Subaru - commaai/openpilot GitHub Wiki
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 / gen1 | 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 |
| gen2 | Global gen2 | 2020+ Legacy and 2020+ Outback, Same as global gen1, except moved some messages to bus1, especially ones required for long control. Requires eyesight to be disabled to have long control (POC done). |
| Pre-Global Platform | Pre-Global | Refers to models with ES predating Global Platform, for example 2015-2019 Outback, 2015-2019 Legacy, 2017-2018 Forester |
Supported Models
Global
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | Harness |
|---|---|---|---|---|---|---|
| Subaru | Ascent 2019-21 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Crosstrek 2018-23 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | XV 2018-23 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Impreza 2017-22 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Legacy 2020-22 | EyeSight | Stock | 0mph | 0mph | B |
| Subaru | Outback 2020-22 | EyeSight | Stock | 0mph | 0mph | B |
Supported models are available in upstream openpilot https://github.com/commaai/openpilot
Openpilot supported vehicles list https://comma.ai/vehicles#subaru
Pre-global
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | Harness |
|---|---|---|---|---|---|---|
| Subaru | Forester 2017-18 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Legacy 2015-19 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Levorg 2016-20 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | Outback 2015-19 | EyeSight | Stock | 0mph | 0mph | A |
| Subaru | WRX 2016-2018 | EyeSight | Stock | 0mph | 0mph | A |
Additional community supported models are available in custom forks at https://github.com/martinl/openpilot and
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 | Subaru B harness, ACC disengage on gas press does not work |
| Subaru | Forester 2020 Hybrid | EyeSight | Stock | 0mph | 0mph | upstream PR open, needs better Cruise_Activated signal |
| Subaru | Forester 2022 | EyeSight | Stock | 0mph | 0mph | Subaru C harness, needs better Cruise_Activated signal |
| Subaru | Outback 2023 | EyeSight | TBD | TBD | TBD | Subaru D harness required |
| Subaru | Crosstrek 2024 | EyeSight | TBD | TBD | TBD | Subaru D harness required |
| Subaru | Solterra 2023 | Toyota TSS 3.0 | TBD | TBD | TBD | Toyota B harness, CAN FD |
Subaru Solterra / Toyota BZ4x notes
- Required hardware to start the car port: C3 + Red panda or C3X with built-in CAN-FD support and Toyota B harness
- LKAS is using Toyota Camera ECU with AUTOSAR SecOC digital signatures.
- Buy a vote to indicate your interest for adding support.
- openpilot discussion thread There is some indication that the signing key can be dumped from the ECU on earlier model year Solterras.
WIP models support is incomplete and untested
- current state https://github.com/martinl/openpilot/tree/subaru-community
- open issues https://github.com/martinl/openpilot/issues
Not supported models
- BRZ - does not have LKAS
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
- 2018 Subaru Crosstrek (global)
- 2018 Subaru Legacy (pre-global, using old hardware/giraffe)
- Install image for cars without enough space overhead
Drives
Harness pinouts
Subaru A to Subaru B car harness conversion
- 4 <> 8, Can0 High with Can1 High
- 6 <> 10, Can0 Low with Can1 Low
- 18 <> 22, Can1 High with Can2 High
- 20 <> 24, Can1 Low with Can2 Low
Techinfo details
| Model | MY | Market | Service manuals | Parts catalogs | EPS part no | Eyesight part no |
|---|---|---|---|---|---|---|
| Impreza | 2011 | Euro5 | G1100GE | |||
| Impreza/XV | 2012 | Euro5 | G1120GE | |||
| Impreza/XV | 2013 | Euro5 | G1140GE | P1140XGE P1140WGE P1140SGE | ||
| Impreza/XV | 2014 | Euro5 | G1175GE | P1170XGE | ||
| Impreza/XV | 2015 | Euro5 | G1210GE | P1210XGE P1210WGE P1210SGE | ||
| Impreza/XV | 2016 | Euro5 | G1250GE | |||
| XV | 2017 | Euro5 | G1290GE G1329GE G1327GE | |||
| Impreza | 2017 | Euro5 | G1300GE | |||
| Impreza/XV | 2018 | Euro5 | G1329GE | |||
| Impreza/XV | 2019 | Euro5 | G1347GE | |||
| Impreza/XV | 2020 | Euro5 | G1377GE | |||
| Impreza/XV | 2021 | Euro5 | G1410GE | |||
| Impreza/XV | 2022 | Euro5 | G1450GE | |||
| Impreza/XV | 2023 | Euro5 | N/A | |||
| Impreza/XV | 2024 | Euro5 | G1528GE |