RexPilot 🦖

RexPilot is my personal fork of the OpenPilot driver assistance system with enhancements to reduce distractions and noise. Based on FrogPilot, it enables a quiet, screen-off driving experience, allowing drivers to use the instrument cluster instead, thanks to improved integration with Toyota and Lexus vehicles.

Enhancements:

• Screen stays off while driving in standby mode, unless critical alerts happen or experimental mode is toggled.
• Improved integration with Toyota and Lexus instrument clusters:
  • Left and right lane lines show what the driving model detects
  • LTA icon indicates lateral control, engagement status, and steering override.
• Allow distance button toggles regardless of longitudinal control active
• Removed annoying "Reverse Gear" message.
• Removed annoying startup message.
• Replaced obnoxious boot logo

Planned features:

• Improve the "wrong gear" alert

Installation on Comma3X

Enter the following URL at installation where you choose "Custom Software (Advanced)". The first install may take over 10 minutes as the user interface is compiled on your device.

https://installer.comma.ai/keyeh/RexPilot

Required settings

These settings are required for the LTA icon to behave correctly

• Always on lateral: ON
• Enable with Cruise Control: ON

Suggested settings

Use these settings to have a quiet and peaceful drive:

• Standby Mode: ON
• Screen Timeout (Onroad): 5 seconds
• Alert Volume Controller: set according to your preferences

Development Tools

Live CAN Bus Streaming

Stream live CAN bus data from your comma device to SavvyCAN for real-time analysis and debugging:

# Stream all CAN buses (requires sudo)
sudo python tools/can_stream_gvret.py

# Stream specific buses only
sudo python tools/can_stream_gvret.py --bus 0 1

# Enable heartbeat messages
sudo python tools/can_stream_gvret.py --heartbeat

The tool implements the GVRET binary protocol on port 23 for seamless integration with SavvyCAN. Perfect for:

• Real-time CAN traffic monitoring while driving
• Debugging CAN communication issues
• Reverse engineering and DBC file validation
• Analyzing message timing and frequencies

See tools/README_CAN_STREAM_GVRET.md for detailed documentation.

Development Notes

This repository should be rebased onto the latest upstream FrogPilot branch, before the Compile FrogPilot commit.

What is openpilot?

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years. In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

What is FrogPilot? 🐸

FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise commits striving to be a resource for the openpilot developer community. It thrives on contributions from both users and developers, focusing on a collaborative, community-led approach to deliver an advanced openpilot experience for everyone!