Subaru - commaai/openpilot Wiki

Original URL: https://github.com/commaai/openpilot/wiki/Subaru

Subaru

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Make-Specific terms

For general terms, go here.

Term Abbreviation Definition
EyeSight ES Subaru's vision based adaptive cruise / emergency braking / lane keeping system
Global Platform Global Subaru's current unified platform, allowing a consistent core between different models. Lowering cost, and improving ease of development. Models using Global Platform include 2017+ Impreza, 2018+ Crosstrek, 2020+ Legacy and 2020+ Outback
Pre-Global Platform Pre-Global Refers to models with ES predating Global Platform, for example 2015-2019 Outback, 2015-2019 Legacy, 2017-2019 Forester

Supported Models

Subaru is community supported. Enable it with the toggle in Settings->Developer->Enable Community Features.

Global

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below
Subaru Ascent 2019 EyeSight Stock 0mph 0mph
Subaru Crosstrek 2018-19 EyeSight Stock 0mph 0mph
Subaru Forester 2019-21 EyeSight Stock 0mph 0mph
Subaru Impreza 2017-19 EyeSight Stock 0mph 0mph

Supported models are available in stock Openpilot https://github.com/commaai/openpilot

Additional Community Supported Models

Global

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below
Subaru Ascent 2020-21 EyeSight Stock 0mph 0mph
Subaru Crosstrek 2020-21 EyeSight Stock 0mph 0mph
Subaru Impreza 2020-21 EyeSight Stock 0mph 0mph

Pre-global

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below
Subaru Forester 2017-18 EyeSight Stock 0mph 0mph
Subaru Legacy 2015-18 EyeSight Stock 0mph 0mph
Subaru Levorg 2016 EyeSight Stock 0mph 0mph
Subaru Outback 2015-19 EyeSight Stock 0mph 0mph
Subaru WRX 2018 EyeSight Stock 0mph 0mph

Additional community supported models are available in custom fork at https://github.com/martinl/openpilot

Openpilot capabilities

Lateral control

Control over the steering wheel.

Torque

Subarus have very good torque, and works well on local and highway roads.

Minimum speeds

0 mph minimum speed for lateral control

Longitudinal control

Control over the gas and brakes.

Longitudinal control is provided by the stock system that came with the car.

Stop and go support

Eyesight ACC stops the car behind lead car. On models with electric parking brake, ACC will engage hold mode for up to 2 minutes, after which, the parking brake will be engaged. Resuming ACC is a manual operation. For traditional handbrake models, ACC is disengaged after 3 seconds after stopping.

Automatic resume for stop and go is implemented in community supported subaru-community branch.

Community videos

Subaru harness install

Drives

Work in progress

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below Comments
Subaru Crosstrek 2020 Hybrid EyeSight Stock 0mph 0mph car harness pin swap, ACC disengage on gas press does not work
Subaru Outback 2020 EyeSight Stock 0mph 0mph car harness pin swap, ACC disengage on gas press does not work

WIP models support is incomplete and untested

Harness pin swap

Following models need a pin swap on 26-pin Comma Car Harness connector

Pin swap guide