Anyone install comma ai/openpilot in their Prime?

Im thinking of doing so around Christmas.

 

I've thought about it, but I dont like the idea of a "smartphone" device someone can just break a window and rip off the windshield. Now if it used the built in LKA camera and was more "inside the dash" installation (no visible alterations) I'd be more open to it.

I also want to wait and see what this entails: Ghost | Real Self-Driving for You and Your Car | Ghost

 

There are numerous threads here, starting with ...

My Prius Prime Drives Itself | PriusChat
OpenPilot + Prius Prime 2020 | PriusChat

... and several more started more recently.

(I'm a severe skeptic on the safety of current aftermarket systems, before 'real' systems reach market, but will withhold those comments for now.)

 

Loving Openpilot. The Comma 2 hardware is $100 off until Friday. Plus a free beanie hat while supply lasts. Comma.ai is website.

 

What car have it on? And do you use any other mods such as a pedal, SDSU or ZSS etc.
I am thinking of waiting until Dec 23 to buy mine. I want to be able to trade it in if new hardware comes out in January again. 30 days return.

 

I have used it without pedal, zss, or sdsu, to great effect,on a 17, 18, and 20 prime. The 20 prime is very smooth and comfortable on the freeway. I am upgrading to the comma 2 this week.

 

I just installed a comma 2 on my 2021. I am impressed with steering which is ways ahead of the stock Toyota system, but very unhappy with what they call longitudinal (speed and distance control). There is no way to adjust following distance, which means that on an empty highway I am way too closely hugging someone's behind while for dense traffic the distance isn't aggressive enough to prevent frequent weaving.

Another bad experience are roads where you need to adjust speed a lot, so the typical new england curvy country road. Because open pilot isn't doing anything about speed, you need to use the cruise control lever do tune it up and down. If you use the pedals, open pilot immediately disengages.

Question for the experts: Is it possible to completely disable longitudinal functionality but still use auto steer? I would love to use it in the following 2 scenarios:

• On the highway I want to use Toyota stock adaptive cruise control with its adjustable following distance, while open pilot steers
• On contry roads I want to use accelerator / brakes manually, while open pilot still steers.

Is any of that possible?