In Chill Mode
In the standard release, openpilot steers while the car's factory adaptive cruise controls gas and brakes. Use the car's normal cruise controls for speed and following distance.
Nissan Altima 2019–2024
Requires ProPILOT Assist. Here is who controls what.
Official table checked Sep 2, 2026.
Simple answer
What controls the car
Steering
openpilot controls steering
You control gas and brakes unless cruise control is on.
Gas and brakes
The car's adaptive cruise controls gas and brakes
Stock openpilot keeps the factory speed-control system in charge.
Experimental Mode
Not available in stock openpilot
The factory adaptive-cruise system owns speed, so openpilot cannot run Experimental speed planning.
Software choices
Software for this car
4 of 9 projects list this exact year and package in the reviewed source. A listing is not a road test. “Not verified” does not mean unsupported.
openpilotDevices: comma 4 and comma 3XListed by project
Official comma.ai baseline.
Steering: All listed speeds · Gas and brakes: Factory cruise · Experimental speed: Cannot control speed
Stable source · checked 2026-09-03 · revision 70e157462304Exact source
sunnypilotDevices: comma 4 and comma 3XListed by project
Added driving and convenience settings.
Steering: All listed speeds · Gas and brakes: Factory cruise · Experimental speed: Cannot control speed
Stable source · checked 2026-09-03 · revision 6a17f75c6bcbExact source
BluePilotDevices: comma 4 and comma 3XListed by project
Ford-focused sunnypilot fork.
Steering: All listed speeds · Gas and brakes: Factory cruise · Experimental speed: Cannot control speed
Stable source · checked 2026-09-03 · revision e1d051d7ba27Exact source
dragonpilotDevices: comma 3X and comma 3Listed by project
Driving and device customization.
Steering: All listed speeds · Gas and brakes: Factory cruise · Experimental speed: Cannot control speed
Stable source · checked 2026-09-03 · revision 3e8edb7e3d6dExact source
Check 5 other projects
FrogPilotDevices: comma 3X and comma 3Check year and package
Extensive driving and interface controls.
The project lists Nissan Altima 2019–2020, but the years or required package differ. Its table says: ProPILOT Assist.
Stable source · checked 2026-09-03 · revision 1e23dec6352cExact source
StarPilotDevices: comma 4, comma 3X and comma 3Check year and package
FrogPilot-derived feature fork.
The project lists Nissan Altima 2019–2024, but the years or required package differ. Its table says: ProPILOT Assist.
Stable source · checked 2026-09-03 · revision a497c0f83966Exact source
OPKRDevices: comma 3 and comma 2Check year and package
Hyundai, Kia, and Genesis focus.
The project lists Nissan Altima 2019–2020, but the years or required package differ. Its table says: ProPILOT.
Stable source · checked 2026-09-03 · revision 3ff6dc6081c2Exact source
IQ.PilotDevices: comma 4, comma 3X and comma 3Not verified
IQ.Dynamic driving modes plus device and network tools.
We do not have a safe exact match in this project's reviewed car table. Ask its community before installing. This does not mean the car is unsupported.
Stable source · checked 2026-09-03 · revision b073c5182bafExact source
OPGMDevices: comma 3Not verified
GM Global A specialization.
We do not have a safe exact match in this project's reviewed car table. Ask its community before installing. This does not mean the car is unsupported.
Testing source · checked 2026-09-03 · revision 9c6f7cf63b6bExact source
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On the road
How it drives
Experimental Mode: Not available in stock openpilot
Experimental Mode is unavailable in stock openpilot on this car because the factory adaptive cruise controls gas and brakes. A fork needs separate support for this exact car to change that.
Good to know
Two things people mix up
A bigger model does not change control access
Chestnut gives comma four more computing power for larger driving models. The connection to the car still decides whether openpilot can send steering, gas, and brake commands. What Chestnut changes
Radar and control are different things
A car may use radar, cameras, or both to see traffic. That is separate from who sends gas and brake commands. The official row does not name the sensor for this car, so CommaGuide does not guess.
Match the car
Check these details before buying
- Model years
- 2019–2024
- Required package
- ProPILOT Assist
- Harness connector
- Nissan B connector
- Device
- comma four
- Steering speed
- Available at all listed speeds
- Gas response
- Can accelerate from a stop
- Resume after a stop
- Driver input may be needed
- Steering authority
- Full mark in comma's table
The official list uses the US market unless the model name or a source note says otherwise. Similar trims and years are not automatically included.
What goes in the car
Hardware in the listed kit
- Nissan B connector
- OBD-C cable (2 ft)
- comma four
- comma power v3
- harness box
- long OBD-C cable (9.5 ft)
- mount
Quick answers
Nissan Altima openpilot questions
Does openpilot control steering?
Yes. The official table lists openpilot steering at all speeds.
Who controls gas and brakes?
The car's adaptive cruise controls gas and brakes in the standard openpilot release. Stock openpilot keeps the factory speed-control system in charge.
Can this car use Experimental Mode?
The factory adaptive-cruise system owns speed, so openpilot cannot run Experimental speed planning.
Does Chestnut add more controls?
No. Chestnut provides more compute for a larger driving model. It does not add steering, accelerator, or brake access to the car.
Which openpilot forks list this exact car?
openpilot, sunnypilot, BluePilot, dragonpilot list this exact year and package in the reviewed project sources. A source listing is not a road test or a promise for every region.
Next steps
Add FSD-style driving assist to a Nissan AltimaWhat it does on this car, what it costs, and how to order the right kit.Install stock openpilotUse the official release and complete setup while parked.Compare community softwareFork support can differ. Check that project's exact car and release before installing.
Official source and notes
This page describes stock openpilot capability from one exact official table row. It does not prove that a community fork supports this configuration.
- Note 6: See more setup details for Nissan.
Marks and logos identify their owners and are not proof of support. CommaGuide is an independent guide.