OpenPilot on the F-150 (BlueCruise alternative)

[rwxr_xr_x]

For me it works one time. Start out 40mph speed limit. Speed limit increases to 45, SP receives the new speed from the truck and adjusts. Speed limit increases to 50mph, truck sees it, no update in SP, still running 45. Speed increases to 55. Truck sees it, SP does not receive it. Still running 45. Stop the truck, reboot Comma3x, works first time then fails to read any further changes.

The speed limit displayed in the truck screen should match what is in the “Speed Limit” white box and should always be in sync. My change does now update the “max” box, only the “speed limit” box.

if you want, DM, me a route and tomorrow I’ll look at it. Don’t post your route here - since it has location info.

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[Ajzride]

For me it works one time. Start out 40mph speed limit. Speed limit increases to 45, SP receives the new speed from the truck and adjusts. Speed limit increases to 50mph, truck sees it, no update in SP, still running 45. Speed increases to 55. Truck sees it, SP does not receive it. Still running 45. Stop the truck, reboot Comma3x, works first time then fails to read any further changes.

Be more clear here. The logic rwxr put in place does nothing to change your cruise control speed (that was all existing in SunnyPilot, but was using map data), only to make sure that the Comma gets the correct speed limit from the truck (instead of map). Are you saying that the speed limit sign displayed on the Comma only updates one time, or that the cruise control set speed only adjusts one time?

 

[labjr1]

The speed sign in the comma only updates one time. The Truck changes its display with each new speed sign but only passes the first change to SP. For example the truck passes the first change from 40 to 45 mph to SP and my speed adjusts accordingly and automatcally. The next speed sign changes the speed from 45 to 50. The dash of the truck shows the change in speed limit but it does not pass that info to SP and the truck stays at 45mph.

 

[rwxr_xr_x]

The speed sign in the comma only updates one time. The Truck changes its display with each new speed sign but only passes the first change to SP. For example the truck passes the first change from 40 to 45 mph to SP and my speed adjusts accordingly and automatcally. The next speed sign changes the speed from 45 to 50. The dash of the truck shows the change in speed limit but it does not pass that info to SP and the truck stays at 45mph.

I reviewed the code that was merged into SP, and it's a bit different - I might have found the root cause - I passed along my findings and hopefully it will be fixed today. I'll let you know once this is fixed.

 

[Spiffy]

When you guys say, "For instance, if I have cruise set at 45 and the speed limit sign changes to 55 on the side of the road, the FORD WILL DETECT and send 55"
Are you saying your relying on ford's setting that recognizing signs?

I have that setting off. Speed limits change from database and I have yet to get bad info. I pass a speed sign and it and the speed limit on my speedometer changes. All from some database.

The other day I tried the setting to detect signs with vision. Didn't work well with SP.
I had long ON. experimental OFF.
Ford's ACC with SLC fought each other. Gas, brake, gas, brake.
For clarification you guys are working with Ford's speed vision detection off?

 

[labjr1]

I reviewed the code that was merged into SP, and it's a bit different - I might have found the root cause - I passed along my findings and hopefully it will be fixed today. I'll let you know once this is fixed.

Will do. Thanks!

 

[rwxr_xr_x]

Will do. Thanks!

I got confirmation that build 1083 should have a fix for the reported issue.

 

[labjr1]

Thank you sir!!

 

[labjr1]

Your changes work now. The speed limit sign (not max speed) adjusts with the changes on the Ford Dash for speed sign recognition. Thanks for all the work.

 

[Ajzride]

I wanted to take a minute and reset this thread (and expectations). There has been a lot of talk lately about the potential with a Comma3X and all of the "Full Self Driving" features they are working. Stop light recognition, speed limit adjustments, turn by turn navigation... all off that is awesome and will one day here, but the title of this thread includes "BlueCruise alternative" and so I wanted to bring it back to that for a minute and discuss what kind of alternative it really provides.

I took an 8 hour road trip yesterday and decided to put the Comma in "BC replacement mode" ie, only using SunnyPilot lateral controls (including touchless lane change), no experimental, Ford stock ACC, and see how well it really performed. I thought about making a video of the drive, but who wants to watch an 8 hour video. By time I sped it up enough that someone would actually watch it, it would be moving so fast you wouldn't be able to see my hands.

After I trashed that idea, the engineer in me took over and said the solution is graphics and bullet points. In addition to controlling our trucks, the Comma3X records every signal on the canbus and dash cam footage of the drives. Using some linux tools, we can access all of that data. Unfortunately the comma only holds about 4 hours of data (need to work on external storage), so I didn't have a full 8 hour windows to show off, but I pulled the longest single segment I had available to analyze. Below are some trends for a leg from Baytown, TX to Hammond, LA. I filled up with gas in Baytown and stopped for dinner in Hammond. I trimmed of the first and last 10 minutes of the leg because those were not interstate travel related.

The graph below is for 233 minutes of travel (Almost 4 full hours)

Travel Speed (I was moving pretty darned fast, speed limit is 75mph for a good portion of this leg):

Blinker Status (You can't move that fast and camp out in the right lane, I had to change lanes a bunch):

Wheel Touches (we have this signal from the nanny to keep hands on the wheel)

Some statistics:

• Number of wheel touches: 13, coming in bunches.
  • First group: Aggressive driving to get around two nimrods racing at 55 mph in the left two lanes (75mph zone)
  • Second group: Construction zone with very aggressive lane shifts. The old lane markings not being erased and new lane markings dropped right on top of them. There was also a touch or two in this group related to passing an 18 wheeler that was swaying, and there were no shoulders on left or right
  • Third group (only 1 touch): Had to quickly brake (disables open pilot for me) and let an 18 wheeler into the left lane due to a trooper writing a ticket on the right shoulder
  • Fourth group: Crossing the Mississippi River and navigating the I-10 / I-110 exchange. 15 years of crossing this bridge has taught me that 97% of the drivers in Baton Rouge lack the intelligence to pull this off. I wasn't even going to let OP try, not at 5:06 in the afternoon.
• Total time touching wheel: 153 seconds out of 13,980 seconds of driving (1.09% of the drive my hands were on the wheel)
• Longest time between touches: 96 minutes

Just wanted to get this out there so someone who is coming along new doesn't get overwhelmed with all of the experimental features being talked about and think this might not be for them, when all they really want is what they expected when they plopped down the coin for a blue cruise capable truck.

 

[OneFast440]

@Ajzride - Love all the facts, data you provide and the continuous updates everyone is making to this device. It's well worth the money IMO.

It's amazing on the freeways and makes long road trips very nice.

If I had to provide feedback though it does still have some room for improvement.

1. Having it do the lane changes are too abrupt and jarring for my liking. I wish there was a setting to slow this down or at least make the initial turn in less.
2. Even with Gap set to Maniac (Yes, I'm not referring to Ford stock ACC), it's very far away, too far away.
3. Blue Cruise is supposed to start moving over in the lanes when next to vehicles in 1.3. OpenPilot/SunnyPilot is not currently doing this, and I hope it comes soon in development.
4. I'm still finding myself having to manually slow down the truck for some of the sharper turn, such as interstate interchanges. I wish the visual and/or map-data option worked better to slow the vehicle down to the right max speed to make the corner. I find that it's speeding up and slowing down too erratically for my liking to keep those features on.

If we start talking about Experimental Mode and city driving, I have a much larger list but I will say again, this device is well worth it. I enjoy seeing the improvements being made regularly.

 

[Ajzride]

1. Having it do the lane changes are too abrupt and jarring for my liking. I wish there was a setting to slow this down or at least make the initial turn in less.

This is in testing now. I was using the updated code yesterday and it was much nicer than current published logic. Look for it in an update Soon"TM"

2. Even with Gap set to Maniac (Yes, I'm not referring to Ford stock ACC), it's very far away, too far away.

I agree, people still cut you off constantly, it's about a 45 meter gap at interstate speed. Once longitudinal control through open pilot gets stable we can tighten that up a little.

3. Blue Cruise is supposed to start moving over in the lanes when next to vehicles in 1.3. OpenPilot/SunnyPilot is not currently doing this, and I hope it comes soon in development.

If you are using "laneless" profile, this is sort of built in, but probably could be more aggressive. However that is a model issue we can't tune for.

4. I'm still finding myself having to manually slow down the truck for some of the sharper turn, such as interstate interchanges. I wish the visual and/or map-data option worked better to slow the vehicle down to the right max speed to make the corner. I find that it's speeding up and slowing down too erratically for my liking to keep those features on.

I find the latest version of Sunny's V-TSC works really well for this, but longitudinal control needs to get smoothed out so we can switch from Ford ACC to OP Long before we can take advantage of it.

 

[OneFast440]

Here’s a quick clip from a drive I had today.

Looking forward to the mellowed lane changes.

Yes, I’m using Laneless but I don’t ever notice it paying attention and moving within the lane with regard to vehicles next to me.

Also, I have the latest release with rwxr_xr_x speed limit sign update and it worked flawlessly! Great job!

 

[Sam Ellethy]

Here’s a quick clip from a drive I had today.

Looking forward to the mellowed lane changes.

Yes, I’m using Laneless but I don’t ever notice it paying attention and moving within the lane with regard to vehicles next to me.

Also, I have the latest release with rwxr_xr_x speed limit sign update and it worked flawlessly! Great job!

Random question, what are you using to mount the radar detector on top? I had to remove my rear view mirror mount for my R7 to install the 3x

 

[Sam Ellethy]

Hello everyone,

I couldn't resist and ended up installing the comma 3x last night. Everything went surprisingly smooth. Big shoutout to @Ajzride for his fantastic help, especially with his 3D printed sliding mount – it's a game-changer and I highly recommend it. The device isn't perfect, but honestly, it's performing really well. I'm genuinely impressed and thankful for all the effort you guys put into this. Keep up the great work!

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