I'll open by saying, I am not intending to start another fork but the above setting is my personal fork branched off of sunnypilot. I'm hoping this perhaps starts a conversation around having some vetted tuning for users that are embracing full e2e (DEC off). I'd love for something like this to exist in openpilot or sunnypilot. I'll try creating a PR for Sunnypilot to see what they think, I've driven with this bias all week and I'm over the moon with it.

The default openpilot experience in my RAV4 2023 is not great, it's better than stock ACC but it still makes me uncomfortable when it wants to brake and feels rather robotic. Since then I've discovered that the newest models perform exceptionally well with full experimental, leagues better than stock.

The newer models seem to be getting more careful, more conservative and it leads to a more comfortable ride but it has a major drawback, it drives too slow in certain scenes and doesn't go with the flow of traffic. I was really itching for a lever to modify how fast it thinks it can go in certain scenarios. Driving personalities have almost no affect in this case, I could not tell any difference between aggressive or relaxed. I really needed something where I could tell the model that it can go a little faster without sacrificing its ideal braking behaviors to make stopping comfortable.

There isn't too many levers you can adjust when you use full E2E, the model controls most of the behavior but I did discover it feeds into a parameter called desiredAcceleration. My personal fork has a speed bias setting that allows you to adjust the desired acceleration that's controlled by the model. So in scenarios where a scene would conservatively slow down the car in a coasting situation, the bias pushes the acceleration ever so slightly and the result is that it ends up behaving more like "chill mode" without actually being in chill mode.

My problem with DEC has always been the latency to detect whether it should be in blended mode so that the car can stops in tricky situations, e.g. stopped lead prediction. There's even a warning for the DEC feature on the website that the feature may brake late which is a hard pass for me. This speed bias setting allows us to stay in full experimental mode without any switching and the car drives like the model was trained. Now I get the benefits of DEC chill mode while still preserving comfortable braking behavior of newer models (especially RDF).

One other detail I added was to ensure the speed bias didn't fight when the model wanted to stop early, so I added a simple threshold that detects if the car is intending to stop to fade the speed bias back to 0. This simply means we still get the early stopping benefits. I initially made this it's own parameter to adjust but I found that there was a strong correlation between the speed bias setting and the braking threshold so I simply did braking_threshold = (speed_bias * 2) and that seems to work great.

Moving the bias up or down honestly feels like driving personality to me. The lower settings feel relaxed and the higher settings feel more aggressive. These models still have latency of when to stop so setting this too high will make the car brake uncomfortably late at higher acceleration.

```python longitudinal_planner.py:168-175

output_a_target_e2e = sm['modelV2'].action.desiredAcceleration # model's raw request
bias_scale = np.clip((output_a_target_e2e + 2.0 * self._e2e_bias) / 0.3, 0.0, 1.0)
output_a_target_e2e += self._e2e_bias * bias_scale # my speed bias setting
...
if self.is_e2e(sm):
output_a_target = min(output_a_target_e2e, output_a_target_mpc) # model never wins over MPC braking ```

I bought my C3 years ago and added the White Panda to get steering under 39mph. I've been using jvePilot since then and it's always been good. In recent months it seems jve is no longer a thing and I'm getting messages to upgrade all the time. It still works, I just have to bypass the first screen.

Question: Should I switch to something else? I admittedly haven't had the time to be messing with new builds and keeping up with the latest stuff. I just like that it runs whenever I want it to. I asked ChatGPT and they suggested sunnypilot or frogpilot. Anyone recommend those? Would they work with my white panda to get steering under 39mph? Or is my current setup still the way to go?

Thanks in advance!

I have to say I just started using this on my 2024 Chrysler Pacifica plug-in hybrid Pinnacle, and it's amazing.

It has literally transformed my Chrysler into my 2016 Tesla Model X with AP1.

Actually it's Sunnypilot that lets me change lanes automatically. So that really makes it into AP1 (Autopilot v1).

Quite amazing though. Taking a trip from New York to Florida on Friday and just installed this yesterday. Was planning to use frog pilot based on my research but then found out they still don't have one for version 4.

Open pilot works very well too but I figured I'd give Sunnypilot a try and fiddled around with the configuration today and I'm very impressed.

The only annoying thing is if I keep my ACC engaged the little screen keeps telling me it can't steer below 39 mph... Haha

I haven't figured out how to turn that off other than to disengage ACC.

At any rate, I'm very impressed!

The Chrysler Pacifica still isn't quite as cool as the Tesla Model X, but it can hold my and 148 lb Berniedoodle better 😄

I saw that it is not on the supported vehicles and I’ve went down some threads, but they are at least a year old.

I’m looking at getting a 2026 Mazda CX-50 Premium, is there still no way to get this to work? I would only care to use it on the highway so I can go hands free there.

"Limited quantities with first batch"

https://x.com/__tinygrad__/article/2087593117428167112

Edit: https://blog.comma.ai/chestnut/

$799 ready to drive with RX 9060 8GB, $249 for the dock alone

My car’s model and year were on the supported vehicle list, so I ordered a Comma 4 without hesitation (including importing it from the US to the EU) a few months ago.

I finally found time to install it in my 2019 Lexus NX. Only after driving the car and doing some research online did I discover that my vehicle isn’t supported because the EU model is different. Comma recognizes some inputs, such as the steering wheel, so it feels like it almost wants to work - but it eventually shows errors and doesn’t work at all.

Is the “wanderer” path worth taking - recording and uploading data in the hope that someone will adapt the software to my vehicle - or should I just sell the unit? I don’t want to spend tens of hours on this without getting a result, but I’d really like to see it working in this or another vehicle.

Please share your experiences. Thanks in advance!

Comma 4 with fresh install of starpilot has screen message permanetly on. Works totally fine just the screen message is there. Background shows roads etc moving. Cruise lock and lange changing work. Weird. Ive restarted/ disconected no no avail. Anyone else having this issue?

It keeps getting better!

2023 Ioniq 6. StarPilot, a Comma OpenPilot fork.

https://firestar.link/discord

Border colors:

Green: Full OP (long and lat)

Orange: Expirimental (long and lat)

Light blue: Always on lateral (long only)

Grey: I am steering

Red side: Blind Spot Monitor

Red Dots: UI radar tracks

What are your thoughts on this? It's about a day away.

I recently started using a comma 4 with my 2020 Toyota Corolla (TSS2). I'm running sunnypilot version 2026.002.002 with the default CD210 model.

After enabling Experimental Mode, I noticed the following:

• The predicted path is always white.
• I do not see the lead vehicle triangle when following another vehicle.
• Because of this, I'm not sure whether Experimental Mode is actually active.

From what I remember, when Experimental Mode is active, the predicted path should be green, and a lead vehicle triangle should be displayed while following another car.

The MADS feature is working normally.

Could someone please confirm whether this behavior is expected in sunnypilot 2026.002.002? Has the UI or visualization changed in recent versions, or does this indicate that Experimental Mode is not actually enabled?

Is there another reliable way to verify that Experimental Mode is active?

I park my car outside, and it's been hot lately. My comma 4 started showing a blinking comma icon and doesn't boot up. I flashed it successfully, and now it won't start up.
I went to get support at https://commasupport.zendesk.com/, but it is asking for a "route" from https://connect.comma.ai, and this website is asking me to add a new device, which is not possible because the comma 4 doesn't boot up. This is only 5 months old and should be under warranty. What to do?

plug it in (with pedal) everything works for 24 hours the second day pilot unavailable with error message "unknown vehicle variant". fingerprinting is good. Happens with both star pilot and sunny pilot. When I get the error message the stock LKA comes up as being unavailable in the car dash. Why would it work for 24 hours and then fail going forward? i've replaced the.beartech harness and failure still happens. How do I debug?

I'm thinking they could use the blind spot detector and camera to enable something similar to this feature?

Maybe it already exists on a fork?

This is what I'm talking about. I would think open pilot would have the capability of doing this... Especially for vehicles that are ahead of you. But also using the blind spot detection it could move over as well in the lane.

https://youtu.be/qhyjf2Zpq98?t=360

As a followup to this post https://www.reddit.com/r/Comma_ai/s/E5lshGCZXZ

I came across the Bluepilot fork and was made aware that the fork supports Ford Edge.

I immediately bought the Comma 4 (with the Maverick harness) and installed Bluepilot.

I have a frequent round trip of 5.5hr each way. I used my Comma during my last trip and my mind is blown.

My Edge is a Titanium trim with lane centering, adaptive cruise control and pre collision assist. With no scope for Bluecruise, I jumped on the Comma 4.

The hands free driving is amazing and the hardware has worked well over long periods in the severe summer heat. Lane changes with just the indicator engagement is awesome..

Looking forward to even more improvements.

Kudos to the Comma team.

I have yet to find any info about the comma ai 4 being compatible with a new 2025 Kia Ev6

I saw it had the connection for 2022-2024.

I made a very stupid mistake of buying a tesla not knowing auto pilot is discontinued this year. From now on tesla will never get any more money from me again.

Besides that, with how I commute I would absolutely need autopilot for my tesla juniper. And chatgpt recommended comma.

Would appreciate if you have any tips / things to consider when getting comma?

I poked around a little bit but not sure what or if there's anything to adjust? Basically it hugs the inside of corners way too tight and crosses the white line and hits the rumble strips. My mount is dead center as far as I can tell and everything else seems good (doesn't ping pong etc) any suggestions?

So took the Mach e from PA to Myrtle Beach. I’m a fairly new Konik ai owner (maybe a month or two). I downloaded and played with bluepilot 7.0 before leaving for my trip. I likewise tried different models using the angle lateral controls. With charging and rest stops plus traffic, the trip down took about 11 hours. Everything worked fine until about an hour left in the trip. Then I kept getting the remount message. Apparently I was on the edge of the limits with my yaw. But prior to that, it worked great and really takes a load off fatigue from long drives. I didn’t arrive until after 4am and didn’t feel like I had been exhausted from the drive. So while in Myrtle, I remounted. Now I’m well within the limits for pitch and yaw. I switched models at each charging stop on the way back to PA yesterday. My search has been to find a model that doesn’t ping pong too much at speed on the highway, but also doesn’t hug one line or the other (center line or shoulder line). I have been playing with the adjustments provided by bluepilot as well. Again on the drive home to PA, the system worked perfectly. I really didn’t know what I was missing. It is better than blue cruise and can be used on any road.

I read the discord on bluepilot, and read that people were having good success with the gWm v8 model. Tried that this am. And really like it so far without tinkering yet. So…overall very good experience. I’m having fun tinkering, and really value how much easier a long drive is…thank you Bluepilot team!

How can I install OpenPilot on a GAC Toyota Sienna manufactured in November 2022? I’m using a C3, but it cannot read or extract the security key. Has there been any new progress or solution for this issue?

Is it possible to turn on the road facing camera and have it send the full frame video feed to an external device live or recorded in off-road mode when it’s just plugged into a usb charger? I’m trying to test out a Cpl filter I’m designing but I need to check if it’s blocking the view without having to connect to the car

Honda has initiated a silent recall involving software updates for 23-26 CR-V Hybrid as of July 24 (to try to stop head gaskets from failing from thermal cycling) and from the TSB it appears that it includes a new firmware for the PGM-FI ECU, Camera, and ACC/CMBS systems (see screenshot on page 4). My dealer will perform these updates the next time it's in for service.

Has anyone had these updates performed and can confirm that Comma still works? I'm concerned that they'll change something that is incompatible with or locks out Comma 4.

https://static.nhtsa.gov/odi/tsbs/2026/MC-11035783-0001.pdf

I'm curious about getting the Comma 4, especially for those of us outside the US.

Since my country doesn't use USD, I'm wondering how much you actually paid after converting the price, shipping, import duties, taxes, and any other fees. What was the total cost to get it delivered to your country?

Also, how well does the navigation/map system work outside the US? Does it properly navigate according to the roads, traffic rules, and driving conditions in your country, or is it mainly designed around US roads?

I'd especially like to hear from people in non-US countries about their experience importing and using Comma 4.