commaai/commaCarSegments

commaCarSegments

commaCarSegments is a dataset of raw CAN bus data recorded from our fleet of openpilot users driving over 300 different production vehicles, around the USA and rest of the world.

Structure

.
├── segments/                 # drectory containing all data
│   ├── <device_id>/          # unique device ID directory
│   │   └── <route_id>/       # unique route (aka drive directory)
│   │       └── <segment>/    # unique segment index inside of the route
│   │           └── rlog.zst  # actual data
└── database.json             # manifest for the dataset

The rlog.zst is a zstandard-compressed archive of openpilot cereal messages that can be read with openpilot's LogReader.

Using this dataset

Here's a simple example that shows the CAN addresses with the length of their messages on a Chevy Bolt:

In [1]: from openpilot.tools.lib.logreader import LogReader

In [2]: lr = LogReader("da4f7891ae804737/00000341--589a82bd48/20/s")

In [3]: {c.address: len(c.dat) for c in lr.first("can")}
Out[3]:
{190: 7,
 201: 8,
 193: 8,
 197: 8,
 209: 7,
 840: 5,
 842: 5,
 485: 8,
 241: 6,
 211: 3}

Also see:

• —opendbc: our project for interfacing with the car's CAN bus
• —cabana: a beautiful tool for exploring CAN data (try ./cabana --demo)
• —Example notebooks using this dataset for large-scale validation of openpilot changes

In the dataset

Totals

• —230 different platforms
• —188883 segments
• —3148 hours

We're hiring!

If you have fun playing with this dataset, consider a job working on this stuff here at comma.