v0.8.6
commaai/openpilotv0.8.6Jul 23, 2021by VirtuallyChris
AI Summary
A major overhaul of the lateral and longitudinal planning systems introduces Model Predictive Control (MPC) for smoother acceleration and refactored planner outputs.
Key Highlights
- Revamped lateral and longitudinal planners
- Refactored planner output API
- MPC for longitudinal planning
- Support for multiple new car models (Hyundai, Kia, VW, Toyota)
Breaking Changes
- Refactor planner output API to be more readable and verbose
New Features
- MPC longitudinal planning
- Hyundai Elantra Hybrid 2021 support
- Hyundai Ioniq PHEV 2020 support
- Kia Niro Hybrid 2019 support
- Škoda Octavia RS 2016 support
- Toyota Alphard 2020 support
- Volkswagen Golf SportWagen 2015 support
- Volkswagen Touran 2017 support
Full Release Notes
- Revamp lateral and longitudinal planners - Refactor planner output API to be more readable and verbose - Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate - Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother - Remove "CHECK DRIVER FACE VISIBILITY" warning - Fixed cruise fault on some TSS2.5 Camrys and international Toyotas - Hyundai Elantra Hybrid 2021 support thanks to tecandrew! - Hyundai Ioniq PHEV 2020 support thanks to YawWashout! - Kia Niro Hybrid 2019 support thanks to jyoung8607! - Škoda Octavia RS 2016 support thanks to jyoung8607! - Toyota Alphard 2020 support thanks to belm0! - Volkswagen Golf SportWagen 2015 support thanks to jona96! - Volkswagen Touran 2017 support thanks to jyoung8607!