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My port of OpenPilot roughly works and is available here. You can see a video of my first successful drive here. To have your Chrysler be L2 self-driving, you'll need a Panda and EON from comma.ai. You'll also need to build a custom Giraffe connector. If you're interested in doing this, please email me at [email protected] and I'll help you.
There are two CAN buses I've analyzed so far:
- CAN C This is the bus exposed over OBD2. It's also on bus 0 on the forward-facing camera. Here's my DBC for it: https://github.com/adhintz/opendbc/blob/master/chrysler_pacifica_2017_hybrid.dbc
- CAN C Private Fusion Bus: This is bus 1 on the forward-facing camera. It appears to include signals for radar. Here's my DBC for it: https://github.com/adhintz/opendbc/blob/master/chrysler_pacifica_2017_hybrid_private_fusion.dbc
To read the CAN C Private Fusion Bus, you'll need to build a Giraffe that sits between the LKAS forward-facing camera (by the rear-view mirror) and the rest of the car. I've built a couple of them so far. TODO(adhintz) add plans for this.
I've been able to emulate the LKAS system and use it to turn the steering wheel at 7+ mph. Here's code to emulate the LKAS and turn the wheel to the left when you turn on the high-beam stalk: https://gist.github.com/adhintz/babd3bce87503687652b4d5e402ce130 Note that on the Giraffe you'll need to set the bus0 switches to off otherwise the real LKAS system will complain when it sees packets that it didn't send.
- Radar: Analyze the radar signals on the private fusion bus to populate OP's radar_interface.py This is partially done (see the *private_fusion.dbc) but there are still many things to figure out. Update: this is mostly done, but it'd be great if someone verifies my work because I'm not certain about all of it. c_1 appears to have LONG_DIST and LAT_DIST. d_1 has the corresponding REL_SPEED. The other c_* and d_* signals appear to follow this pattern.
- ACC: Find the adaptive cruise control signals and how it controls gas/brake.
- Park Sense: Find the Park Sense signals and use them to steer with both more torque and under 35mph.
To look up technical details (pin-outs) on electronic parts, search this site: http://connectors.dcctools.com/home.htm
For example, here's the connector for the forward-facing camera (68251812AG) that's next to the rear-view mirror: http://connectors.dcctools.com/details.htm?id=203000
Here are my guesses for the CAN signals: https://github.com/adhintz/opendbc/wiki/Chrysler-Pacifica-2017-Hybrid-DBC-guesses
CAN buses mentioned with examples:
- IHS
- sensor blind spot http://connectors.dcctools.com/details.htm?id=202861
- MODULE-VIDEO ROUTING C1 http://connectors.dcctools.com/details.htm?id=203054
- MODULE-CENTRAL VISION PROCESSING C1 http://connectors.dcctools.com/details.htm?id=203059
- CAN C ( also CAN C PRIVATE FUSION BUS )
- forward-facing camera http://connectors.dcctools.com/details.htm?id=203000
- MODULE-PARK ASSIST C1 http://connectors.dcctools.com/details.htm?id=203204
List of CAN buses based on part list: CAN C BODY, CAN C IP, CAN IHS BODY, CAN IHS IP. IHS is interior high speed (less critical systems). C is for more critical systems.
- LKAS triggers around 25seconds
- ACC buttons
- ACC buttons again
- ACC buttons and driving, includes private fusion bus
- ACC doing acceleration, include private fusion bus. Examples: one, two, three, four