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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

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

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	EyeSight	Stock	0mph	0mph
Subaru	Impreza 2017-19	EyeSight	Stock	0mph	0mph

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	Outback 2015-19	EyeSight	Stock	0mph	0mph

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

Control over the steering wheel.

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

0 mph minimum speed for lateral control

Control over the gas and brakes.

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

Eyesight ACC stops the car, and on supported models¹ will engage brake hold for up to 2 minutes, after which, the park brake will be engaged. Resuming ACC is a manual operation at this time. Automatic resume is not implemented yet.

^{1 - Supported models include those with an electic park brake. If your vehicle has a traditional handbrake, your hold will only last for a couple seconds before the vehicle will begin to coast.}

Subaru harness install

• 2018 Subaru Crosstrek (global)
• 2018 Subaru Legacy (pre-global)

Drives

• 2018 Subaru Crosstrek City Drive Timelapse
• 2018 Subaru Impreza City Drive Timelapse

Make	Model (US Market Reference)	Supported Package	ACC	No ACC accel below	No ALC below	Comments
Subaru	Ascent 2020	EyeSight	Stock	0mph	0mph	FPv1 same as Impreza, Requires FPv2
Subaru	Crosstrek 2020	EyeSight	Stock	0mph	0mph	Different torque limits
Subaru	Crosstrek 2020 Hybrid	EyeSight	Stock	0mph	0mph	New/different hybrid signals, harness pin swap
Subaru	Forester 2020	EyeSight	Stock	0mph	0mph	CruiseControl message is not used
Subaru	Impreza 2020-2021	EyeSight	Stock	0mph	0mph	Different torque limits
Subaru	Outback 2020	EyeSight	Stock	0mph	0mph	New/different signals, harness pin swap

WIP models support is incomplete and untested

• current state https://github.com/martinl/openpilot/tree/subaru-PR-test
• open issues https://github.com/martinl/openpilot/issues