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v0.8.15

commaai/openpilotv0.8.15Jul 20, 2022by adeebshihadeh

AI Summary

Introduces a new lateral controller based on wheel torque and significant navigation/UI improvements, alongside new car support.

Key Highlights

  • New lateral controller based on physical wheel torque model for smoother control.
  • New driver monitoring model covering the full interior view from the driver camera.
  • Navigation improvements showing speed limits and faster position fixes using raw GPS.
  • Multilanguage support for settings and home screen with a new font.
  • Reduced power usage and AGNOS 5 with delta updates.

New Features

  • Wheel torque lateral controller
  • Full interior view driver monitoring
  • Speed limit display while navigating
  • New font and refreshed max speed design
  • AGNOS 5 delta updates

Full Release Notes

Check out our [release blog post](https://blog.comma.ai/0815release/) for more details!

* New driving model
  * Path planning uses end-to-end output instead of lane lines at all times
  * Reduced ping pong
  * Improved lane centering
* New lateral controller based on physical wheel torque model
  * Much smoother control that's consistent across the speed range
  * Effective feedforward that uses road roll
  * Simplified tuning, all car-specific parameters can be derived from data
  * Used on select Toyota and Hyundai models at first
  * Significantly improved control on TSS-P Prius
* New driver monitoring model
  * Bigger model, covering full interior view from driver camera
  * Works with a wider variety of mounting angles
  * 3x more unique comma three training data than previous
* Navigation improvements
  * Speed limits shown while navigating
  * Faster position fix by using raw GPS measurements
* UI updates
  * Multilanguage support for settings and home screen
  * New font
  * Refreshed max speed design
  * More consistent camera view perspective across cars
* Reduced power usage: device runs cooler and fan spins less
* AGNOS 5
  * Support VSCode remote SSH target
  * Support for delta updates to reduce data usage on future OS updates
* Chrysler ECU firmware fingerprinting thanks to realfast!
* Honda Civic 2022 support
* Hyundai Tucson 2021 support thanks to bluesforte!
* Kia EV6 2022 support
* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
* Ram 1500 2019-21 support thanks to realfast!