Volkswagen PQ - commaai/openpilot GitHub Wiki

◄ Home / ◄ Volkswagen / Volkswagen PQ

This wiki is about the Volkswagen PQ platform (excluding PQ12). For MQB vehicles see: Volkswagen page

Openpilot works great on most Volkswagen PQ vehicles. The following models have been successfully tested:

  • VW Golf MK6
  • VW Golf Estate MK6 | Jetta Sportwagen MK6
  • VW Passat B6/B7
  • VW CC (PQ)
  • Sharan MK2 7N2
  • Caddy 1.6 TDI (PQ)
  • NMS Passat
  • Audi A3 8P

Requirements:

J533 Harness from Comma Ai, Mr. One, or Konik

CANBus Gateway (must support Extended CAN):

  • 7N0907530AE
  • 7N0907530AJ
  • 7N0907530AN
  • 7N0907530AS
  • 7N0907530BC
  • 7N0907530BG
  • 7N0907530BL
  • 7N0907530BQ
  • 7N0907530BR

ABS:

  • 1K0907379|BJ|BL - MK60EC1 | H31 for ACC with Follow-to-Stop support
  • 1K0907379|CC|BS - MK60EC1 | H46 for ACC with Follow-to-Stop support or Stop & Go support
  • 5N0614109 - TRW450 for ACC with Follow-to-Stop support

Steering Rack (Gen3):

  • 1K0909144E - SW2501
  • 1K0909144M - SW3201
  • 1K0909144R - SW3501

ACC Radar (for Longitudinal control):

  • 7N0907561
  • 7E0907561

Lateral Control:

Heading Control Assist (HCA) which is used by the stock LKAS system is currently used for steering. HCA won't work down to 0 km/h without a patch flashed to the rack. 1K0 Gen 3 steering rack works and is possible to retrofit on vehicles with older Gen1/2 steering racks.

When steering via HCA then after 6 minutes (360 sec) the steering will fail for 3 seconds, this is called a "timebomb." After the 3 second lockout HCA can be resumed again for another 300 seconds. This timeout can be prevented by using PQ Flasher.

PQ has access to HCA mode 2 commonly called "HCA7" because it uses status 7 instead of status 5. HCA7 does not have a re-centering force and delivers significantly better torque than HCA5 because of that.

SW2xxx steers down to 50 km/h stock, and SW3xxx steers down to 20 km/h stock, but both can be patched to steer to 0 km/h

If your car is not fitted with factory LKAS, you will need to enable the HCA messaging receiving feature in your steering rack by editing its coding using VCDS or a similar tool like OBDeleven (this may be in adaptation on some cars such as 1K0909144M). If your rack (address 44 in VCDS) supports coding it is at byte 0, bit 4 (set it to 1). In case you need to do it via Adaptation, Select "Lane Assist" in Channel 06 from the dropdown in VCDS and set it to "1" to set it to enabled.

EEPROM of the racks can be accessed over OBD. All 1K0 steering racks can be flashed to different ROM (partial FW updates only though). Any SW2XXX can be flashed to R SW3501.

Longitudinal Control:

Gas

Acceleration is generally handled by radar on cars with ACC (or ACC retrofitted) and is the best way to control acceleration, although significant progress has been made on VoACC.

Brakes

Deceleration (braking) is done through the ABS pump which has to support ACC braking capability. The ABS can support deceleration via ACC if it can be coded for ACC.

A car with stock Follow-to-Stop and Stop-and-Go ACC will be able to brake down till 0 with through the ACC system.

Golf/A3

ACC was not factory fitted, can be retrofitted. back in my day's retrofit

Passat B6/B7

On B6 there was ACC but without FtS (follow-to-stop = braking till 0) and B7 had ACC with FtS. It is possible to retrofit B7 ACC to B6. Kamold's Passat B6 retrofit

OP Support

There are various openpilot forks tuned for particular PQ platforms, the best currently is IQ.Pilot

Notes

B7 Passat and Tiguan come with a 5N1 steering rack manufactured by APA-BS. These steering racks throw an error if no J759 LKAS camera is present and HCA is received, and there is no known way to disable the time bomb.