comma ai Driving in the Corolla!

Key Takeaways

yo what's up all right all right here we go hey scobies [Music] oh here we go so yeah did it rotate did the whole thing last okay cool no it didn't have have rotation lock on oh no it's not that one do this so we got we got a neon right up here on the dashboard i want to go probably the other way leg oh it's probably no it'll it'll get better in a minute say hi to the scopies there's commonplace everywhere here we're taking over this town frozen is it still frozen is it still frozen the reception here just isn't really good is that my eons no no no your eon is getting shipped out today probably if you got an email yesterday your eon ships today yes frozen okay okay yeah it's a lot better now it's a lot better now better all right all right well let's let's wait till we get on the uh the road and then we have some exciting announcements very exciting um so it'll hold now if i engage yeah no close lead oh yeah you need he needs to see the car oh hey that's one thing like but i have my wheel there right uh yeah but the mod at least not using the model okay um so guys a bunch of exciting things happened today eddie got a promotion um eddie is now vp of hardware and the reason why he's vp of hardware is because he's figured out how to proceduralize so you have this thing you have companies you have like like think of like old-school aeronautics companies like like like boeing or lockheed they managed to produce incredible products with mediocre people hang on i gotta make this tonight pay attention all right we're good um and the way that they do this is through procedure model uh yeah i mean here it's like it's never gonna be good it's modern is it my oh it's because it's glare uh that's terrible um but yeah so remember how i promised that we were gonna port to all those toyotas i lied you're gonna point to all the toyotas and also we have a new name for you guys it's not team comma anymore i really figured out what it was today you guys are the comma army we really are we're an army like like when i talk about winning who wins i mean a team can win but who really wins an army so you guys are the comma army and what we're going to release with this corolla is a guide on exactly how we did this part because it has a lead pretty smooth pretty pretty smooth um we're going to release a guide on exactly how we did this toyota port so you guys can follow it up in in a whole there's like 12 toyotas that can be supported there's like another six lexuses that can be supported there's no way we're going to support all 18. but what we are going to do is ship that's not that loud we're going to ship really clean refactored code and we're going to ship a guide so everybody out here watching those periscopes who has a toyota will be able to literally board their own car um so if you have a uh big um big dan carlin fan are they asking any questions yes we accept high school intern of course we yeah yeah yeah we exercise clinton um the what corolla model oh it's uh any corolla model except the iem do you think that's bad for the car the noise it's okay i think it's okay even with an according background wow that loud even with no coding background so here's the thing you guys you're all in the comma army right you're all and that's that's i mean that's really you know like low gang jake paulers comma army um the way that we're gonna start hiring is basically this you come up you work up the ranks through the comma army you start out as a shill you start out on slack you start out submitting pull requests doing car parts work your way up anybody can become a general in the common army this is this is right oh real vlogger shit uh yeah but what we're gonna do is we're gonna really commit this year to making it easier for you guys to making it easier to meaningfully contribute um one of the things like that keyboard bug right like there's a keyboard bug the first time you install open pilot on oh really oh yeah it doesn't it doesn't auto i know i think oh well it's not gonna accelerate right now stop and go oh that's too bad all right um you know just pay attention here guys is model failure yeah but not too bad cool yeah i can barely see anything on the camera i don't know it's working pretty well that's all we have to change any safety card right well i want to you want to change there's one change i need to because of the stickiness no it's because so basically this car is lighter and so the same amount of torque is actually feels way more and so there is this safety code about uh how much delta torque we allow between driver and and torque that we can command so we need to like i may i made the change in control but i didn't make the change in uh in safety i think we need to do it how bad is it um i think it's bad so if you hold it and you release it you would feel like the couch yeah you're pretty fast and the civic controller is just much better about this uh but yeah so so comma army we're gonna uh how is the produce hacking going oh the prius is hacking that's going pretty well um so we're also gonna another thing that we're gonna push on is like that you saw that keyboard thing right we don't know why it happens but what we need to do is we need to get out more uh build processes and more tools to you guys um so we have a set of internal skus for like development tools we're gonna work on making our development tools accessible to anybody in the world the tools that we're using here to develop everything that you see um we're gonna get the neos build process working so you'll actually be able to fix the keyboard and stuff yourself um maybe i think we'll leave an open source you see the frame around the thing it's called plus frame i think right now it's closed source we gotta get this stuff open sourced um so we're going to get more stuff open sourced and more development process available to anyone in the common army to to contribute um so camry camry is coming right coming is is one of the cars that is going to be like easily important you'll be able to literally follow our guide and do a port on the camry the 2018 camry um like no can we say no coding experience required for the guide you think we can get it down to that point um probably it depends depends i think like some variant for example like the camry or like different dreams can be done with no guidance like no coding experience if it's just a matter like fingerprint differences it's very easy so civic guide well so the guide is going to be general and we can make one for the toyotas and the one for the owners is going to be very very similar i mean yeah we'll we'll we'll we're really going to push on toyotas and lexuses this year um but no we can yeah how different do you think the honda will be maybe maybe we should do the same refactor i think it's working oh we are going through this every factor and toyota but i mean there are a few things that needs to be changed differently just because like interfaces apis are different which here and model civic is best uh civic after 2016 is supported you gotta have honda sensing and it can't be a hatchback civic correct um hondas are really annoying because there's lots of like different variants to them um but yeah you know we open source all this stuff i think a lot of it is is too hard to use right now for a lot of people we need to make it we need to make it dumb easy to use have you ever seen the ethereum documentation that's where we need to go i mean you know vitalik's building an army over there too the future says armies that's armies and yonder young day we didn't look into yunda yet but that's something that you you guys so that's that's definitely doable that's going to require a programming experience yeah if you're doing a port to another honda and toyota there might be no programming experience required if you're doing a port to a different kind of car you're going to need programming experience but two people out there have managed to do it we need to proceduralize all of this stuff so when this will be when this toyota part will be available probably next release next release so when you think the guide will be done um i mean before it depends on when we do it actually the fusion works look at that it feels all the vision fusion i've never seen that work why would the hatchback not be supported well it's totally different can interfaces and there is no easy access to control longitudinal control for uh for the hatchback one yeah yeah you'd have to you have to hack the radar because a lot of the stuff's done down on the radar um but people are always asking why is it not supported do you have a toyota highlander you'll be able to support that now yourself you'll be able to follow our easy to use guide and you'll be able to um to to to to support yourself yeah you need to make it so easy so to use it and baby can use it we got to get plus frame open sourced you got to get all all that stuff should be open there's no reason it shouldn't be why come ai does not need mobile vision chip because we have our own it's called vision d we're using state-of-the-art machine learning from crowdsource data from the whole comma army the real the real pawns in the comma army i mean i have not even it's not even an offensive title you guys if you're out there collecting data with schiffer i think that makes you a pawn in the comma army you come into the oh let's meet [Music] um you come into the uh we can turn the scopies off you got to take that um you get a pawn in the comma army if you come on slack you start helping people out i think that makes you a bishop all right you're gonna gonna take some chances and take some chess rankings comma army um maybe maybe maybe there's not enough chess pieces to have titles right maybe maybe we'll work on real military titles i'm gonna look up i'm gonna look at military titles we're gonna we're gonna work on some uh some real some real titles for the comma army eventually you you come and work here you get to you get to lead the army from from from actual um headquarters guys we're in this to win like like man not like a team wins like an army wins this is this isn't this isn't this isn't football this is war i mean and that's the uh who was who where was where was i just reading this catholic church prize cherokee we can look into that one too y'all know i'm religious um yeah yeah no but that's like it is i i forget why i was reading that steve yeage just quit google um and i think i think that's how he really described it he really described just like the competition between these companies is not a football game it is war um and we're [Music] we're about ready to really really ratchet up the game um we have something really big happening that i can't talk about right now but it's really big um you guys will find out about it by the end of the year if you thought the hd maps thing was big this is this is bigger than the hd maps thing i can't i can't talk about it right now um but it's going to give uh let's just say man remember that time that uh the europeans were losing world war ii and the americans showed up it's kind of like that remember that time so why tesla struggles without mobility and we don't this this thing has a lot of torque why does tesla struggle without mobile eye because they're noobs no um i don't know okay is there any p2 really that bad like is this thing really better than ap2 if that's true then that is sad i don't i don't know i've i drove a car once with ap2 back in the day it is this is certainly way better than it was back in the day but by now they really haven't managed to uh to make it on par with this that's that's that's surprising to me um why does tesla struggle without the mobile chip because well it's infrastructure really like mobileye has tons and tons and tons of training data that they were testing their stuff on only recently has tesla started getting data back from its fleet and you have to build a lot of infrastructure to use that data meaningfully it was a good one before what were you saying oh are you worried that he's going to be out there to a car because like they're going to be looking down you guys you guys look at look at apple and sony these companies have spent millions and millions of dollars on security and they couldn't stop me do you really think the car companies can stop me this i mean this is this is just like this is clearly just not thought through the people who like say this about comma ai like how are they going to lock it oh they're going to put encryption on it with keys oh wow wow encryption and keys were foiled you know what actually the joke if they switch to some like more standard encryption and more standard keys and more standard ways of doing things it would actually be easier for me like the whole annoyance about hacking the toyotas is they have everything custom and proprietary um it's security to obscurity it's a terrible idea for security but people like me who are really good at breaking like traditional security systems that you'll find on like phones or video game consoles that are actually like good um you know you just gotta you just gotta muddle through the obscurity um though i'm getting way better at hacking the car stuff though uh well also like everything is going to the easier direction like platforms are becoming so somewhat common like all the toyotas are now much common to each other than than before they share same apis the same issues same messaging so it's actually becoming easier um as a 16z would say software's eating the world i mean that's what that's what this is right like when you had like every uh you know every ever like the civic in the accord using different stuff why you got it you got to apify that oh i got a little confused there even yeah oh that's okay and this is with the patch these well so the patch doesn't affect the amount of torque that you put if you don't touch anything no but that was me holding it holding it back yeah look at that that's with the patch i think we might even have to go more yes so what it's 500 what is it now on this 350. 350. yeah yeah that overshoot man but so the other thing is like the rates so we can change the rates proportionally like the stealing rate well the rates aren't a safety thing i mean i don't know this is certainly not as bad as it like used to be i'm a little i'm scared now what it would be at 500. i do think this is a safety thing uh yeah no 500 too much yeah um how are we going to like program that into the panda uh initialization you know like have it yeah i mean we yeah we need to initialize different uh i think we're already doing it for uh [Music] yeah we already have the like the thing in place so we have the toyota that allows all the output so it's just like changing some parameters yeah so you just want to give them like different safety mode ids yeah that's probably easier to do it i'll have to bump the panel from my version that's something else we should do i mean that's going to be the last step of the boarding guide we got to talk about safety we got to talk about safety checks talking about like i mean we took a bit that's pretty guys yeah it's happening it's it's happening but it's not the big okay how about this you all seem to think ap2 sucks right ap2 has six cameras sounds like more cameras aren't the solution right more cameras are necessary but they're not i think that's a new band question that's a new band the more camera question is banned and the when will my car be supported question should be responded to with a here is the guide reporting um it's not that we don't think more cameras are necessary it's that we don't think more cameras are at all the hard part right you guys know what the there's no like like they hear like cargo cult engineering um go fusion that one was hard um cargo cult engineering you had these people uh they were on like a like a pacific island and the us would go there during world war ii uh they used it as a base to invade the japanese and these people were like indigenous people they had like sticks and rocks and i don't even know if they they had farming they might have had farming but like you know we're talking real real real stone age stuff here um then these planes come out of the sky u.s military planes with things like mres now i've eaten an mri it's pretty disgusting but if all your life you've eaten like nuts and berries to first even be exposed to any like sort of the richness of modern food and they had incredible things they had like things like cans i mean even even even the most indigenous people can see a can and can appreciate it wow like compare like a bucket to a coconut shell it's no comparison right so these these absolute marvels practically fell out of the sky um the war ended in the plane stopped coming so what do these people do well they didn't really know how to make the planes come back but they really wanted the planes to come back so planes have great stuff on them so they built planes now they very clearly didn't build working planes they built wooden things that looked like planes this is what i mean by by cargo cult engineering right and you see a lot of this in the self-driving car world today you'll see people who don't actually know how to build a self-driving car because that's a really hard problem just like building a plane but building something that looks like a self-driving car is what a lot of these companies do right just like kind of well we'll put a bunch of lidars on it we'll put a bunch of radars on it i'm not gonna call out the worst offenders on this because some of them are okay people but um the point is all of the hard problems are solvable with a single camera then shipping cameras is an incredibly easy problem so that's why that's a bad question all right more questions he's doing well so it's a little it's a little jerky and it's the same sort of thing as the prius yeah well it's different so i think it's the same as the f4 oh you think this is the same as the round four yes the rav4 i thought was smoother than this well so there are four because uh it's there is a lot more resistance like it's heavier car yeah yeah could the previous this one can kind of freely move can the previous thing just be caused by the weight of the car um well no because it's not heavier than the than the the metaphor but that's what i mean it's lighter than the rav4 yeah but this is way lighter than the previous one there's way light in the fridge oh yeah no battery it's not bad though yeah it's like 2800 pounds yeah well that's some serious torque yeah with the i think it's the same max torque just like much lighter car yeah and bigger steer ratio so bigger meaning like you you for one you don't meet that the steering wheel is more of the wheels no the fusion cago great pandas are still uh let's look at a bit of work uh yeah so we're gonna um start shipping those out pretty soon does anyone remember the great panda contest if nobody remembers the great panda contest we just won't give any out hi scoby comma army how do you deal with parking all your cars in the shaft we stack them vertically we have an elevator no we're in the suburbs bros can't wait we can do this without disengagements it is like you're just jerking why is this yeah i mean it has more dark and so as soon as the like it wants to change it changes yeah but is this like a static friction dynamic friction kind of problem like because of our ramp up it like winds up and then gets to a point where it can put real torque actually no i don't think this one has much that problem it's not like the previous it's i think it's literally like there are four more why is it doing that yeah i mean the model's not doing that no the mother's not it's probably not doing that yeah and we'll take a look at cabana see why it's like yeah um i mean it's all npc determining this too right yeah yeah we can check the like the commander for me yeah we're replacing a phone camera with a better quality one you guys it's not the sensors it's not the sensors none of the problems in open pilot are caused by the sensors that's fusion in next update actually it's already it's not super good it's going to get better over time oh yeah the visionary or fusion yeah tesla oh you mean well maybe they were thinking about oh the ford fusion is all right i would step on the brakes with the system stop maybe would i stop yeah pay attention at all times guys oh man we gotta come up with army titles oh what is your background reiki how did you learn car control i worked i was uh i studied at university then i worked a few years at tesla and now come and doing the same thing so any recommendation of writing into can bus by comma dot ai um yeah so you can go to uh it really depends okay so that's the thing i normally hear a question like that and i get frustrated and this is a personal failing oh the the phrasing was writing into the canvas like that so this is like how i do interviews right like if i hear a phrasing like that i get frustrated because it's like writing into the canvas no you like you like right into a television show to ask them why you killed their your favorite character right um so what do you want to write to the can bus is the real question now unfortunately there really aren't i always say things like it's not my job to educate you but that isn't true like it is my job to educate you if we're gonna win as an army imagine a general that told his soldiers look guys we gave you the gun it's not my job to educate would that army win wars no that army wouldn't win war so it is my job to educate you um and i have to think about really what the best way to do this is so when you're writing to the can bus there's a few reasons you might want to do this if if you're writing to the campus the way open pilot writes to the canvas there's this isn't the right place to educate either you know somebody i'd be so happy comma army who wants a promotion we don't have the titles yet but who wants a promotion i'm going to explain some stuff now if you guys write this up and like can you know come up with the corroborating references and put it on the wiki and then point people to it that would be incredible um okay so open pilot replaces ecu's ecu's communicate with each other over the canvas and they send canned messages to each other so when you tap in and you use like a panda and cabana you're seeing all the ecu's communicating with each other you can unplug an ecu and what you'll find is that some messages stop being sent so what we do for the toyota is we unplug this ecu the ccu is a camera and that lets us send the command to turn the wheel we also unplug the driving support ecu to send the acceleration command but this is like replacing ecu's a lot of the tutorials you're going to find on the internet for sending to the can bus are using this this this this like iso tp standard um with iso tp you can there's like an api which you can use to talk to different ecus this is not how ecu's talk to each other so there's kind of two desperate uses of the canvas there's the there's the like this message is constantly always being sent and then there's the hi can you please tell me the vin number of the car okay here's the number of the car um so if you're interested in the first one read open pilot if you're interested in the second one read examples isotp in the panda in the panda library but um yeah we need to like have have resources like that right and you know if you can't even really fault people like i think about how long it took me to kind of learn this stuff i mean it wasn't it was quick but like it wasn't like i went somewhere and could google it it was i had to figure things out for three months right like that people don't realize that like well the odb port on a lot of older cars is just directly connected to the can bus of the car and pin 6 and 14. uh on newer cars it's sent through a gateway ecu like on the tesla you'll see nothing at all even on toyotas you don't really get much um so to start to document that to search around like cars have different can buses what a giraffe actually does how many how many how many how many uh soldiers out there know what a uh soldier's comma army man uh how many how many all know what um i forgot i was gonna say mccann but yeah we were talking about the can bus um but more like i mean i think about like my initial journey with the acura and by the way guys like things have gotten a ton easier than when i started when i started i didn't know that like there was that can bus on the obd oh so yeah you have these these can gateways right how many of you know what a giraffe does is my question like how many of you really understand why you need a giraffe what that's doing and how you might build a giraffe for another car i know there's a bunch of you that do but like how common knowledge is that from the inside i don't really know let's see what they say but in the meanwhile some quick catch up what is that wire on the pillar that's the uh power like custom power to your unfortunately don't have like custom power up there to the camera so we run a wire just for commodities it's actually isn't needed we can just like uh yeah we can disengage it oh no but i know i'll lose it i'll lose it i'll put three well if i put yeah i could put three okay yeah and then you turn off yeah so it's not needed actually oh guys i disconnected it we're gonna crash and oh which model is here is this car this is a 2017 toyota corolla oh yeah let that stop and go sounds like someone who's hacking the toyotas they're gonna do a better job cool all right i consider i consider this definitely a shiftable experience um the wheel could be a little less jerky okay and a break there's nothing we can do about that that's always going to be allowed and stop and go to work but yeah in a while these things have serious torque yeah these ones do you think they did like a torque injection functional safety thing and they declared this to be okay no i think they have other limitations um oh you mean like full talk yeah i mean the main thing is the talk rate i don't really think it's like a full torque but do you think they considered like anything you could send to the ecu to be like okay and qm well i'm sure they have targeted limitations where in the in the steering issue what they do have in the steering issue which is well okay it's much higher than what i would consider saying yeah exactly me too right and also the max stock is well this much stock is okay i think it's just even great it's like 50 units per second like well per update yeah um we we limit the safety even more in the panda for the toyotas but uh cool scopeys uh thanks for joining comma army we're coming to you with ranks we're gonna really this is gonna be the year and guys some of you are gonna get rich like you think i'm kidding some of you are going to get rich all right later bye guys