openpilot 项目解析及 xgnpilot

原创最新推荐文章于 2026-03-11 01:29:10 发布 4.6k 阅读 AI写同款

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Openpilot EP1：Openpilot开源项目深度解析在探索基于端到端的自动驾驶过程中，一次偶然的机会，我们接触到了Openpilot这款产品，它是一套比较成熟的面向L2辅助驾驶功能的开源项目，基于端到端模型实现了ACC、LKA、DMS等辅助驾驶功能。目前，已经面向消费者售卖，能够适配了多种车型，通过简单的安装在自己的车上便能够体验辅助驾驶功能。阅读详情

AI摘要

openpilot是由comma.ai研发的L2.5级自动驾驶辅助系统，采用Python/C++编写并开源。项目包括车道保持、辅助变道等功能。xgnpilot是基于openpilot的二次开发分支，增加了全时保持和辅助变道的开关控制，尤其适用于大众车系。

什么是openpilot

Openpilot 是L2.5级的自动驾驶辅助系统，由 comma.ai 公司研发并开源，它主要使用 Python/C++ 语言开发，地址：https://github.com/commaai

项目结构

├── cereal              # 消息队列，各个组件通过它相互通信
├── common              # 公共库
├── docs                # 项目文档
├── opendbc             # 汽车can数据解析文件
├── panda               # 接收和发送can信号
├── third_party         # 项目使用到的三方库
├── pyextra             # 扩展python包
└── selfdrive           # 辅助驾驶核心实现代码
    ├── assets          # 控制UI使用到的资源文件
    ├── athena          # app通信(上传、通信)
    ├── boardd          # 与panda通信(接收与发送车辆、控车数据)
    ├── camerad         # 通过摄像头器件捕获图像用于模型使用
    ├── car             # 车辆特有实现代码，获取车辆状态和发送控车指令
    ├── common          # 公共库
    ├── controls        # 路径规划和执行(核心辅助逻辑实现)
    ├── debug           # 帮助调试
    ├── locationd       # 坐标定位和车辆参数估测
    ├── logcatd         # 系统日志获取并发送
    ├── loggerd         # 记录并上传车辆行驶记录
    ├── modeld          # 行驶和驾驶员监控模型执行
    ├── proclogd        # 进程状态获取
    ├── sensord         # IMU interface code
    ├── test            # 系统测试
    └── ui              # 辅助控制系统UI

大概在2022年10月份了解到这个开源项目，经过一段时间的学习，大致了解了openpilot(简称op)运作原理并基于openpilot-0.8.13 fork了自己的分支xgnpilot（实现了全时保持、自动切换车道预测算法等）。

openpilot 能做什么?

车道保持(主要功能)

辅助变道

车道偏离报警

项目源码解析入口

selfdrive\manager\manager.py 项目启动入口，管理系统中各个组件运行状态。

if __name__ == "__main__":
  unblock_stdout()

  try:
    main() #核心运行逻辑
  except Exception:
    add_file_handler(cloudlog) #日志记录到磁盘
    cloudlog.exception("Manager failed to start")

    try:
      managed_processes['ui'].stop()
    except Exception:
      pass

    # Show last 3 lines of traceback
    error = traceback.format_exc(-3)
    error = "Manager failed to start\n\n" + error
    with TextWindow(error) as t:
      t.wait_for_exit()

    raise

  # manual exit because we are forked
  sys.exit(0)

main 函数里主要处理系统信号SIGTERM、安装、卸载、重启操作。

def main() -> None:
  prepare_only = os.getenv("PREPAREONLY") is not None
    #初始化系统参数
  manager_init()

  # Start UI early so prepare can happen in the background
  if not prepare_only:
    managed_processes['ui'].start()

  #初始化各组件进程
  manager_prepare()

  if prepare_only:
    return

  # SystemExit on sigterm
  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))

  try:
    #启动并监测各个组件进程运行状态
    manager_thread()
  except Exception:
    traceback.print_exc()
    sentry.capture_exception()
  finally:
    manager_cleanup()

  params = Params()
    #卸载
  if params.get_bool("DoUninstall"):
    cloudlog.warning("uninstalling")
    HARDWARE.uninstall()
    #重启
  elif params.get_bool("DoReboot"):
    cloudlog.warning("reboot")
    HARDWARE.reboot()
    #关机
  elif params.get_bool("DoShutdown"):
    cloudlog.warning("shutdown")
    HARDWARE.shutdown()

selfdrive\manager\process_config.py

系统所有组件定义

import os

from selfdrive.hardware import EON, TICI, PC
from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess

WEBCAM = os.getenv("USE_WEBCAM") is not None

procs = [
  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, driverview=True),
  NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), driverview=True),
  NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"],persistent=True),
  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
  NativeProcess("navd", "selfdrive/ui/navd", ["./navd"], enabled=(PC or TICI), persistent=True),
  NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC, persistent=EON, sigkill=EON),
  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], persistent=True, watchdog_max_dt=(5 if TICI else None)),
  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], persistent=True),
  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
  PythonProcess("controlsd", "selfdrive.controls.controlsd"),
  PythonProcess("deleter", "selfdrive.loggerd.deleter", persistent=True),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), driverview=True),
  PythonProcess("logmessaged", "selfdrive.logmessaged", persistent=True),
  PythonProcess("pandad", "selfdrive.pandad", persistent=True),
  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
  PythonProcess("radard", "selfdrive.controls.radard"),
  PythonProcess("thermald", "selfdrive.thermald.thermald", persistent=True),
  PythonProcess("timezoned", "selfdrive.timezoned", enabled=TICI, persistent=True),
  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, persistent=True),
  PythonProcess("updated", "selfdrive.updated", enabled=not PC, persistent=True),
  PythonProcess("uploader", "selfdrive.loggerd.uploader", persistent=True),
  PythonProcess("statsd", "selfdrive.statsd", persistent=True),
"""  """
  # EON only
  PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
  PythonProcess("shutdownd", "selfdrive.hardware.eon.shutdownd", enabled=EON),
  PythonProcess("androidd", "selfdrive.hardware.eon.androidd", enabled=EON, persistent=True),
]

managed_processes = {p.name: p for p in procs}