This repository contains machine learning components and tools to advance sunnypilot's capabilities in autonomous driving.
This repository focuses on machine learning components and tools to enhance sunnypilot's autonomous driving capabilities. Currently, it includes model-specific code offloaded from the main sunnypilot repository, with navigation as the primary implementation. Future developments will expand to include:
- Vision Encoders: Neural network components for processing visual data from cameras.
- Vision Classifiers: Models for classifying objects and scenes in driving environments, such as street lights, pedestrians, etc...
- Machine Learning Tests: Test suites for validating ML models and modeld codebase.
- Testing Capabilities: Validated integration testing for troubleshooting and analyzing model performance.
- Driving Model Merge Scripts: Tools to combine multiple driving models into one.
- Quantizers: Algorithms for model quantization to optimize performance and size, able to downsample 1 GB models to 200MiB models.
To set up the development environment, run the appropriate setup script for your operating system:
- macOS:
./tools/setup/mac_setup.sh - Ubuntu:
./tools/setup/ubuntu_setup.sh
After running the script, activate the virtual environment in your shell:
source .venv/bin/activate
The params module uses a compiled C++ library for default values. Build it with:
scons
common: Shared utilities and the params module for storing config data persistently with Cython and Cap'n Proto.messaging: Handles messaging between components using ZMQ messenger over IPC.navigation: Sunnypilot navigation daemon that integrates with Mapbox for geocoding, routing, and turn-by-turn guidance.system: Manages system processes, including the manager daemon that launches and monitors components like navigation and live location services using multiprocessing.tools: This contains development tools like setup scripts, lint, and mutation test runners.
We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
Pull requests should be against the most current master branch.
sunnypilot autonomy is released under the MIT License.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
For full license terms, please see the LICENSE file.