Guide
Feature overview
sunnypilot Features and Updates
sunnypilot is an openpilot fork by sunnyhaibin (Jason), focused on modular assistive driving, an industry-leading model library, and practical daily-driver enhancements. It supports 250+ vehicles across multiple car brands.
Project Links
Hardware Compatibility
sunnypilot tracks upstream openpilot hardware support. Verify the latest device status at community.sunnypilot.ai.
| Device | Supported | Notes |
|---|---|---|
| comma 4 | Yes | Supported on staging/dev branches as of early 2026. C4 stable (release-mici) coming soon — check community.sunnypilot.ai for updates. |
| comma 3X | Yes | Fully supported. Stable: release.sunnypilot.ai (release-tizi branch). Staging/dev unified with C4. |
| comma 3 | Maintenance only | comma 3 (TICI hardware) — no stable branch yet. Use staging-tici: install.sunnypilot.ai/staging-tici. Maintenance mode. |
Supported hardware
comma Pedal (Gas Interceptor)
The comma Pedal is a gas-pedal interceptor that plugs into a vehicle's gas pedal connector, allowing openpilot to actuate the throttle directly. This enables stop-and-go functionality on cars whose stock ACC does not support coming to a full stop.
Detected automatically via CAN fingerprint (0x201) — no manual configuration required
Supported on Toyota/Lexus when openpilot longitudinal control is active (not supported on SecOC platforms)
Also supported on Honda models — sunnypilot explicitly maintains comma Pedal support after it was deprecated upstream by comma.ai
When active, lowers minimum enable speed to 0 mph for full stop-and-go
Note: comma Pedal hardware is no longer sold by comma.ai, but sunnypilot maintains software support for existing units.
Supported hardware
Toyota Smart DSU (sDSU)
The Smart DSU is a small CAN-bus device that intercepts ACC commands between the Toyota DSU (Driver Support Unit) or radar and the vehicle, allowing sunnypilot to send its own longitudinal commands. This adds full openpilot longitudinal control to older Toyota TSS-P vehicles that would otherwise only support lateral (steering) assistance.
Detected via CAN fingerprint — 0x2FF for DSU-based TSS-P cars; 0x2AA variant for NO_DSU radar-based cars
Primarily targets Toyota TSS-P vehicles (pre-2019 era): Corolla, Camry, RAV4, Prius, Highlander, and equivalent Lexus models that shipped with lane assist but limited ACC
Also compatible with certain TSS2 NO_DSU radar-ACC platforms via CAN filter mode
Enables openpilot longitudinal by default on most platforms; on TSS2 radar-ACC cars, requires the Experimental Longitudinal toggle
Lowers minimum enable speed to 0 mph, enabling stop-and-go on supported vehicles
The Smart DSU is available from third-party sellers. Search "Toyota Smart DSU openpilot" for sourcing options. Not affiliated with sunnypilot.
Install Branches
Install URL format:
installer.comma.ai/sunnyhaibin/{branch_name}Branch names evolve over time. For the current recommended branches, visit community.sunnypilot.ai.
| Tier | Description | Previous Shortlink |
|---|---|---|
| Stable (release-tizi) | Recommended for comma 3X — daily use | release.sunnypilot.ai |
| Staging (unified) | comma 3X + C4 — beta testing, some risk | staging.sunnypilot.ai |
| Dev (unified) | comma 3X + C4 — experimental only | dev.sunnypilot.ai |
| staging-tici (C3) | comma 3 only — no stable yet | install.sunnypilot.ai/staging-tici |
Shortlinks above may have changed. Always confirm the latest branch names and URLs at the community forum.
Driving Model Manager (DMM)
Top Differentiator
DMM is sunnypilot's built-in driving model library and download manager. It gives you access to 86+ openpilot AI driving models spanning 2023 through 2025 — all without reinstalling the fork. No other openpilot fork offers anything like it.
86+ Models
Browse a curated library of openpilot driving models from multiple generations, each with different driving characteristics and strengths.
Fuzzy Search & Favorites
Find models instantly with fuzzy search. Mark favorites for quick access. Cached models are stored locally so you can switch offline.
Hot-Swap Models
Switch between driving models on the fly — no reinstall, no branch change. Download a new model and activate it in seconds.
Why it matters: Different driving models excel in different conditions — some handle highway driving better, others are tuned for city streets or aggressive curves. DMM lets you experiment freely and find the model that best matches your driving style and route without committing to a single version.
Features
Flagship Features
Core
MADS — Modular Assistive Driving System
sunnypilot's flagship engagement model. Lateral (steering) and longitudinal (gas/brake) control engage and disengage independently.
MADS status icon: Green = engaged, White = suspended
CANCEL only disables ACC/SCC — lane centering stays active
Brake pedal behavior is configurable: pause lateral or keep lateral active
Dedicated CRUISE MAIN or LKAS button toggles lane centering independently
Always-on lateral keeps steering assistance active even without ACC
Updated
NNLC — Neural Network Lateral Control
Formerly known as NNFF. A neural network trained per-car, per-EPS-firmware for more accurate and smoother steering. Contributed by @twilsonco.
Per-vehicle neural network replaces generic torque/PID tuning
Significantly smoother steering with reduced oscillation
More accurate response to steering commands across the speed range
Models trained on specific EPS firmware versions for best compatibility
New
DEC — Dynamic Experimental Control
Automatically switches between standard ACC and end-to-end longitudinal control based on road conditions.
Activates e2e longitudinal for curves, stop signs, traffic lights, and intersections
Falls back to standard ACC on open highway for predictable cruise behavior
Combines the best of both modes without manual toggling
Updated
Speed Limit Assist (SLA)
Automatically adjusts cruise speed based on posted speed limits from multiple data sources.
Sources: car dashboard sensors + offline OSM maps (via mapd) combined for best accuracy
Engage modes: Auto, User Confirm, or Warning Only
Configurable speed offset above or below posted limits
Speed Limit Warning can alert with visual or audible chime
Updated
Curve Speed Control (SCC-M / SCC-V)
Formerly M-TSC and V-TSC. Automatically reduces speed for upcoming curves using two complementary approaches.
SCC-M (Map-based): Uses OpenStreetMap curve data to slow down before curves appear in view
SCC-V (Vision-based): Uses the driving model's perception of the road ahead to detect curves in real time
Both can run simultaneously for layered curve safety
Extras
Fun Extras — Rainbow Path & Rocket Fuel
sunnypilot includes a handful of visual extras that make the driving UI more fun and informative.
Rainbow Path: Replaces the standard white drive path with an animated cycling rainbow gradient — 8 color segments that rotate through the full hue spectrum as you drive.
Rocket Fuel: A real-time acceleration indicator bar on the side of the screen — glows green during acceleration and red during braking, scaled to actual g-force.
Blind Spot Indicators: On-screen visual warnings when a vehicle is detected in your blind spot (BSM-equipped cars only).
Chevron Metrics: Adjustable lead vehicle info display — tap to show distance, speed, and relative velocity overlaid on the path.
Core
GAC — Gap Adjust Cruise
Fine-tune the following distance to the car ahead with three selectable profiles.
Stock Gap (1.45s) — Mild Gap (1.25s) — Aggro Gap (1.0s)
Adjustable via steering-wheel GAP/INTERVAL/DISTANCE buttons or on-screen UI
Supported on Honda/Acura, Hyundai/Kia/Genesis, Toyota/Lexus, and VW MQB/PQ
Utility
Offline OSM Maps
Download OpenStreetMap region data for offline use by Speed Limit Assist, Curve Speed Control, and other map-dependent features.
Powered by the mapd daemon for offline speed-limit and road-geometry lookups
Regions include US (South, West, Northeast, Florida), Taiwan, South Africa, New Zealand, and more
Requires 50 GB+ storage — SSD upgrade recommended for 32 GB comma 3 owners
Maps update periodically as OSM contributors improve road data
Additional Capabilities
Quiet Drive mutes all non-safety sounds for distraction-free driving.
Auto Lane Change Timer supports delayed lane changes with no steering nudge.
SunnyLink — sunnypilot's own cloud platform. Includes device registration, a browser-based settings database at sunnylink.wiki with 66+ settings and a model library, backup/restore, and remote access. Opt-in via the SunnyLink toggle in device settings.
Live tuning: torque lateral, friction/lat_accel_factor, and self-tune controls.
Dev UI, Stand Still Timer, Braking Status, and Brightness Control.
Fast Boot, Disable Onroad Uploads, Screen Off Timer, Max Time Offroad.
Custom stock longitudinal support for HKG CAN/CAN-FD, Honda Bosch, and VW MQB.
Dynamic Lane Profile (DLP) has been phased out of sunnypilot as of 2025. Lane mode switching is now handled by the driving model automatically.
Safety Note
sunnypilot is an unofficial openpilot fork. It is not affiliated with or endorsed by comma.ai. Use it at your own risk and remain attentive at all times. Always be ready to take over manual control of your vehicle.