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Handle stock AEB and active steering avoidance by disengaging ope… - #406
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Jun 20, 2026
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- Detect stock AEB (DAS_aebEvent) and trigger PERMANENT alert + safety layer
blocking longitudinal commands
- Detect stock steering control (DAS_steeringControlType != NONE) and block
lateral commands at the panda safety layer, unconditionally respecting
DAS emergency evasive steering
- Both mechanisms act as a hardware-level safety firewall
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Pull request overview
This PR extends the Tesla port’s safety handling by detecting and reacting to stock safety interventions (notably AEB and stock steering control) to prevent openpilot actuation from conflicting with OEM behavior. It also adds Tesla-specific platform/config updates (FSD 14 flagging, Model X docs/flagging) and introduces new vehicle-bus features (3-finger press -> ExperimentalMode toggle and blinker MITM via DAS_bodyControls).
Changes:
- Add panda safety “firewall” behaviors for Tesla: block openpilot longitudinal during stock AEB, block lateral during stock steering control, and block TX during Summon/Autopark.
- Add Tesla FSD 14 support via FW-based flagging and safety param propagation (including flipped steering control type handling).
- Add vehicle-bus integrations: 3-finger infotainment press mapped to LKAS button events and a DAS_bodyControls-based blinker MITM path.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| selfdrive/car/car_specific.py | Adds Tesla-only ExperimentalMode toggle triggered via LKAS button events. |
| opendbc_repo/opendbc/safety/safety/safety_tesla.h | Implements stock AEB / stock steering conflict detection, Summon blocking, FSD14 control-type flipping, and allows TX of DAS_bodyControls. |
| opendbc_repo/opendbc/car/tesla/values.py | Adds Tesla Model X docs entry, new Tesla flags (FSD_14, vehicle bus/body controls), and FW list for FSD 14 detection. |
| opendbc_repo/opendbc/car/tesla/teslacan.py | Adds FSD14-aware steering control type selection; adds longitudinal setSpeed/jerk ramping; adds DAS_bodyControls message crafting for blinkers. |
| opendbc_repo/opendbc/car/tesla/interface.py | Detects FSD14 by EPS FW, sets safetyParam/flags, and detects presence of vehicle bus / body controls via fingerprint. |
| opendbc_repo/opendbc/car/tesla/fingerprints.py | Extends known EPS FW versions and adds Tesla Model X EPS FW versions. |
| opendbc_repo/opendbc/car/tesla/carstate.py | Adds Summon state tracking, broader DAS cancel detection -> cancel button event, FSD14 suspicion logic, body controls raw capture, and 3-finger press -> LKAS button event generation. |
| opendbc_repo/opendbc/car/tesla/carcontroller.py | Uses DAS cancel state, adds optional blinker MITM transmission on vehicle bus aligned to stock DAS_bodyControls counter. |
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Comment on lines
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| if (bus == 2) { | ||
| if (tesla_longitudinal && (addr == 0x2b9)) { | ||
| // "AEB_ACTIVE" | ||
| tesla_stock_aeb = (GET_BYTE(to_push, 2) & 0x03U) == 1U; | ||
| } |
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| // we used to assume Summon on startup; instead we tolerate a short | ||
| // window without TX (DI_state comes at 10 Hz). Panda safety will | ||
| // reject TX until the first DI_state message clears tesla_summon. |
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| static const CanMsg TESLA_M3_Y_TX_MSGS[] = { | ||
| {0x488, 0, 4}, // DAS_steeringControl | ||
| {0x2b9, 0, 8}, // DAS_control | ||
| {0x27D, 0, 3}, // APS_eacMonitor | ||
| {0x3E9, 1, 8}, // DAS_bodyControls (blinker on vehicle bus) | ||
| }; |
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| # FSD disengages on strong user override (handsOnLevel >= 3) or high angle rate faults (fast override, high speed) | ||
| eac_error_code = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacErrorCode"].get(int(epas_status["EPAS3S_eacErrorCode"]), None) | ||
| self.steering_disengage = self.hands_on_level >= 3 or (eac_status == "EAC_INHIBITED" and | ||
| eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY") |
ajouatom
pushed a commit
that referenced
this pull request
Jun 20, 2026
…lot (#406) - Detect stock AEB (DAS_aebEvent) and trigger PERMANENT alert + safety layer blocking longitudinal commands - Detect stock steering control (DAS_steeringControlType != NONE) and block lateral commands at the panda safety layer, unconditionally respecting DAS emergency evasive steering - Both mechanisms act as a hardware-level safety firewall
ajouatom
pushed a commit
that referenced
this pull request
Jun 20, 2026
…lot (#406) - Detect stock AEB (DAS_aebEvent) and trigger PERMANENT alert + safety layer blocking longitudinal commands - Detect stock steering control (DAS_steeringControlType != NONE) and block lateral commands at the panda safety layer, unconditionally respecting DAS emergency evasive steering - Both mechanisms act as a hardware-level safety firewall
happymaj11r
pushed a commit
that referenced
this pull request
Jun 20, 2026
…lot (#406) - Detect stock AEB (DAS_aebEvent) and trigger PERMANENT alert + safety layer blocking longitudinal commands - Detect stock steering control (DAS_steeringControlType != NONE) and block lateral commands at the panda safety layer, unconditionally respecting DAS emergency evasive steering - Both mechanisms act as a hardware-level safety firewall (cherry picked from commit 9126487)
happymaj11r
pushed a commit
to happymaj11r/openpilot
that referenced
this pull request
Jun 20, 2026
…lot (ajouatom#406) - Detect stock AEB (DAS_aebEvent) and trigger PERMANENT alert + safety layer blocking longitudinal commands - Detect stock steering control (DAS_steeringControlType != NONE) and block lateral commands at the panda safety layer, unconditionally respecting DAS emergency evasive steering - Both mechanisms act as a hardware-level safety firewall (cherry picked from commit 9126487)
happymaj11r
pushed a commit
to happymaj11r/openpilot
that referenced
this pull request
Jun 25, 2026
…lot (ajouatom#406) - Detect stock AEB (DAS_aebEvent) and trigger PERMANENT alert + safety layer blocking longitudinal commands - Detect stock steering control (DAS_steeringControlType != NONE) and block lateral commands at the panda safety layer, unconditionally respecting DAS emergency evasive steering - Both mechanisms act as a hardware-level safety firewall (cherry picked from commit e0409b6)
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