Comma Ai / OpenPilot on LC (Level 2 Autonomy)
Driver School Candidate
Joined: Nov 2021
Posts: 17
Likes: 37
From: TN
I plugged in a Comma 3x today on my 21 convertible and loaded the Sunnypilot code. I've tried Corolla and IS and ES car settings, but nothing has worked yet. It's interesting to see that it does recognize the road details and creates a path, but when setting cruise control it cycles and deactivates in half a second.
Driver
Joined: Sep 2023
Posts: 86
Likes: 70
From: NC
I plugged in a Comma 3x today on my 21 convertible and loaded the Sunnypilot code. I've tried Corolla and IS and ES car settings, but nothing has worked yet. It's interesting to see that it does recognize the road details and creates a path, but when setting cruise control it cycles and deactivates in half a second.
Driver School Candidate
Joined: Nov 2021
Posts: 17
Likes: 37
From: TN
As usual, it wasn't a connection problem.
Today I succeeded in driving the 2021 LC on the Comma 3x by using the Sunnypilot fork and specifying the 2019 Toyota Avalon on the recognized car list. Worked very well on the highway, less well on city streets but well enough to proceed with a little steering assist now and then. However, braking is a problem, as it will not slow and stop when approaching cars already stopped at an intersection. I'd let it run as long as I could, eventually slamming brakes manually, so further work is required to use in town.
So the LC is available as an autopilot controlled car after all, at least in highway conditions! It does steer well and follows lanes and preceding cars exactly, which is good enough to cross the country without fatigue. In the flying business, autopilot's true use is as a mental fatigue preventer, as cars and airplanes can be operated very well by a monkey. But constant control requires constant decision making; after a only a few decisions your performance will suffer. On arrival to a congested flying or driving environment requiring rapid planning and execution to enable a landing at LAX or city downtown access, you must be sharp, so that's the true point of not being on the controls during the middle of a trip.
Hope the LC will soon join the officially supported roster.
Today I succeeded in driving the 2021 LC on the Comma 3x by using the Sunnypilot fork and specifying the 2019 Toyota Avalon on the recognized car list. Worked very well on the highway, less well on city streets but well enough to proceed with a little steering assist now and then. However, braking is a problem, as it will not slow and stop when approaching cars already stopped at an intersection. I'd let it run as long as I could, eventually slamming brakes manually, so further work is required to use in town.
So the LC is available as an autopilot controlled car after all, at least in highway conditions! It does steer well and follows lanes and preceding cars exactly, which is good enough to cross the country without fatigue. In the flying business, autopilot's true use is as a mental fatigue preventer, as cars and airplanes can be operated very well by a monkey. But constant control requires constant decision making; after a only a few decisions your performance will suffer. On arrival to a congested flying or driving environment requiring rapid planning and execution to enable a landing at LAX or city downtown access, you must be sharp, so that's the true point of not being on the controls during the middle of a trip.
Hope the LC will soon join the officially supported roster.
Driver School Candidate
Joined: Nov 2021
Posts: 17
Likes: 37
From: TN
The 2019-2022 Toyota Avalon model seems to be working well. The LC and Avalon are the same 113 inch wheelbase for one thing, though the LC is 500 lbs heavier.
It seems pre-24 LC's use the Toyota/Lexus Safety System Plus, TSS+ or LSS+, version possibly being 2, while the 24 has LSS+ version 2.5. The new version adds capability to dodge obstacles and similar high level functions. It seems previous TSS+/LSS+ cars can use OP "Experimental" features if the car's Driver Support Unit, or DSU, is unplugged...though that eliminates the original automatic emergency braking function...and then Openpilot optical following distance and auto-resume should become available. If so, an Etsy seller seems to offer a modified DSU that brings back AEB. I'll try unplugging it if I can find it, perhaps in the dash around the glovebox.
So far the autopilot is very good on the highway using the Avalon setting, fairly usable on city streets with manual assists at turns. It may be good to set a custom lateral offset to drive the car a few inches to the left, being 2.8" wider than the Avalon.
It seems pre-24 LC's use the Toyota/Lexus Safety System Plus, TSS+ or LSS+, version possibly being 2, while the 24 has LSS+ version 2.5. The new version adds capability to dodge obstacles and similar high level functions. It seems previous TSS+/LSS+ cars can use OP "Experimental" features if the car's Driver Support Unit, or DSU, is unplugged...though that eliminates the original automatic emergency braking function...and then Openpilot optical following distance and auto-resume should become available. If so, an Etsy seller seems to offer a modified DSU that brings back AEB. I'll try unplugging it if I can find it, perhaps in the dash around the glovebox.
So far the autopilot is very good on the highway using the Avalon setting, fairly usable on city streets with manual assists at turns. It may be good to set a custom lateral offset to drive the car a few inches to the left, being 2.8" wider than the Avalon.