Subaru - nasser2019/CommaAi 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 | 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, 2017-2018 Forester |
Supported Models
Global
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|---|---|---|---|---|---|
| Subaru | Ascent 2019-21 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-21 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-21 | EyeSight | Stock | 0mph | 0mph |
Supported models are available in stock Openpilot https://github.com/commaai/openpilot
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
- 2018 Subaru Crosstrek (global)
- 2018 Subaru Legacy (pre-global, using old hardware/giraffe)
- Install image for cars without enough space overhead
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 |
| Subaru | Forester 2022 | EyeSight | TBD | TBD | TBD | New car harness required |
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
Harness pin swap
Following models need a pin swap on 26-pin Comma Car Harness connector
- 2020+ Outback
- 2020+ Legacy
- Crosstrek Hybrid
Pin swap guide
- 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