commaai/opendbc
Opendbc
OpenDBC is a CAN bus interface library and telemetry parser designed to read and write messages to a vehicle network. It functions as an automotive hardware abstraction layer that maps generic control signals to model-specific bus IDs across different vehicle brands, while acting as a control system that converts high-level steering and acceleration requests into raw binary packets for vehicle actuators.
The project includes a vehicle network safety gateway that restricts or blocks specific control messages based on the system state to prevent unsafe maneuvers. It provides a standardized way to interface with vehicle systems, allowing for the implementation of lateral and longitudinal control and radar parsing to support new car models.
The software covers vehicle telemetry monitoring by decoding raw binary frames into human-readable sensor data and state information. It also manages the serialization of actuator commands and the analysis of vehicle maneuver performance across various hardware platforms.
Features
- Hardware Abstraction Layers - Provides a standardization layer mapping generic control signals to model-specific bus IDs across different vehicle brands.
- CAN Bus Interfaces - Provides a specialized library for transmitting and receiving data over CAN bus interfaces for vehicle hardware integration.
- Automotive Software And Systems - Provides the specialized software systems required for integrating radar parsing and control logic for automotive hardware.
- Automotive Systems - Implements a software stack for sending precise commands to vehicle steering, acceleration, and braking systems.
- Vehicle Control Interfaces - Provides the interface for exchanging data and building system messages for steering, gas, and brakes.
- Vehicle Motion Control - Sends precise commands to steering, accelerator, and brakes to manipulate physical vehicle movement.
- Packet Serialization Frameworks - Implements a system for mapping structured control data into binary packets for vehicle network communication.
- Hardware Command Serialization - Provides a system for mapping high-level steering and acceleration requests into raw binary packets for vehicle actuators.
- Bit-Level Binary Parsers - Decodes raw binary frames from the vehicle network into telemetry data using bit-level parsing and masking.
- CAN Bus Parsers - Decodes raw binary frames from the vehicle network into human-readable sensor and state information.
- Vehicle Telemetry - Decodes bus messages into readable data to monitor vehicle state and sensor values in real time.
- Declarative Mapping Schemas - Uses external declarative configuration files to map generic control signals to model-specific bus IDs and offsets.
- Vehicle Interface Mapping - Maps high-level software control signals to physical automotive network IDs and payload offsets via configuration.
- Network Safety Gateways - Restricts or blocks specific control messages based on the current system state to prevent unsafe maneuvers.
- Bus Message Safety Management - Controls the transmission of bus messages to prevent unsafe commands and silence the network during testing.
- Vehicle Model Porting - Enables compatibility with new car models through the implementation of lateral/longitudinal control and radar parsing.
- Real-time Telemetry Streams - Processes high-frequency bus data into a continuous real-time stream for monitoring vehicle state and sensor values.
- Vehicle Command Gating - Implements a safety gateway that blocks specific control messages based on system state to prevent unsafe maneuvers.
- State-Based Command Gating - Prevents unsafe vehicle maneuvers by restricting control messages based on the current system state.
- CAN Bus Tools - Repository for vehicle network decoder definitions.
- Réseautage de véhicules - Décodeur communautaire pour les données de réseaux véhiculaires.
- Automotive CAN Databases - Standardized database files for vehicle communication decoding.
