Openpilot on Tesla Model Y: Installation & Review

I installed the Comma 3X on my 2023 Tesla Model Y using a harness created by Comma AI community member Loetkolben! In this video, I cover the installation of the Comma 3X and harness, and then review it's performance compared to Autopilot and FSD - while demoing it during a drive.
Join the community: discord.comma.ai
Buy a Comma 3X: www.comma.ai/shop/comma-3x
Buy the Tesla M3/MY harness: www.ebay.com/usr/lukasloetkolben
Notes:
- Correction: it's "Enhanced Autopilot", not "Extended Autopilot"
- Correction: the USB-C cable is 10ft, not 20ft!
- There's no reason you have to route the USB-C cable the way I did! You can definitely just hang it or run it straight to the headliner. Running it through the rear-view mirror is just for the aesthetic :)
Chapters:
00:00 - Introduction
01:35 - Installation
11:22 - Demo & Review

[@matttaylor8910]

Great video, super cool to see this on 3 and Y. It's "Enhanced" AutoPilot though. You keep saying and writing "Extended". Cheers!

[@mattwebbio]

Rookie mistake 🫠

[@Aaron_b_c]

This means I can can finally get a Tesla

[@handsomejack6762]

It's a HUGE thing for Europeans Tesla owners, In the USA and Canada you have FSD 12, but in the EU we have extremely stripped down version of assistance systems, so much so that I've bought Tesla after owning a Toyota and Tesla assistance is just PAINFULLY bad, I miss Toyota assistance every second I use them. (The rest of car is lightyears ahead though). And it's very unlikely will be changed any time soon (FSD in Europe is quite hard) With Comma 3 finally available on Tesla we, Europeans can finally taste some true self driving in our awesome Teslas!

[@lashlarue59]

Why don't you have the full FSD in Europe?

[@handsomejack6762]

@@lashlarue59 we have too many countries with slightly different rules and some regions like France, Italy has crazy narrow streets. If that wasn't enough - we have crazy regulations essentially banning FSD (however that's about to change) It'll come eventually but unlikely anytime soon. Btw it's not only Europe but all countries except Canada and USA

[@easternpa2]

Very well done!

[@idea2010]

Great video

[@Saber422]

well done!

[@MikeAirforce111]

Finally!!! 🎉🎉🎉🎉🎉🎉

[@vanhooser1210]

How is the follow distance between the two systems? I have OP and the comma system follows very far back about 180 ft.

[@Jeffrey_Wong]

I used to think putting Openpilot on a Tesla seemed a bit redundant, especially when FSD v12 is demonstrating way more nuanced and natural behaviors than Openpilot. I also thought people with enough money to buy a Tesla would be much more willing to pony up the $$$ for a FSD subscription. But I think this comparison does a great job showcasing how "chill" Openpilot is and why some may prefer it over Tesla's offerings. At any rate, competition in this space will help to drive improvement on both sides so I'm always happy to see comparisons like this.

[@nxnu2119]

Nice man I hope I can do this on model 3 soon Def better then paying for fsd

[@eBuddy1999]

Thanks for the video. As I have to replace my openpilot Toyota I was considering buying a > $50,000 Tesla Model Y or X along with the $8,000 FSD 12.4, but I agree with your conclusion & will buy a much cheaper Toyota Hybrid using my existing comma & Toyota A harness.

[@mattwebbio]

I personally really wanted an EV, otherwise I may have gone that route as well! The charging and charger routing on Tesla vehicles are far superior to the current alternatives; though I'm hopeful that will change with NACS and, for example, Apple Maps charger routing. But for the time being, it's far more difficult to road trip in a non-Tesla EV.

[@dkiiv]

the FSD goon's have really come out of the woodwork LOL awesome job, and awesome video. im super happy to see openpilot finally working in a model y/3. makes me excited to get a model y once i am ready

[@berthogendoorn2133]

Great video, question is how about part time FSD via subscription when road tripping, would that be worth It?

[@mattwebbio]

At the $99/mo price point, I would definitely consider it! But I'm not going to retain an active subscription outside of special occasions.

[@jedadruled984]

Comma is amazing.

[@levysrugo6861]

Very exciting! Does it work with the comma 3 as well or only the 3x?

[@mattwebbio]

We don't need the red panda, just the black, so it should work with the Comma 3 as well :)

[@khuo0219]

Really interesting comparison and commentary video. Some of the criticism from the non-watchers of the video is definitely not warranted. Tesla can learn a thing or two from OpenPilot to improve their basic AP to reduce phantom braking. How does the comma system see the rear and the sides? Does it tap Tesla's cameras or use different ones? Why do you say that FSD will never be worth the price though? What is your theory of the speed of improvement given the current end to end neural net approach?

[@mattwebbio]

Openpilot is primarily lane-keep and traffic-aware cruise control (like Autopilot), so it doesn't really need side/rear cameras. So it literally just doesn't have them. For cars with blind spot monitors, it will use those to disable lane-changes when other cars are blocking you - but that functionality is not yet rigged for Model 3/Y. Loetkolben is planning to work on it, and as open-source software anyone could theoretically contribute that feature as well! For me personally, I think FSD is very cool but I like driving enough that when things are interesting (city driving or tight curvy roads), I'd rather drive and the added capability is then not worth much. "Boring" drives (long stretches of highway) is where I really appreciate systems like Autopilot and Openpilot. As a result, the added cost/value of FSD is lost on me. 🙂

[@khuo0219]

@@mattwebbio thanks for the reply. I guess people who buy the fsd outright is optimistic about the car being a robotaxi or see themselves being less able sometime in the future. The fsd subscription will be really good for seniors who still want to get around in private cars.

[@calebbarry3977]

Very interesting video, I wonder if you would consider things different especially now that FSD is only 8000 and it’s only 100 bucks a month to rent and starting next week, the wheel nag is going away for FSD and it relies on eye monitoring. With this change your opinion at all? I love,comma AI, but I just can’t do it considering FSD is only 100 bucks a month. And now I can just lean back and look at the road and it takes me anywhere in the US. I want to go.

[@mattwebbio]

Yes and no. FSD is a far better value now than it was when I uploaded the video, so my remaining reasons for liking Openpilot (in the USA) are a little more irrational: the ability to tinker with the code, the driver monitoring, etc. But for non-USA Tesla owners, Openpilot is still a superior experience (FSD is not available outside the US yet).

[@tonic115]

성지순례 from korea 🎉

[@bassamakasheh]

Is there a harness for a 2019 model S raven long range with hardware 3

[@mattwebbio]

I'm not an expert and the Model S is outside my area of expertise. I'd join the Discord and ask there :)

[@RSCats]

Does your Model Y have HW3 or HW4? Thanks!

[@mattwebbio]

HW3!

[@OrbitingCastle]

This is more EAP vs Openpilot.

[@handsomejack6762]

Thanks for the video and the hint! I actually was going to return my Tesla because I find autopilot completely useless on roads I drive (it applies speed limit 1.5-2 times lower than actual and won't allow to set speed higher) This may just save the situation! Can you please let me know how you engage and disengage comma's autopilot?

[@mattwebbio]

It's engaged just the same as Autopilot: using a downward motion on the right stock of the steering wheel. You can see me doing it in the demo 🙂

[@handsomejack6762]

@mattwebbio, thank you for the response! Was the software installed in a Tesla-specific manner (using certain branches, flags, versions, etc.), or is it a standard Comma 3 experience identical to that of any other vehicle following the connection?

[@mattwebbio]

You currently have to use Loetkolben's fork, but there are open pull requests to get it merged upstream! We should be able to use stock Openpilot in the not-too-distant future :)

[@camilozano]

Does this require a specific fork of openpilot?

[@mattwebbio]

For now, but there's an open PR to merge it upstream! That's why I didn't include that information in the video. It should work with stock Openpilot soon 🙂

[@AidPast]

FSD $8k now 😮

[@qui11]

with FSD being $99/mo, you can now subscribe for 15 to 20 months worth of FSD vs buying comma 3x. It's good to have choices.

[@stevenvlog8398]

Sorry if I missed this. This is HW3 or HW4 model Y?

[@mattwebbio]

HW3 🙂

[@brianschmidt8392]

Anything out there for us on Hardware 1?

[@mattwebbio]

Look up "Tinkla" on your favorite search engine! That's the community of pre-AP and AP1 Model S owners I refer to at the beginning of the video :)

[@Radium3D]

It's interesting, I haven't had phantom braking at all for about 3 years in my Tesla's.

[@AshleyMckendree]

I have one spot on my commute that AP goes from 60 to 45, I pass a large cell tower and it quickly slows down, does it absolutley nowhere else. FSD Trial hasnt done it in the same spot. so odd

[@billybabs3]

People really sleep on open pilot, insane value for money. For highway driving it really is a great product. FSD as impressive as it is, is just is not worth the price tag until it can drive me around while I'm in the passenger seat. And by the time that it can do that both on a software front and a legality front, why would I pay 12000 dollars (or more) when I can just rent a robo taxi? 1200 dollars for a comma ai to do 80 percent of what I require a self driving car to do is just too good to pass up. Even when compared to extended autopilot, it's still a better value. Very similar features, but It's a one time purchase that I can take with me even if I switch vehicles. FSD/extended auto pilot are not really valued on the used car market and I doubt insurance companies will compensate some one for software in the event a vehicle is totaled. Crash avoidance would really be the only feature that might justify the higher tesla software price. Great video.

[@BadL_]

the subscription for fsd is now $99 a month which is an INCREDIBLY good price

[@Jimmy-Legs]

@@BadL_. That’s $1,200 per year bro. Every year. I just bought a Comma 3x and harness for $1,250. I don’t need it to drive me on city streets. I need it for hyway driving. Just did 7.5 hrs of driving. Touched the wheel a dozen times to change lanes.

[@BadL_]

@@Jimmy-Legs okay… well I was informing the other guy about the price. And I’m sure open pilot is great, but I would be more comfortable using FSD on highways since its driven way way way way more miles and is completely AI based which makes it more flexible. The base autopilot that comes on all teslas is also not bad, but its braking and acceleration is so uncomfortable compared to FSD and probably open pilot. Also 1.5 days ago they dropped the price from 12K to 8K. THAT DOESNT MEAN ITS NOW A GREAT PURCHASE, JUST SAYING WHAT’S HAPPENED.

[@nowsc]

… im Falle eines Falles klebt Uhu wirklich alles 😂

[@berthogendoorn2133]

Tesla has reduced the subscription price to $99.00 per month.

[@Jimmy-Legs]

Yippee fking yay. Only $1,200 a year. 🤡🤡🤡

[@CL-nj3zs]

Why do tesla drivers give so much shit to openpilot? I mean not everyone wants a tesla but still want a system that's comparable to enhanced autopilot.

[@AshleyMckendree]

Many of us WANT openpilot, id much rather have OP than to spend 8,000 or 99/mo on FSD.

[@shdmd2118]

And it will be gone with a Tesla update

[@mattwebbio]

That may be true, but it's open source so we have the opportunity to make changes as updates come :)

[@shdmd2118]

@@mattwebbio I agree. I might put this in my 2021 BMW X5 if it’s compatible but my point is Tesla FSD is far ahead of this .

[@mattwebbio]

@@shdmd2118 12:32 :)

[@kenion2166]

And you void your warranty

[@mattwebbio]

@kenion2166 I'm not a legal expert, so take my opinion with a grain of salt, but I believe at least in the USA it's illegal for auto manufacturers to void your warranty for stuff like this under the Magnuson-Moss Warranty Act

[@zdme4864]

dated information… time to revise the video with latest upgrades of new releases of FSD! ( and adjust your pricing )

[@wony69]

This is no different than Linux vs Apple iOS.

[@jaimeaguirre4424]

Holy moly sleep

[@shdmd2118]

You like Open Pilot over FSD v12? You are joking right? Open pilot will never be able to work on City streets properly and FsD v12 drives me through Downtown SF daily..

[@mattwebbio]

Actually, I don't - so I don't think you watched the video. FSD is far more capable than Openpilot, I totally agree with you. I love tinkering with Openpilot and there's no denying that it's far more affordable than what it really is direct competition to, which is extended autopilot ($6k vs $1.5k). :)

[@Jimmy-Legs]

Watch the damn video bro. 😂😂😂😂

[@joshx413]

Maybe watch the video?🤷🏻‍♂️ 12:28

[@aiouniyaz8398]

You are delusional if you think this better than fsd

[@lukaslotkolben1347]

Why so rude?

[@mattwebbio]

@aiouniyaz8398 if you watched the video, you'd know I agree with you :)

[@Jimmy-Legs]

He didn’t say that bro. You got your knickers in a bunch for nuthin 😂😂😂

[@marisakirisame8543]

typical tesla fanboy behavior