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A curated map of the openpilot ecosystem: forks, car ports, CAN/DBC tools, hardware, data tools, models and docs.
Status: Curated 2026-10. Contributions welcome.
Disclaimer: openpilot and its forks are driver assistance (Level 2), not self-driving. You must stay attentive with hands ready at all times. Installing or modifying it is your own responsibility; follow your local laws and regulations. Forks listed here are not endorsed by comma.ai or by this list.
The projects people actually share. Everything below is the map around them, not a product catalog.
- sunnypilot — Open-source driver assistance fork of openpilot with extra features and car support.
- FrogPilot — Highly customizable, community-driven openpilot fork.
- dragonpilot — Long-running openpilot-based driver assistance fork.
- openpilot-cabana — Standalone CAN / CAN FD analyzer for reverse engineering, from the Cabana lineage.
- Openpilot-Deepdive — Research deep dive into how openpilot's driving model works.
Added between 2026-10-30 and 2026-11-06 (derived from git history).
- carrotpilot — Independent openpilot-based driver assistance fork focused on Hyundai / Kia / Genesis compatibility and longitudinal feel, installed from i.carrotpilot.app/carrot-wip; supports comma three, 3X and four, README in Korean, English and Simplified Chinese. (Forks & distributions)
- BluePilot — sunnypilot-based fork that stages Ford-specific lateral and longitudinal enhancements for comma 3X and comma 4 before upstreaming them, installed from installer.comma.ai/BluePilotDev/bp-7.0. (Forks & distributions)
- SunnyPilot-TeslaHW1 — sunnypilot fork that ports Tesla Hardware 1 / AP1 support (Model S 2015 and Model X 2016 tested) using the xnor harness, for comma 3X and comma 4. (Forks & distributions)
- sealion7ka2 — Standalone copy of the KA2 openpilot-family ADAS box fork for a BYD Sealion 7: the longitudinal_off branch the box tracks, with rate/alive-gating fixes, a radar-free planner and ka2_hermes box tooling. (Forks & distributions)
- ChadolPilot — sunnypilot-based fork for Hyundai / Kia / Genesis that adds 2025 angle steering, the Kia EV3 and CCNC support, installed from installer.comma.ai/taylor224/main; builds on the device at first boot, README in Korean and English. (Forks & distributions)
- jetson-cuda-overlay — Reusable NVIDIA Jetson AGX Orin CUDA / TensorRT and V4L2 camera overlay that can be applied onto sunnypilot, openpilot and related forks so they share one CUDA inference and GMSL camera path. (Hardware & ports)
- subaru-preglobal-icbm — Intelligent Cruise Button Management for preglobal Subarus with EyeSight: spoofs ACC buttons over the already-rewritten ES_Distance message on sunnypilot, driven on a 2015 Outback; full longitudinal control is still unfinished research. (Hardware & ports)
- openpilot-honda-city-brasil — KiCad redesign of a CAN FD "Hybrid Panda" on STM32H725, a forward-port that keeps the black panda (STM32F4) working on current panda code, and a Honda City G7 (Brazil) port for openpilot v0.9.9 and flowpilot; not yet validated in hardware or in the car. (Hardware & ports)
- openpilot_ros2_bridge — ROS 2 (Jazzy) bridge for comma 3/3X and comma four devices running openpilot, run on a vehicle PC from a prebuilt Docker image or a local install. (CAN, DBC & data tools)
- ka2-settings — Android front panel for a KA2 openpilot-family ADAS box (BYD Sealion 7): live state, ACC buttons, the box's schema-driven settings list, tuning rows and temperatures over Bluetooth SPP. (Dashcam, UI & companions)
- SimSteer — Drives Euro Truck Simulator 2, Assetto Corsa and Forza with comma.ai's openpilot vision and planning model via screen capture and a virtual gamepad or wheel. (Dashcam, UI & companions)
- op助手 — On-device AI agent for openpilot forks (sunnypilot, FrogPilot, dragonpilot and others): chat tuning, route triage, vehicle adaptation, SecOC, Cabana CAN analysis and a community-wiki RAG, with a web UI on the device; README in Chinese. (Dashcam, UI & companions)
- navdy-hud — Android app that runs on a rooted Navdy HUD and draws lanes, lead car, speed cameras and blind spots from driving data a comma device sends over Bluetooth, with no phone in between; README in Korean. (Dashcam, UI & companions)
- comma4-true-black — Experimental tool that tries a fix for the faint red or gray glow in black areas of the comma four screen by changing two display settings, without switching forks or reflashing; it then restores the stock voltage and prints a report. (Dashcam, UI & companions)
- CommaPlay — Experimental wireless CarPlay receiver that runs on a comma 3: the device relays the iPhone's CarPlay video, audio and touch to a browser on the local network, without using openpilot's screen; README in Chinese. (Dashcam, UI & companions)
- openpilot-models — Collection of custom driving models for openpilot (carrot fork), selectable and downloadable from the on-device model UI. (Models, training & research)
- At a glance
- Core (comma.ai)
- Forks & distributions
- Hardware & ports
- CAN, DBC & data tools
- Dashcam, UI & companions
- Self-hosted backends & installers
- Models, training & research
- Docs & learning
- Closed-source / commercial (for reference)
- Related lists
- Contributing
- License
Taken from each project's README and GitHub on 2026-10-21. Forks change fast, so check the project itself before installing.
| Project | Relationship to openpilot | License (GitHub) | Devices named in README | Install / docs |
|---|---|---|---|---|
| openpilot | Upstream (comma.ai) | MIT | comma four; comma 3X branches listed | Install URL openpilot.comma.ai · docs.comma.ai |
| sunnypilot | Fork of openpilot | MIT | Not stated | docs.sunnypilot.ai · community forum |
| FrogPilot | Community-driven fork | MIT | comma 3 / 3X | Install URL frogpilot.download · FrogPilot wiki |
| dragonpilot | Built on openpilot | MIT | comma 3 / 3X and O3 / O3L / O3XL; EON / C2 on the d2 branch |
English README |
| StarPilot | Custom fork | MIT; README notes adapted sunnypilot code under a custom notice | comma 3, 3X and 4 | wiki.firestar.link |
- openpilot — The upstream project.
- opendbc — Python API and DBC files for car CAN buses.
- panda — Firmware for the panda CAN interface.
- connect — Web app to manage devices and routes.
- comma-steering-control — Steering measurement dataset (~12,500 h).
- sunnypilot — Feature-rich fork with broad car support.
- FrogPilot — Customizable community fork.
- FrogPilot-Resources — Models, themes and assets FrogPilot downloads.
- dragonpilot — openpilot-based driver assistance fork.
- StarPilot — Monthly-updated open-source fork.
- openpilot — jvePilot: FCA/Stellantis hybrid openpilot + ACC.
- openpilot — Fork for pre-AP / AP1 / AP2 Tesla cars.
- zoompilot — Driver assistance fork focused on Mazda.
- openpilot — Community fork popular with Korean users.
- openpilot — Community fork (Korea).
- openpilot — Merges features from several forks.
- flowpilot — openpilot-based system that runs on Android phones.
- xpilot — Tesla-only sunnypilot fork that adds behavior through a plugin host and an on-device plugin store; targets comma 3, 3X, 3XL and four.
- carrotpilot — Independent openpilot-based driver assistance fork focused on Hyundai / Kia / Genesis compatibility and longitudinal feel, installed from i.carrotpilot.app/carrot-wip; supports comma three, 3X and four, README in Korean, English and Simplified Chinese.
- BluePilot — sunnypilot-based fork that stages Ford-specific lateral and longitudinal enhancements for comma 3X and comma 4 before upstreaming them, installed from installer.comma.ai/BluePilotDev/bp-7.0.
- SunnyPilot-TeslaHW1 — sunnypilot fork that ports Tesla Hardware 1 / AP1 support (Model S 2015 and Model X 2016 tested) using the xnor harness, for comma 3X and comma 4.
- sealion7ka2 — Standalone copy of the KA2 openpilot-family ADAS box fork for a BYD Sealion 7: the longitudinal_off branch the box tracks, with rate/alive-gating fixes, a radar-free planner and ka2_hermes box tooling.
- ChadolPilot — sunnypilot-based fork for Hyundai / Kia / Genesis that adds 2025 angle steering, the Kia EV3 and CCNC support, installed from installer.comma.ai/taylor224/main; builds on the device at first boot, README in Korean and English.
- RKPilot — openpilot hardware/software on RK3588 / Orange Pi.
- jetlink — Runs the openpilot driving model on Jetson Orin Nano, macOS, iOS.
- openpilot-ext-radar-addon — External radar add-on for longitudinal control.
- BrakeModule — Brake control module for BMW E39 with Bosch DSC.
- c3-faux-touch-keyboard — Cheap macro keyboard firmware to tap the comma 3 screen.
- mount-install-templates — Mount install templates for comma three / 3X / four.
- ars510-radar — Decoder and installer for the Continental ARS510 front radar on radar-ACC Toyotas (RAV4 2022+, C-HR, Yaris).
- edgepilot — openpilot driving model and lateral control on a Sipeed MaixCAM2 (AX630C NPU), with Panda CAN.
- End-To-End-Self-Driving — openpilot on Jetson Orin Nano for a 2023 Mazda CX-5 via a DIY STM32F407 panda.
- jetson-cuda-overlay — Reusable NVIDIA Jetson AGX Orin CUDA / TensorRT and V4L2 camera overlay that can be applied onto sunnypilot, openpilot and related forks so they share one CUDA inference and GMSL camera path.
- subaru-preglobal-icbm — Intelligent Cruise Button Management for preglobal Subarus with EyeSight: spoofs ACC buttons over the already-rewritten ES_Distance message on sunnypilot, driven on a 2015 Outback; full longitudinal control is still unfinished research.
- openpilot-honda-city-brasil — KiCad redesign of a CAN FD "Hybrid Panda" on STM32H725, a forward-port that keeps the black panda (STM32F4) working on current panda code, and a Honda City G7 (Brazil) port for openpilot v0.9.9 and flowpilot; not yet validated in hardware or in the car.
- openpilot-cabana — CAN / CAN FD bus analyzer.
- PlotJuggler — Time-series visualizer commonly used with openpilot logs.
- CanLab — PyQt6 desktop app for reverse-engineering CAN captures.
- strym — Real-time CAN logging, analysis and visualization.
- make_cabana_route — Convert local CAN logs into Cabana routes.
- OpenpilotToolkit — Toolkit and library for interacting with openpilot devices.
- pandacapture — CAN capture, live dashboard and firmware flashing for comma Red / Black Panda.
- AutoDistill — Automatic CAN reverse engineering for openpilot car ports from captures.
- panda-socketcan — CANnectivity firmware for comma.ai White, Black and Red pandas that exposes their CAN channels through Linux's gs_usb SocketCAN driver.
- openpilot_ros2_bridge — ROS 2 (Jazzy) bridge for comma 3/3X and comma four devices running openpilot, run on a vehicle PC from a prebuilt Docker image or a local install.
- comma-sync — Sync and stitch comma dashcam footage into videos.
- opview — openpilot onroad UI over WebRTC on your phone.
- Comma4-UI-Streamer — MJPEG stream of the comma 4 UI for any browser.
- OpenPilotSiriShortcuts — iOS Shortcuts to set navigation destinations.
- eon-custom-themes — Custom boot logos and themes for EON / LEON / Two.
- sunnyconf — On-device daemon to edit sunnypilot params over local WiFi from an Android app.
- sunnyconf-app — Native Android client for sunnyconf: configure a sunnypilot device and browse drives over local WiFi.
- roadviewer-ha — Home Assistant app to upload and replay openpilot logs with synced video, lanes and radar.
- delamain — Self-hosted AI vehicle companion for sunnypilot on comma hardware (voice and telemetry).
- oceanfront-view — Tesla-style HUD for the Fisker Ocean center screen, fed live by a comma device running sunnypilot.
- navdy-hud — Android app that runs on a rooted Navdy HUD and draws lanes, lead car, speed cameras and blind spots from driving data a comma device sends over Bluetooth, with no phone in between; README in Korean.
- comma4-true-black — Experimental tool that tries a fix for the faint red or gray glow in black areas of the comma four screen by changing two display settings, without switching forks or reflashing; it then restores the stock voltage and prints a report.
- ka2-settings — Android front panel for a KA2 openpilot-family ADAS box (BYD Sealion 7): live state, ACC buttons, the box's schema-driven settings list, tuning rows and temperatures over Bluetooth SPP.
- SimSteer — Drives Euro Truck Simulator 2, Assetto Corsa and Forza with comma.ai's openpilot vision and planning model via screen capture and a virtual gamepad or wheel.
- op助手 — On-device AI agent for openpilot forks (sunnypilot, FrogPilot, dragonpilot and others): chat tuning, route triage, vehicle adaptation, SecOC, Cabana CAN analysis and a community-wiki RAG, with a web UI on the device; README in Chinese.
- CommaPlay — Experimental wireless CarPlay receiver that runs on a comma 3: the device relays the iPhone's CarPlay video, audio and touch to a browser on the local network, without using openpilot's screen; README in Chinese.
- connect-killer — Self-hosted backend for openpilot connectivity.
- retropilot-server — Replacement for the comma backend and dashboard.
- openpilot-installer-generator — Generates custom fork installer binaries.
- comma-analytics — Self-hosted Grafana dashboard for comma / openpilot drives.
- Openpilot-Deepdive — Deep dive into the driving model.
- openpilot.distill — Distill openpilot using your own drives.
- openpilot.perception — Spatial (3D) object perception from a comma device's road video, trained independently of the openpilot driving model.
- openpilot-local-finetune — Fine-tune openpilot driving models on your own drives, on a laptop.
- openpilot_carla_model_finetuner — Collect lane-centering examples in CARLA, fine-tune openpilot driving models and export them for comma 3X.
- openpilot-desktop — Run the openpilot driving model on a dashcam video on Mac or Windows, with comma-style lane and path overlays.
- mqb-eps-research — Offline research into VW MQB power-steering firmware to improve openpilot steering authority and response; no vehicle-tested change yet.
- comma10k-baseline — Segmentation baseline on comma10k.
- openpilot-pipeline — End-to-end training pipeline for openpilot-style models.
- openpilot-supercombo-model — Using the supercombo ONNX model.
- traffic-lights — Traffic-light recognition model and data.
- openpilot-models — Collection of custom driving models for openpilot (carrot fork), selectable and downloadable from the on-device model UI.
- Comma.ai-Simulation-instruction — Running openpilot with CARLA, with troubleshooting.
- docs — Guides and history for openpilot on Toyota/Lexus/Subaru and more.
- docs — Unofficial docs of fixes and tweaks for comma devices.
- comma-wiki-cn — Chinese-language comma / openpilot wiki.
- dragonpilot_wiki — dragonpilot wiki.
- comma.ai shop — Official comma devices and harnesses.
- comma Discord — Main community chat.
- alteredorange/awesome-openpilot — Earlier list, inactive since 2023.
- Awesome
Open a PR or issue. One line per entry, open-source and on-topic, link to the repo, no star counts. Closed-source/commercial only in the reference section.
See CONTRIBUTING.md for the full rules, or suggest a project with the issue form.
To the extent possible under law, the contributors have waived all copyright to this work.