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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 / 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
Modern Platform Angle-based 2023+ Global models using angle-based steering control and Subaru D harness

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

Openpilot supported vehicles list https://comma.ai/vehicles#subaru

Modern (Angle-Based Steering)

All modern US-market Subarus are angle-based steering and use the Subaru D harness.

There is no indication that modern Subaru EyeSight systems are encrypted (Except the electric vehicles, as they are rebadged Toyotas).

Confirmed Working (Forced Fingerprint Branch)

The following models have been confirmed working using a forced fingerprint branch:

  • Crosstrek 2024–2025
  • Outback 2023–2025 (3 camera modules confirmed; 2 camera module validated on 2024 Outback)
  • Outback 2022 (Australian Model - Different to USDM Outback 2022. See below for AU's Harness)
  • Impreza 2025
  • Ascent 2023,2025
  • Legacy 2022,2025(2 camera)
  • Not supported, but forks have existed which worked for them:
    • Does not work, but is possible: Forester 2023 (Pre-global, but angle-based)
  • Does not work, unconfirmed 2026 Crosstrek Hybrid

Installer branch: https://installer.comma.ai/jacobwaller/master

Required PRs for Upstream Support

Modern Subaru support requires the following PRs:

Until merged upstream, modern Subaru support requires custom branches.

Hardware Requirements

  • Comma 3X / 4
  • Subaru D harness (US variants)

Installation Notes

  • Remove the EyeSight shroud by pushing it forward (parallel to the windshield) with moderate force. This is applicable to the Subarus I have dealt with directly, but some (2023 Outback/Ascent, for example) have screws. Do not break your shroud!
  • The Subaru D connector is typically located on the left side of the EyeSight module.
  • International (non-US) Models may be different. For example, the Australian 2022 Outback needs a slightly modified harness: https://discord.com/channels/469524606043160576/525718620517564446/1464828879129678069

Example Shroud

The connector you want is behind "B". Push that shroud forward along the windshield

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

Pre-global models are upstreamed but dashcam only
https://github.com/commaai/opendbc/blob/master/opendbc/car/subaru/interface.py#L21

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 Ascent 2023 EyeSight Angle-based 0mph 0mph Subaru D harness
Subaru Outback 2023–2025 EyeSight Angle-based 0mph 0mph Subaru D harness, forced fingerprint branch functional
Subaru Crosstrek 2024–2025 EyeSight Angle-based 0mph 0mph Subaru D harness, forced fingerprint branch functional
Subaru Impreza 2025 EyeSight Angle-based 0mph 0mph Subaru D harness, forced fingerprint branch functional
Subaru Solterra 2023 Toyota TSS 3.0 TBD TBD TBD Toyota B harness, CAN FD, SecOC signed

WIP models support is incomplete and untested
https://github.com/martinl/openpilot/tree/subaru-community
https://github.com/martinl/openpilot/issues

Not supported models

  • BRZ - does not have LKAS

openpilot capabilities

Lateral control

Control over the steering wheel.

Torque (Global / Pre-global)

Older Subarus use torque-based steering control.

Angle (Modern)

Modern Subarus (2023+) use angle-based steering control.

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 a lead vehicle.

On models with electric parking brake:

  • ACC will engage hold mode for up to 2 minutes.
  • After 2 minutes, the parking brake engages.
  • Resume requires manual input.

On traditional handbrake models:

  • ACC disengages ~3 seconds after stopping.

Automatic resume for stop and go is implemented in the community-supported branch: https://github.com/martinl/openpilot/tree/subaru-community

Community videos

Subaru harness install

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