openpilot

<div align="center" style="text-align: center;">

<h1>openpilot</h1>

<p>
  <b>openpilot is an operating system for robotics.</b>
  <br>
  Currently, it upgrades the driver assistance system in 300+ supported cars.
</p>

<h3>
  <a href="https://docs.comma.ai">Docs</a>
  <span> · </span>
  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
  <span> · </span>
  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
  <span> · </span>
  <a href="https://discord.comma.ai">Community</a>
  <span> · </span>
  <a href="https://comma.ai/shop">Try it on a comma four</a>
</h3>

Quick start: `bash <(curl -fsSL openpilot.comma.ai)`

[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)

</div>

<table>
  <tr>
    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
  </tr>
</table>


Using openpilot in a car
------

To use openpilot in a car, you need four things:
1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
3. **Supported Car:** Ensure that you have one of [the 300+ supported cars](docs/CARS.md).
4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.

We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.


### Branches

Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:

| comma four branch      | comma 3X branch        | URL                                    | description                                                                         |
|------------------------|------------------------|----------------------------------------|----------------------------------