<s>
openpilot	B-Application
is	O
an	O
open	B-License
source	I-License
,	O
semi-automated	O
driving	O
system	O
developed	O
by	O
comma.ai	O
.	O
</s>
<s>
openpilot	B-Application
operates	O
as	O
a	O
replacement	O
for	O
OEM	O
advanced	O
driver-assistance	O
systems	O
with	O
the	O
objective	O
of	O
improving	O
visual	O
perception	O
and	O
electromechanical	O
actuator	B-Algorithm
control	O
.	O
</s>
<s>
As	O
of	O
March	O
2021	O
the	O
total	O
distance	O
driven	O
by	O
users	O
of	O
openpilot	B-Application
is	O
over	O
.	O
</s>
<s>
The	O
first	O
version	O
of	O
openpilot	B-Application
was	O
revealed	O
a	O
few	O
months	O
later	O
in	O
a	O
Bloomberg	O
article	O
,	O
showing	O
functionality	O
on	O
a	O
2016	O
Acura	O
ILX	O
.	O
</s>
<s>
openpilot	B-Application
was	O
packaged	O
into	O
a	O
small	O
,	O
shippable	O
device	O
called	O
the	O
"	O
comma	O
one	O
"	O
,	O
announced	O
at	O
TechCrunch	O
Disrupt	O
.	O
</s>
<s>
comma.ai	O
open-sourced	O
openpilot	B-Application
a	O
month	O
later	O
,	O
on	O
November	O
30	O
,	O
2016	O
,	O
emphasizing	O
its	O
intended	O
use	O
for	O
research	O
,	O
without	O
any	O
warranty	O
.	O
</s>
<s>
openpilot	B-Application
uses	O
machine	O
learning	O
,	O
trained	O
with	O
user	O
driver	O
data	O
,	O
to	O
determine	O
the	O
safest	O
path	O
on	O
the	O
road	O
.	O
</s>
<s>
openpilot	B-Application
maintains	O
a	O
safe	O
following	O
distance	O
from	O
the	O
vehicle	O
ahead	O
.	O
</s>
<s>
openpilot	B-Application
recognizes	O
the	O
driver	O
's	O
face	O
;	O
if	O
the	O
driver	O
is	O
distracted	O
,	O
openpilot	B-Application
warns	O
the	O
driver	O
.	O
</s>
<s>
If	O
the	O
driver	O
is	O
distracted	O
for	O
more	O
than	O
six	O
seconds	O
,	O
openpilot	B-Application
decelerates	O
the	O
vehicle	O
to	O
a	O
stop	O
,	O
and	O
audibly	O
alerts	O
the	O
user	O
.	O
</s>
<s>
openpilot	B-Application
uses	O
the	O
model	O
to	O
change	O
lanes	O
when	O
the	O
user	O
engages	O
the	O
turn	O
signal	O
:	O
a	O
nudge	O
is	O
required	O
on	O
the	O
steering	O
wheel	O
to	O
confirm	O
the	O
lane	O
change	O
.	O
</s>
<s>
openpilot	B-Application
also	O
interacts	O
with	O
the	O
blind	O
spot	O
monitor	O
on	O
certain	O
makes	O
and	O
models	O
to	O
block	O
the	O
lane	O
change	O
in	O
the	O
event	O
a	O
car	O
is	O
detected	O
by	O
the	O
blind	O
spot	O
monitor	O
.	O
</s>
<s>
openpilot	B-Application
receives	O
over-the-air	O
software	O
updates	O
via	O
WiFi	O
or	O
a	O
cellular	O
phone	O
network	O
,	O
(	O
OTA	O
updates	O
)	O
.	O
</s>
<s>
At	O
launch	O
,	O
openpilot	B-Application
supported	O
the	O
Honda	O
Civic	O
and	O
the	O
Acura	O
ILX	O
.	O
</s>
<s>
Support	O
for	O
more	O
vehicles	O
and	O
brands	O
has	O
been	O
added	O
through	O
open	B-License
source	I-License
contribution	O
.	O
</s>
<s>
Development	O
is	O
supported	O
by	O
an	O
open-source	B-License
community	O
using	O
Discord	O
and	O
GitHub	B-Application
.	O
</s>
<s>
comma.ai	O
maintains	O
the	O
openpilot	B-Application
codebase	O
and	O
releases	O
,	O
and	O
there	O
is	O
a	O
growing	O
community	O
that	O
maintains	O
various	O
forks	O
of	O
openpilot	B-Application
.	O
</s>
<s>
Pre-Autopilot	O
Tesla	O
models	O
have	O
been	O
retrofitted	O
with	O
openpilot	B-Application
through	O
a	O
community	O
fork	O
.	O
</s>
<s>
There	O
are	O
over	O
6,600	O
forks	O
of	O
the	O
openpilot	B-Application
GitHub	B-Application
repository	O
.	O
</s>
