ALKA (Always Lane Keep Assist)
Since 2019dragonpilot invented ALKA in 2019 — lane centering stays active independently of ACC, letting drivers keep manual speed control while the system steers. A signature dragonpilot feature.
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GuideUpdated Feb 2026
dragonpilot
Founded in 2019, dragonpilot is a long-running openpilot fork built around a "minimal changes" philosophy — staying close to stock openpilot while adding carefully chosen features like ALKA, vehicle-specific tuning, and continued comma 3 support. Primarily backed by a Chinese-speaking community, dragonpilot is non-commercial with no Patreon or paid tiers.
Official Links
Hardware Compatibility
As of February 2026
| Device | Status | Notes |
|---|---|---|
| comma 4 | ❌ | Not mentioned in dragonpilot GitHub as of Feb 2026 |
| comma 3X (C3X) | ✅ | Primary target device |
| comma 3 (C3) | ✅ | Kept after openpilot dropped C3 in v0.10.0 |
| O3 / O3L / O3XL | ✅ | Third-party hardware supported |
| comma 2 (C2) | ⚠️ | d2 branch only |
Install URLs
Current stable: 0.10.3 (updated Feb 24, 2026). Enter the full URL on your comma device to install.
| Device / Variant | Install URL |
|---|---|
| comma 3 / 3X (standard) | installer.comma.ai/dragonpilot/dragonpilot/0.10.3 |
| Kia Carnival | installer.comma.ai/dragonpilot/dragonpilot/0.10.3-carnival |
| Tesla | installer.comma.ai/dragonpilot/dragonpilot/0.10.3-tesla |
| Honda Odyssey | installer.comma.ai/dragonpilot/dragonpilot/0.10.3-ody |
| Legacy EON / C2 | installer.comma.ai/dragonpilot/dragonpilot/d2 |
General format: installer.comma.ai/{org}/{branch}
Core Driving Features
Adaptive Personality Mode (APM)
New in 0.10.3 r2Dynamically adapts driving personality in real-time based on road conditions and driving context.
Dynamic Accel Slew Rate (DASR)
New in 0.10.3 r2Smooths acceleration transitions for a more comfortable and natural driving experience.
Adaptive Experimental Mode (AEM)
Smarter switching between experimental and standard driving modes, adapting to road situations automatically.
Adaptive Coasting Mode (ACM)
Intelligent coasting behavior that reduces unnecessary braking for smoother and more efficient driving.
Dynamic Turn Speed Control (DTSC)
Automatically adjusts speed for upcoming turns using map and road data.
UI & Interface
Rainbow Path
Colorful animated driving path overlay for a distinct visual style.
MICI UI Mode
Alternative UI layout with Torque Bar for at-a-glance torque feedback.
Model Selector
Choose between different AI driving models directly from the on-screen UI.
Branch Selector
Switch dragonpilot branches directly from the UI — no SSH required.
System & Maps
mapd / Map Module
OSM-based speed limits, stop sign detection, and road name display.
Auto Lane Change
Configurable speed threshold for automatic lane changes.
Road Edge Detection
Enhanced awareness of road boundaries for safer lane keeping.
C3 nVMe Support
New in 0.10.3 r2nVMe storage support for comma 3 devices.
Device Utilities
Auto Shutdown timer, Tether on Boot, and other quality-of-life device controls.
Vehicle-Specific Enhancements
| Make | Features |
|---|---|
| Toyota / Lexus | SDSU support, ZSS support, door lock/unlock, SnG mod, PCM compensation |
| Honda | EPS Mod for enhanced steering |
| VAG (VW / Audi / Skoda) | Stop-and-Go mods |
| HKG (Hyundai / Kia / Genesis) | SMDPS low-speed steering enhancement |
dragonpilot offers vehicle-specific branches (e.g. Carnival, Tesla, Odyssey) for cars that need dedicated tuning beyond standard openpilot support.
Philosophy
dragonpilot follows a "minimal changes" approach — staying as close to stock openpilot as possible while selectively adding features the community values. This means updates from upstream openpilot merge cleanly, and the driving experience remains near-stock with targeted improvements. The project pioneered ALKA in 2019 and continues to be a leader in vehicle-specific branches. It is entirely non-commercial — no Patreon, no paid tiers, just community-driven development.
Safety Notice
dragonpilot is an unofficial openpilot fork. It is not affiliated with or endorsed by comma.ai. Use at your own risk. Always keep hands on the wheel and stay fully attentive while driving.