OpenPilot on the F-150 (BlueCruise alternative)

[labjr1]

I noticed an interesting anomaly with the Sunny Pilot / Ford Comfort version of code. While in experimental mode with OP longitudinal control toggled on, I found an option to change the "lane change" from "nudge" to "turn signal". It worked perfectly and I liked it better than "nudge". However I am still experiencing numerous issues (as expected in Alpha mode) with some of the OP longitudinal choices. As a result I turned off experimental mode and turned off the OP longitudinal control toggle. I did not change the "lane change" back to nudge before turning off experimental mode. Even after a reboot I continue to have lane change working in "turn signal" mode even though the option does not appear in OP until you enable experimental mode. I am very happy with the Sunny Pilot / Ford Comfort version when using Ford longitudinal controls. It is a huge step up from BlueCruise. Now that I have turn signal lane change (which uses BLIS) I am even happier. I would love to get the OP Alpha version Longitudinal controls working properly as I love the feature of it slowing down around tight curves based on map data. Unfortunately right now Alpha mode does not always want to stop and following a slower vehicle seems to be less smooth with more slight accelerations and hesitations than with Ford Longitudinal controls.

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[rwxr_xr_x]

@labjr1 I totally agree with you, and I think most of the F150 + OP users agree, that long control is iffy or F150s. I use 100% of my time only lat control on SunnyPilot with lat control to remain active even after pressing the brake pedal. I love this feature. Especially that I drive on "local" 45-50 mph roads, you don't need this if you use OP on highway mainly. The nudge-less lane change is not part of experimental or long control in SP, I use it in lat control. I switched 100% of my time to SP. The latest dev-c3, based on v2023.10.31, seems to like the "laneless" mode better than "lanefull" mode, which for me works really nice.

I'm in early stages of dev & testing of the truck reading the speed limit, as it currently does, and sending it to SunnyPilot so that we don't rely on OSM for speed limit.

 

[labjr1]

@labjr1 I totally agree with you, and I think most of the F150 + OP users agree, that long control is iffy or F150s. I use 100% of my time only lat control on SunnyPilot with lat control to remain active even after pressing the brake pedal. I love this feature. Especially that I drive on "local" 45-50 mph roads, you don't need this if you use OP on highway mainly. The nudge-less lane change is not part of experimental or long control in SP, I use it in lat control. I switched 100% of my time to SP. The latest dev-c3, based on v2023.10.31, seems to like the "laneless" mode better than "lanefull" mode, which for me works really nice.

I'm in early stages of dev & testing of the truck reading the speed limit, as it currently does, and sending it to SunnyPilot so that we don't rely on OSM for speed limit.

Do you have a URL for the latest SP with Ford Comfort or am I automatically updating (I have noticed several changes and updates but haven't check my versions yet). I will try the setting to keep SP on when using the brake. I can see where that would be hugely useful on 2 lane curvy highways where you are forced to slow down for sharp curves. I keep changing to SP long control for that type of driving currently but I have trust issues BTW you are an oracle of knowledge on this topic and I appreciate your help and guidance.

 

[rwxr_xr_x]

I will try the setting to keep SP on when using the brake.

This is would be a violation of OpenPilot security. Long Control has to be disabled when you press the brakes, but lat control doesn't have to. I'm talking about lat control, this is in "M.A.D.S" - "Steering Mode After Breaking" - and by default is ON - "Remain Active".

I normally keep the https://bit.ly/sp-f150-dev updated to the last stable dev-c3, but there are new-er changes that went into SP plus my personal dev changes in a different branch, which are not in sp-f150-dev. "sp-f150-dev" still uses an older model, Night Strike, latest SunnyPilot dev-c3 has a new-er UI and uses Lemon Pie Model. New-er model doesn't mean better behavior.

If you always want beading edge, latest SP dev-c3 + everything Ford F-150, I would recommend to have your own fork and update it as frequently as you want. My fork is a starting point with a collection of changes to bring F150 users up and running, while they get their feet wet. I still plan to update sp-f150-dev branch, but not always keep up with the latest dev-c3.

 

[labjr1]

This is would be a violation of OpenPilot security. Long Control has to be disabled when you press the brakes, but lat control doesn't have to. I'm talking about lat control, this is in "M.A.D.S" - "Steering Mode After Breaking" - and by default is ON - "Remain Active".

I normally keep the https://bit.ly/sp-f150-dev updated to the last stable dev-c3, but there are new-er changes that went into SP plus my personal dev changes in a different branch, which are not in sp-f150-dev. "sp-f150-dev" still uses an older model, Night Strike, latest SunnyPilot dev-c3 has a new-er UI and uses Lemon Pie Model. New-er model doesn't mean better behavior.

If you always want beading edge, latest SP dev-c3 + everything Ford F-150, I would recommend to have your own fork and update it as frequently as you want. My fork is a starting point with a collection of changes to bring F150 users up and running, while they get their feet wet. I still plan to update sp-f150-dev branch, but not always keep up with the latest dev-c3.

Perfect. thank you as always.

 

[Ajzride]

I have been using SP nudge less lane change for about 3 weeks now, I could never go back.

 

[AutonomousHybridF150]

Ok just spent all morning creating my own repo with OP and SP in the same repo folder. These are the most up to date versions of OpenPilot and SunnyPilot as of this morning. I updated both to include the F-150 Gen 14 Fingerprint as well as the Comfort precision settings. OpenPilot is the master ci and the SunnyPilot is the dev-c3.

The installer link is:
installer.comma.ai/crashnburn0/master-ci

or…

installer.comma.ai/crashnburn0/SP-F150-10-31-23

This allows me to switch between OP or SP without needing to uninstall each time. It doesn’t matter which one you install with as you can jump back and forth between the two software versions from the software tab without performing a complete uninstall.

All I know so far is the fingerprint worked for both OP and SP and I’m going for a test drive now with SP-dev-c3.

Use at your own risk!!!

 

[AutonomousHybridF150]

Ok… SP “dev-c3” using lemon pie model seems to do very well. Keep in mind I am in experimental mode with long control turned on, as well as, nearly every other toggle. lol.

I haven’t had one instance (so far) where I felt that the long control wasn’t sufficient and was going to create an accident. In fact, I have been very happy with the current driving model (long control also) on both OP and SP.

This thing is amazing! More folks need to jump on the bandwagon and get the comma 3x vs paying for blue cruise in a few months when it expires. BC sucks compared to how the Comma 3x controls the F-150 (in alpha quality even).

 

[AutonomousHybridF150]

Just posting a pic from the UI showing the two software versions that can be switched between without uninstalling if you use the installer link I put in my previous post. Again, both have the F-150 fingerprint and comfort precision set.

 

[Ajzride]

Just posting a pic from the UI showing the two software versions that can be switched between without uninstalling if you use the installer link I put in my previous post. Again, both have the F-150 fingerprint and comfort precision set.

That is slick!! Thanks.

 

[natefons]

I noticed an interesting anomaly with the Sunny Pilot / Ford Comfort version of code. While in experimental mode with OP longitudinal control toggled on, I found an option to change the "lane change" from "nudge" to "turn signal". It worked perfectly and I liked it better than "nudge". However I am still experiencing numerous issues (as expected in Alpha mode) with some of the OP longitudinal choices. As a result I turned off experimental mode and turned off the OP longitudinal control toggle. I did not change the "lane change" back to nudge before turning off experimental mode. Even after a reboot I continue to have lane change working in "turn signal" mode even though the option does not appear in OP until you enable experimental mode. I am very happy with the Sunny Pilot / Ford Comfort version when using Ford longitudinal controls. It is a huge step up from BlueCruise. Now that I have turn signal lane change (which uses BLIS) I am even happier. I would love to get the OP Alpha version Longitudinal controls working properly as I love the feature of it slowing down around tight curves based on map data. Unfortunately right now Alpha mode does not always want to stop and following a slower vehicle seems to be less smooth with more slight accelerations and hesitations than with Ford Longitudinal controls.

out of curiosity...what didn't you like about SP/OP longitude vs ford ACC longitude

 

[labjr1]

out of curiosity...what didn't you like about SP/OP longitude vs ford ACC longitude

For me the LC of SP was too abrupt in its stopping (it literally had me concerned it wasn't going to stop half the time - and occasionally I would apply the brakes before it ever reacted just out of caution). It was also not as smooth as the Ford LC when following a vehicle. You could feel minor decelerations and accelerations continuously which was annoying. Keep in mind I was running an alpha version. I loved the ability to have the system slow the vehicle down automatically for sharp curves that was part of the SP LC but acceleration once through the curve was too slow and left me holding up traffic.

 

[labjr1]

Strange question no matter the version of SP, I am unable to disable MADS. Even if I delete the software and reload. I am not thrilled with keeping lane centering enabled after braking and I cannot turn it or MADS off. Any thoughts?

 

[Ajzride]

Strange question no matter the version of SP, I am unable to disable MADS. Even if I delete the software and reload. I am not thrilled with keeping lane centering enabled after braking and I cannot turn it or MADS off. Any thoughts?

I think there are quite a few changes to get stock OP behavior. I'll grab some screenshots and shoot them to you in a DM.

 

[Fourthewin]

Ok… SP “dev-c3” using lemon pie model seems to do very well. Keep in mind I am in experimental mode with long control turned on, as well as, nearly every other toggle. lol.

I haven’t had one instance (so far) where I felt that the long control wasn’t sufficient and was going to create an accident. In fact, I have been very happy with the current driving model (long control also) on both OP and SP.

This thing is amazing! More folks need to jump on the bandwagon and get the comma 3x vs paying for blue cruise in a few months when it expires. BC sucks compared to how the Comma 3x controls the F-150 (in alpha quality even).

How does it do in experimental? We found on previous builds it would stop in the middle of an intersection or race up on the bumper of another vehicle.

I’m really looking forward to Taco Bell runs.

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