openpilot ALC
  • GAS pedal press will not disengage openpilot ALC or Hyundai SCC/ACC
  • TURN SIGNALS (Left or Right) will pause openpilot ALC if the vehicle speed is below the threshold for openpilot Automatic Lane Change
  • Event audible alerts are more relaxed to match Hyundai stock behavior

(WIP) NEW❗ Dynamic Lane Profile Change (DLPC)

Dynamic Lane Profile Change (DLPC) aims to provide the best driving experience with staying within the lane confidently. Dynamic Lane Profile Change allows openpilot to dynamically switch between lane profiles base on lane recognition confidence level on road.

⚒ Branch Definitions

  • 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. 🚨

📰 Recommended Branches

  • <version>-prod-mads-lfa: Contains Modified Assistive Driving Safety (MADS). For HKG vehicles with LFA button on the steering wheel.
    • Hyundai: [Sonata] 2020-2021
    • Hyundai: [Elantra] 2021
  • <version>-prod-mads-accmain: Contains Modified Assistive Driving Safety (MADS). For HKG vehicles with no LFA button and only CRUISE (MAIN) button on the steering wheel.
    • Tested vehicles (will update as more testers confirm functionallity)
      • Hyundai: [Genesis] 2015-2016
  • <version>-prod-personal-mads-sonata: sunnyhaibin's everyday use branch, contains changes and good stuff for my personal use (i.e. custom alerts, DLP, etc.) and quality-of-life features.
    • Hyundai: [Sonata N Line] 2021

Special Thanks

About

The goal of this fork is to enhance the user driving experience for Hyundai vehicles with openpilot with modified behaviors of openpilot engagements, the Modified Assistive Driving Safety (MADS) Mode. This fork complies with Comma's safety rules as accurately as possible.