OpenPilot 开源自动驾驶技术

openpilot 是一个开源的自动驾驶（驾驶代理）。

目前，它实行 Hondas 和 Acuras 的自适应巡航控制（ACC）和车道保持辅助系统（LKAS）的功能。 它在启动时与 Tesla Autopilot 相当，比所有其他制造商更好。

openpilot 的代码库编写得很简洁，支持快速原型开发。

支持的车型

如何让我的汽车支持 OpenPilot

如果您的汽车具有自适应巡航控制和车道保持辅助，那么您很幸运。 使用panda和cabana，您可以了解如何通过电线驾驶汽车。

目录结构：

.
├── apk                 # The apk files used for the UI
├── cereal              # The messaging spec used for all logs on EON
├── common              # Library like functionality we\'ve developed here
├── installer/updater   # Manages auto-updates of openpilot
├── opendbc             # Files showing how to interpret data from cars
├── panda               # Code used to communicate on CAN and LIN
├── phonelibs           # Libraries used on EON
├── pyextra             # Libraries used on EON
└── selfdrive           # Code needed to drive the car
    ├── assets          # Fonts and images for UI
    ├── boardd          # Daemon to talk to the board
    ├── can             # Helpers for parsing CAN messages
    ├── car             # Car specific code to read states and control actuators
    ├── common          # Shared C/C++ code for the daemons
    ├── controls        # Perception, planning and controls
    ├── debug           # Tools to help you debug and do car ports
    ├── locationd       # Soon to be home of precise location
    ├── logcatd         # Android logcat as a service
    ├── loggerd         # Logger and uploader of car data
    ├── mapd            # Fetches map data and computes next global path
    ├── orbd            # Computes ORB features from frames
    ├── proclogd        # Logs information from proc
    ├── sensord         # IMU / GPS interface code
    ├── test            # Car simulator running code through virtual maneuvers
    ├── ui              # The UI
    └── visiond         # Vision pipeline