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martinl edited this page Sep 16, 2024 · 96 revisions

Subaru

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Make-Specific terms

For general terms, go here.

Term Abbreviation Definition
EyeSight ES Subaru's vision based adaptive cruise / emergency braking / lane keeping system
Global Platform Global / gen1 Subaru's current unified platform, allowing a consistent core between different models. Lowering cost, and improving ease of development. Models using Global Platform include 2017+ Impreza, 2018+ Crosstrek
gen2 Global gen2 2020+ Legacy and 2020+ Outback, Same as global gen1, except moved some messages to bus1, especially ones required for long control. Requires eyesight to be disabled to have long control (POC done).
Pre-Global Platform Pre-Global Refers to models with ES predating Global Platform, for example 2015-2019 Outback, 2015-2019 Legacy, 2017-2018 Forester

Supported Models

Global

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below Harness
Subaru Ascent 2019-21 EyeSight Stock 0mph 0mph A
Subaru Crosstrek 2018-23 EyeSight Stock 0mph 0mph A
Subaru XV 2018-23 EyeSight Stock 0mph 0mph A
Subaru Forester 2019-21 EyeSight Stock 0mph 0mph A
Subaru Impreza 2017-22 EyeSight Stock 0mph 0mph A
Subaru Legacy 2020-22 EyeSight Stock 0mph 0mph B
Subaru Outback 2020-22 EyeSight Stock 0mph 0mph B

Supported models are available in upstream openpilot https://github.com/commaai/openpilot

Openpilot supported vehicles list https://comma.ai/vehicles#subaru

Pre-global

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below Harness
Subaru Forester 2017-18 EyeSight Stock 0mph 0mph A
Subaru Legacy 2015-19 EyeSight Stock 0mph 0mph A
Subaru Levorg 2016-20 EyeSight Stock 0mph 0mph A
Subaru Outback 2015-19 EyeSight Stock 0mph 0mph A
Subaru WRX 2016-2018 EyeSight Stock 0mph 0mph A

Additional community supported models are available in custom forks at https://github.com/martinl/openpilot and

Work in progress

Make Model (US Market Reference) Supported Package ACC No ACC accel below No ALC below Comments
Subaru Crosstrek 2020 Hybrid EyeSight Stock 0mph 0mph Subaru B harness, ACC disengage on gas press does not work
Subaru Forester 2020 Hybrid EyeSight Stock 0mph 0mph upstream PR open, needs better Cruise_Activated signal
Subaru Forester 2022 EyeSight Stock 0mph 0mph Subaru C harness, needs better Cruise_Activated signal
Subaru Outback 2023 EyeSight TBD TBD TBD Subaru D harness required
Subaru Crosstrek 2024 EyeSight TBD TBD TBD Subaru D harness required
Subaru Solterra 2023 Toyota TSS 3.0 TBD TBD TBD Toyota B harness, CAN FD

Subaru Solterra / Toyota BZ4x notes

  • Required hardware to start the car port: C3 + Red panda or C3X with built-in CAN-FD support and Toyota B harness
  • LKAS is using Toyota Camera ECU with AUTOSAR SecOC digital signatures.
  • Buy a vote to indicate your interest for adding support.
  • openpilot discussion thread There is some indication that the signing key can be dumped from the ECU on earlier model year Solterras.

WIP models support is incomplete and untested

Not supported models

  • BRZ - does not have LKAS

openpilot capabilities

Lateral control

Control over the steering wheel.

Torque

Subarus have very good torque, and works well on local and highway roads.

Minimum speeds

0 mph minimum speed for lateral control

Longitudinal control

Control over the gas and brakes.

Longitudinal control is provided by the stock system that came with the car.

Stop and go support

Eyesight ACC stops the car behind lead car. On models with electric parking brake, ACC will engage hold mode for up to 2 minutes, after which, the parking brake will be engaged. Resuming ACC is a manual operation. For traditional handbrake models, ACC is disengaged after 3 seconds after stopping.

Automatic resume for stop and go is implemented in community supported subaru-community branch.

Community videos

Subaru harness install

Drives

Harness pinouts

Subaru A to Subaru B car harness conversion

subaru-outback-2020-pin-swap
  • 4 <> 8, Can0 High with Can1 High
  • 6 <> 10, Can0 Low with Can1 Low
  • 18 <> 22, Can1 High with Can2 High
  • 20 <> 24, Can1 Low with Can2 Low

Techinfo details

Model MY Market Service manuals Parts catalogs EPS part no Eyesight part no
Impreza 2011 Euro5 G1100GE
Impreza/XV 2012 Euro5 G1120GE
Impreza/XV 2013 Euro5 G1140GE P1140XGE P1140WGE P1140SGE
Impreza/XV 2014 Euro5 G1175GE P1170XGE
Impreza/XV 2015 Euro5 G1210GE P1210XGE P1210WGE P1210SGE
Impreza/XV 2016 Euro5 G1250GE
XV 2017 Euro5 G1290GE G1329GE G1327GE
Impreza 2017 Euro5 G1300GE
Impreza/XV 2018 Euro5 G1329GE
Impreza/XV 2019 Euro5 G1347GE
Impreza/XV 2020 Euro5 G1377GE
Impreza/XV 2021 Euro5 G1410GE
Impreza/XV 2022 Euro5 G1450GE
Impreza/XV 2023 Euro5 N/A
Impreza/XV 2024 Euro5 G1528GE
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