Volkswagen ID.4 (MEB platform) by elkoled · Pull Request #3366 · commaai/opendbc

elkoled · 2026-04-30T06:59:18Z

First car on the Volkswagen MEB platform.
Only gateway Harness support for now to prevent disabling AEB and support stock Emergency Assist escalation.
MEB EPS uses curvature target. New native helpers added in lateral.py.
Set to Dashcam mode until EA escalation is validated, will be done in separate PR.

Validation

DongleID: aebd8f1d4ea16066
openpilot route: aebd8f1d4ea16066|00000009--b31e222338
Stock Travel Assist route: f73c01590368ee5b/00000010--19b95d93b3
Injection test: aebd8f1d4ea16066/0000014f--4438896b95

Checklist

Injection test

Test car
2022 Volkswagen ID.4 Pro S, USA

Thanks to the community:
Carport: @infiniteCable / DaHansi
Harness: @lukasloetkolben

github-actions · 2026-04-30T07:01:28Z

Car behavior report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

Testing 130 segments for: VOLKSWAGEN_ARTEON_MK1, VOLKSWAGEN_ATLAS_MK1, VOLKSWAGEN_CRAFTER_MK2, VOLKSWAGEN_GOLF_MK7, VOLKSWAGEN_JETTA_MK7, VOLKSWAGEN_PASSAT_MK8, VOLKSWAGEN_PASSAT_NMS, VOLKSWAGEN_POLO_MK6, VOLKSWAGEN_TAOS_MK1, VOLKSWAGEN_TIGUAN_MK2, VOLKSWAGEN_TOURAN_MK2, VOLKSWAGEN_TRANSPORTER_T61, VOLKSWAGEN_TROC_MK1

✅ 0 changed, 130 passed, 0 errors

elkoled · 2026-05-22T21:37:45Z

Injection test
instances over ISO limit were acceleration into a curve, shown in plots.

positive lat accel
40mph

70mph

negative lat accel
35mph

70mph

Over ISO gas pressed:

sshane

I would prefer we merge just lateral and without longitudinal and do that in a follow up PR, the diff for lateral is already big enough. Just longitudinal looks like a lot to review, and this PR doesn't put ID4 in release yet, not sure why? You can weigh in @adeebshihadeh.

I also want us to add the new curvature safety and use it for Ford first so using it here is a drop in small change, and we can validate it independently without worrying about anything else. We can bring back curvature steering mode that Cameron added if it's needed, just undeprecate it.

There's a few PRs that can be split out here so we can validate smaller changes quicker.

sshane · 2026-05-23T04:05:17Z

+# Add extra tolerance for average banked road since safety doesn't have the roll
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
+MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~3.6 m/s^2


duplicated in too many places (ford and tesla)

sshane · 2026-05-23T04:05:39Z

+def apply_std_curvature_limits(apply_curvature: float, apply_curvature_last: float, v_ego: float, curvature: float,
+                               steer_step: int, lat_active: bool, limits: CurvatureSteeringLimits) -> float:
+  new_apply_curvature = apply_curvature
+
+  # Lateral jerk
+  max_jerk = get_max_curvature_jerk(v_ego, steer_step)
+  curvature_up = apply_curvature_last + max_jerk
+  curvature_down = apply_curvature_last - max_jerk
+
+  new_apply_curvature = float(np.clip(new_apply_curvature, curvature_down, curvature_up))
+
+  # Lateral acceleration
+  min_curvature, max_curvature = get_max_curvature_average(v_ego)
+  new_apply_curvature = float(np.clip(new_apply_curvature, min_curvature, max_curvature))
+
+  # set output curvature as current curvature (if otherwise set to 0 in car controller)
+  if not lat_active:
+    new_apply_curvature = curvature
+
+  return float(np.clip(new_apply_curvature, -limits.CURVATURE_MAX, limits.CURVATURE_MAX))
+
+


Can this be used for Ford?

sshane · 2026-05-23T04:07:21Z

+      else:
+        # Logic to avoid HCA state 4 "refused":
+        #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
+        #   * Don't steer at standstill
+        #   * Don't send > 3.00 Newton-meters torque
+        #   * Don't send the same torque for > 6 seconds
+        #   * Don't send uninterrupted steering for > 360 seconds
+        # MQB racks reset the uninterrupted steering timer after a single frame
+        # of HCA disabled; this is done whenever output happens to be zero.
+        if CC.latActive:
+          new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
+          apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
+
+        apply_torque = self.hca_mitigation.update(apply_torque, self.apply_torque_last)
+        hca_enabled = apply_torque != 0
+        self.apply_torque_last = apply_torque
+        can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))


Is this the old torque control path? These comments look new. Move to new PR?

sshane · 2026-05-23T04:07:45Z

+    if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
+      stopping = actuators.longControlState == LongCtrlState.stopping
+
+      if self.CP.flags & VolkswagenFlags.MEB:


one global MEB check and group everything there? easier to read

sshane · 2026-05-23T04:08:25Z

+      else:
+        lead_distance = 0
+        if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
+          lead_distance = 512 if CS.upscale_lead_car_signal else 8
+        if self.CP.flags & VolkswagenFlags.PQ:
+          long_ccs = pqcan
+        elif self.CP.flags & VolkswagenFlags.MLB:
+          long_ccs = mlbcan
+        else:
+          long_ccs = mqbcan
+        acc_hud_status = long_ccs.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+        # FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
+        # FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
+        set_speed = hud_control.setSpeed * CV.MS_TO_KPH
+        can_sends.append(long_ccs.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
+                                                         lead_distance, hud_control.leadDistanceBars))


why does this look different than the deleted code?

sshane · 2026-05-23T04:09:46Z

+
+    cam_messages = []
+    if CP.networkLocation == NetworkLocation.gateway:
+      cam_messages.append(("AWV_03", 1)) # Front Collision Detection (1 Hz when inactive, 50 Hz when active)


Suggested change

cam_messages.append(("AWV_03", 1)) # Front Collision Detection (1 Hz when inactive, 50 Hz when active)

cam_messages.append(("AWV_03", 1)) # Front Collision Detection (1 Hz when inactive, 50 Hz when active)

sshane · 2026-05-23T04:10:06Z

+      if 0x3DC in fingerprint[0]:  # Gateway_73
+        ret.flags |= VolkswagenFlags.ALT_GEAR.value
+
+      ret.radarUnavailable = 0x24F not in fingerprint[0] # Strukturen_01


Suggested change

ret.radarUnavailable = 0x24F not in fingerprint[0] # Strukturen_01

ret.radarUnavailable = 0x24F not in fingerprint[0] # Strukturen_01

sshane · 2026-05-23T04:10:33Z

+      # only allow gateway harness for now
+      ret.dashcamOnly = is_release or ret.networkLocation == NetworkLocation.fwdCamera


sshane · 2026-05-23T04:11:34Z

+    if ret.flags & VolkswagenFlags.MEB:
+      ret.startingState = True
+      ret.startAccel = 0.8
+      ret.vEgoStarting = 0.5
+      ret.vEgoStopping = 0.1
+      ret.stopAccel = -0.55
+    else:
+      ret.stopAccel = -0.55
+      ret.vEgoStarting = 0.1
+      ret.vEgoStopping = 0.5


stopAccel is the same, and why is starting and stopping exactly flipped? Also why is startAccel needed? That's generally for laggy cars and isn't a great and smooth experience.

github-actions Bot added car related to opendbc/car/ volkswagen car safety vehicle-specific safety code labels Apr 30, 2026

elkoled marked this pull request as draft April 30, 2026 06:59

elkoled changed the title ~~VW ID4~~ VW ID.4 Apr 30, 2026

sshane force-pushed the vw-id4 branch from 2ee47c6 to 74e693b Compare May 1, 2026 03:55

elkoled force-pushed the vw-id4 branch from 3f76d2c to 24b269b Compare May 1, 2026 21:30

elkoled force-pushed the vw-id4 branch from 83fd714 to 3f7b934 Compare May 15, 2026 05:31

github-actions Bot added DBC signals hyundai toyota labels May 15, 2026

VW ID.4 port

56472c3

elkoled force-pushed the vw-id4 branch from 3f7b934 to 56472c3 Compare May 15, 2026 05:51

github-actions Bot removed DBC signals hyundai toyota labels May 15, 2026

elkoled force-pushed the vw-id4 branch from e0a0f83 to 56472c3 Compare May 15, 2026 16:45

elkoled added 12 commits May 15, 2026 10:02

VW MEB: safety vehicle model + tests

5b22b16

safety tests

4d3b24c

cleanup

70b22b2

fix test

9259a0e

fix

6d8ef2a

safety

c4506fc

use curvature

4763608

no pid

2dbd824

clean long

692cfe6

longitudinal

45e011b

add fcw

5dcb81e

allowance=80

39859fa

elkoled added 11 commits May 19, 2026 14:17

add carstate signals

1ce179e

typo

c6fca1d

inline power

0efa3b1

add power tests

db152b5

fix mutation test

7ed2364

update route

ae20cd2

flags

0273add

merge master

b923629

Merge remote-tracking branch 'origin/master' into vw-id4

12a8f97

camera harness

71fd1b1

add blinker controls

a441628

github-actions Bot added the DBC signals label May 21, 2026

elkoled added 5 commits May 21, 2026 17:11

add tests

b5976d9

rm rx

5e200da

fix ruff

a72f4ce

fix

7407ce8

revert: blinker controls

ca83391

elkoled force-pushed the vw-id4 branch from 9be8c9b to ca83391 Compare May 22, 2026 04:04

elkoled marked this pull request as ready for review May 22, 2026 04:30

elkoled changed the title ~~VW ID.4~~ Volkswagen ID.4 (MEB platform) May 22, 2026

elkoled requested a review from sshane May 22, 2026 06:13

brake fault

9fb355c

sshane reviewed May 23, 2026

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Volkswagen ID.4 (MEB platform)#3366

Volkswagen ID.4 (MEB platform)#3366
elkoled wants to merge 30 commits into
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	cam_messages.append(("AWV_03", 1)) # Front Collision Detection (1 Hz when inactive, 50 Hz when active)
	cam_messages.append(("AWV_03", 1)) # Front Collision Detection (1 Hz when inactive, 50 Hz when active)

	ret.radarUnavailable = 0x24F not in fingerprint[0] # Strukturen_01
	ret.radarUnavailable = 0x24F not in fingerprint[0] # Strukturen_01

		# only allow gateway harness for now
		ret.dashcamOnly = is_release or ret.networkLocation == NetworkLocation.fwdCamera

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Car behavior report

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