Here's the low-level controller for Comma AI's self-driving software. Lateral and longitudinal control, as well as actuator command are contained within.
Their low level control is done in Python, on top of Android, on a smartphone. No further comment, your honor.
Their low level control is done in Python, on top of Android, on a smartphone. No further comment, your honor.
https://github.com/commaai/openpilot/tree/devel/selfdrive/co...