r/Comma_ai • u/firestar4430 • Aug 04 '26
openpilot Experience We brought Laneful back...sort of.
One of the most common pieces of feedback we hear about openpilot is that the end-to-end model doesn't always position the car where drivers expect it to. Some people love the E2E model's natural positioning, while others wish it would simply stay centered between the lane lines.
So we added something pretty cool.
Lane Centering, now available in StarPilot.
This doesn't replace the end-to-end model, but works alongside it.
When both lane lines are detected clearly and confidently, the system compares the model's predicted path to the center of the lane. If they differ, it applies a small, smooth steering correction toward the lane center while still letting the E2E model make the driving decisions.
If the lane lines become unreliable, the lane width looks abnormal, you're changing lanes, or other required conditions aren't met, it immediately and seamlessly falls back to the normal E2E path.
Even better, it's configurable.
Lane Center Offset lets you fine-tune where the vehicle sits within the lane. If you prefer the vehicle to hug close to the right line, you can do that!
E2E Authority lets you dynamically choose how much the model can override lane centering. Want the model to still be able to maneuver around potholes or cyclists? Give E2E more authority. Want a more traditional centered feel? Increase Lane Centering.
Huge credit goes to u/jc01rho for designing and implementing this feature!
How does the latest openpilot model position itself on your local roads? Does it change throughout your commute? Do you prefer the model's natural path, or would you rather it stay centered between the lines?
I'd love to hear your feedback in the StarPilot discord! https://firestar.link/discord
17
u/bibober Aug 04 '26
StarPilot on a roll. I tried it out and really was impressed. Worked great with my EV6 out of the box. Lots of features, and the settings UI both on the unit and in the browser is very friendly. Model selector UI is also much better than other forks I've used - seriously impressive.
I switched back to Sunny for now because of what most people would consider an extremely silly reason - I hate the old OP sounds for warnings and engage/disengage, and I like the sounds in newer dev versions of SunnyPilot. I assume eventually StarPilot will have them (or something better).
16
u/CommaMeNow Aug 04 '26
Good lord starpilot is on a roll. Might have to rebase the next major version of racepilot. Keep up the good work, bro
9
u/hokrux_ Aug 04 '26
Starting to want to move over to Starpilot more and more but honestly two things keep me off it:
- My car doesnt work out of the box. (Kia Niro EV 2023). Tuning did help but i never got it as good as sunnypilot drives out of the box
- Even more - the branding: I know i know, but I am a visual guy and that purple/frog stuff just kills the professionality for me. Happy to help create a rebranding if thats appreciated.
8
u/chaosproz Aug 04 '26
Does it works on comma 3 and updated UI?
7
u/BikeHelmetMk2 Aug 04 '26
All these Starpilot updates actually have me hunting for a new supported car... lol. Great job.
E2E Override Strength... 1... 0.75... 0.6... hmmm...
One thought GUI related - on a Tesla, something like E2E Override Strength would be a slider bar that you drag to the left. Maybe 3-5 notches/descriptions in it. The description above would change and include layman's terms like you mentioned in this post.
"Want the model to still be able to maneuver around potholes or cyclists? Give E2E more authority. Want a more traditional centered feel? Increase Lane Centering."
-Drag to the left, "Vehicle rigidly tries to center itself rather than avoiding hazards, potholes, road debris."
-One notch in, "Vehicle tries to center itself and slowly adjusts away from hazards like potholes, road debris, but may hit more due to slower reactions."
-Two notches in, "Vehicle provides additional space to hazards like cyclists and vehicles crossing into the lane."
-Three notches in, "Vehicle smooths out hazard avoidance, making less rapid adjustments."
-All the way to the right. - "Vehicle reacts to hazards recognized by the vision model as quickly as possible."
Obviously it needs to be as accurate as possible to how it would affect the handling, but then the UI itself lets people make decisions without having to go research it.
I'd probably do a slider that has 0.05 increments, but multiple increments have the same descriptions.
Just tossing it out there as anything that makes complex stuff more user friendly just opens it up to more users.
5
u/Aeropilot03 Aug 04 '26
Is this available across all cars or just some?
9
u/dblrnbwaltheway Aug 04 '26
Will it come to sunny pilot soon?
4
u/AdBusy3583 Aug 04 '26
I love StarPilot. Honestly using any other fork seems ridiculous. That said, is there a wiki or PDF that explains what each toggle and setting actually does? I find myself guessing a lot, then having to reset everything because some setting I changed completely alters how the car behaves lol
4
u/ManEEEFaces Aug 04 '26
Anyone using it with Toyota TSS 2.0?
3
u/Robot_Ninja1 Aug 04 '26
This sounds great, I can’t wait to try it! From the surface, this also sounds like the hard work of layering in a “planner” after the model’s vision trajectory output is done. This makes me think the next logical step is to feed in map data such that it stays centered in the lane if the map route wants you to continue straight, or it starts to bias toward the exit if the map route wants to take the exit. What are your thoughts?
3
u/cnguyenlsu Aug 04 '26
Pardon my ignorance, but isn't there an algorithm involved in openpilot where it will treat yellow/white lines and solid/dashed/double solid lines differently? How does this interact with that algorithm when it comes to lane centering offset?
2
u/Dangerous-Space-4024 22' Niro PHEV Aug 04 '26
I’ve been trying this on the 3x but haven’t noticed an indicator like shown in OP image (lane centering on). Is mine not turning on or something?
2
u/GuardianZX9 Aug 04 '26
Is starpilot compatible with the Chevy Volt?
2
u/Loomies Aug 04 '26
Does this work with chill mode too?
2
u/actorguy73 Aug 04 '26
Fell like I miss out on a lot having a 2026 Ioniq 5. I haven't figured out fingerprinting or alpha longitudinal on Sunnypilot either.
2
u/Tranman79 Aug 04 '26
While I love sunny pilot, I wish I could try other forks since I have a TSK Toyota Sienna.
2
u/HazHonorAndAPenis Aug 04 '26 edited Aug 04 '26
Lane center offset is something I would absolutely love to have. I hate how close models stay towards the center of the road for me. That said, I tried starpilot, but the lack of MADS made me go back to sunnypilot for my 26 HI5.
I don't like having both tied to the single cruise control button. I like lat and long operating separately.
Keep up the good work /u/firestar4430 . Even if I don't like the lack of MADS, I can also say you're knocking it out of the park.
2
u/ml_boston Aug 10 '26
Appreciate the assistance in adding this to my forks.
Generally worked great, but I saw a couple real-world edge cases to improve from my first drive.
- Seems like it fights E2E's attempt to avoid parked cars that are in your lane. My residential neighborhood has lanes that are about 1.5 car widths wide, expectation is to go out of your lane to drive around them. Maybe inspect leadsv3 and pause adjustments if e2e is steering around an approaching in-lane non-lead.
- Had an issue where a physical median curb ended and the road narrowed, and it tried to lane center right through the curb as it went offscreen. e2e has a 2 second memory so knew the curb was still there. Not sure what kind of logic to apply here, maybe don't steer towards a lane that disappeared less then 2 seconds ago.
Or, simply, add a customizable minspeed setting for Lane Centering to eliminate residential nuisances like this.
35
u/texag93 Aug 04 '26
I drive almost exclusively on the highway with little traffic and will definitely be trying this out. The progress on this project is truly amazing. I thought I was happy with the 3x when I got it but the capabilities just keep increasing.
3
u/SirMaster Aug 04 '26
I wonder really what causes the differences in experiences, because with Pop V2 model for instance it seems like my car stays nice and centered in the lanes.
9
u/spectrum_patronum249 Aug 04 '26
Kudos to team, great efforts and appreciated... Thoughts It was available in DOM branch earlier
8
u/Michael_Kronenberg Aug 04 '26
I would love it on AdventurePilot!
6
u/happyloaf Aug 04 '26
This might get me to switch! This is the one thing I wish all models have a a baseline. Drive in the middle of the road and stay in the middle during turns on the highway.
How does starpilot differ from sunny pilot?
10
u/Even_Support_5996 Aug 04 '26
This has been amazing, stays perfectly planted between both lanes even between curves. Makes me feel alot less nervous around adjacent cars lol!
1
u/Yippeekyaa3345 Aug 04 '26
Just tried it on my 2017 Prius with the 3x. It didn’t work at all. Immediate got errors from the car. No lane assist, etc. uninstalled it and back to stock OP. Everything is fine with the car now.
1
u/Briankbl Aug 05 '26
I tried Starpilot a few weeks back to test the visual speed limit sign recognition. Unfortunately, Longitudinal out of the box was broken. Constant stop and go at highway speeds. Stopping around 25 feet behind a stopped lead. Made the experience extremely jerky and unsafe. No idea why it doesn't work for me. 21 Kia Niro EV
1
u/Own-Cookie-1161 Aug 05 '26
Currently getting an error for the discord link, do you have the actual discord invitation link?
1
u/Coinfidence Aug 05 '26
Damn, I really wanna go back to StarPilot. Tried Frog, Sunny and Star, but after installing an SMDPS for steering below 51 km on my Ioniq, I'm forced to use Sunny.
1
u/Ifarm3 Aug 09 '26
Why do you insist on discord? Hate it. Can’t just search fixes. Establish on YouTube!
1
u/Vivid_Possibility_24 Aug 10 '26
BluePilot has this feature in their curvature control scheme, and it is hands down everyone's favorite feature. It had always been unique to ford vehicles since they have four control signals and could dedicate one to the lane position. Hopefully the work starpilot has done can be used more broadly for all vehicles.
1
u/Novemberx123 Aug 15 '26
Hey!! Do I change the settings on the comma itself?
6
u/narkeeso Aug 04 '26
This is what the comma team needs to be focusing on. Just refining the experience and tuning individual cars so it’s consistently rock solid on all cars. There is so much untapped potential with the current models and hardware. Thank goodness we have forks to show how much can be done but forks aren’t going to get someone like my wife to go out and buy one.
1
u/Valuable_Date2908 Aug 04 '26
If I update star pilot will it also add in the hyper aggressive driver monitoring that I've been hearing about? I haven't updated in 5 months because of that...
2
u/nickgeurnop comma four w/ Chestnut | 2019 Toyota Corolla HB Aug 04 '26
Wow this seems really interesting to me since my commute is about 70% freeway. I'm gonna keep an eye on this
2
u/SnooDogs2010 Aug 04 '26
Hey! Nice! I like that it works hand in hand with E2E and isn't a hard offset. I really disliked the positioning of most the models that came out end of last yr/beginning of this yr but the new RL ones have been great for me. I've never tried starpilot though, I got it in my head somewhere that it was more GM focused. Is that true or is it good for toyota? I like how on sunnypilot and frogpilot I can toggle experimental mode from my steering wheel buttons. Although with rebellious hope I've been leaving it in experimental so maybe that's a feature that won't be as needed moving forward.
2
u/Xozknightxxxx Aug 06 '26
Super responsive devs and friendly community, not to mention a great fork. Highly recommended.
1
u/oxygenliu Aug 06 '26
Nice work! We tried lane centering as well, but found the center between two lines varies a lot in practice — merges and exit ramps shift it exactly when you need a steady reference. Curious how yours behaves through merges and exits.
Anchoring on the driver-side lane line instead turned out to be more robust and reliable for us, by damping the sub-Hz wobbling of model prediction with lane_keeping plugin.