Dataset Viewer
The dataset viewer is not available for this split.
Cannot extract the features (columns) for the split 'train' of the config 'default' of the dataset.
Error code:   FeaturesError
Exception:    ArrowInvalid
Message:      JSON parse error: Column() changed from object to string in row 0
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 160, in _generate_tables
                  df = pandas_read_json(f)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 38, in pandas_read_json
                  return pd.read_json(path_or_buf, **kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 815, in read_json
                  return json_reader.read()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1025, in read
                  obj = self._get_object_parser(self.data)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1051, in _get_object_parser
                  obj = FrameParser(json, **kwargs).parse()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1187, in parse
                  self._parse()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/io/json/_json.py", line 1402, in _parse
                  self.obj = DataFrame(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/frame.py", line 778, in __init__
                  mgr = dict_to_mgr(data, index, columns, dtype=dtype, copy=copy, typ=manager)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/internals/construction.py", line 503, in dict_to_mgr
                  return arrays_to_mgr(arrays, columns, index, dtype=dtype, typ=typ, consolidate=copy)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/internals/construction.py", line 114, in arrays_to_mgr
                  index = _extract_index(arrays)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/pandas/core/internals/construction.py", line 677, in _extract_index
                  raise ValueError("All arrays must be of the same length")
              ValueError: All arrays must be of the same length
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/split/first_rows.py", line 228, in compute_first_rows_from_streaming_response
                  iterable_dataset = iterable_dataset._resolve_features()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 3422, in _resolve_features
                  features = _infer_features_from_batch(self.with_format(None)._head())
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2187, in _head
                  return next(iter(self.iter(batch_size=n)))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 2391, in iter
                  for key, example in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1882, in __iter__
                  for key, pa_table in self._iter_arrow():
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 1904, in _iter_arrow
                  yield from self.ex_iterable._iter_arrow()
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 499, in _iter_arrow
                  for key, pa_table in iterator:
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/iterable_dataset.py", line 346, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 163, in _generate_tables
                  raise e
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/json/json.py", line 137, in _generate_tables
                  pa_table = paj.read_json(
                File "pyarrow/_json.pyx", line 308, in pyarrow._json.read_json
                File "pyarrow/error.pxi", line 154, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 91, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to string in row 0

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commaCarSegments

commaCarSegments is a dataset of raw CAN bus data recorded from our fleet of openpilot users driving over 300 different production vehicles, around the USA and rest of the world.

Structure

.
├── segments/                 # drectory containing all data
│   ├── <device_id>/          # unique device ID directory
│   │   └── <route_id>/       # unique route (aka drive directory)
│   │       └── <segment>/    # unique segment index inside of the route
│   │           └── rlog.zst  # actual data
└── database.json             # manifest for the dataset

The rlog.zst is a zstandard-compressed archive of openpilot cereal messages that can be read with openpilot's LogReader.

Using this dataset

Here's a simple example that shows the CAN addresses with the length of their messages on a Chevy Bolt:

In [1]: from openpilot.tools.lib.logreader import LogReader

In [2]: lr = LogReader("da4f7891ae804737/00000341--589a82bd48/20/s")

In [3]: {c.address: len(c.dat) for c in lr.first("can")}
Out[3]:
{190: 7,
 201: 8,
 193: 8,
 197: 8,
 209: 7,
 840: 5,
 842: 5,
 485: 8,
 241: 6,
 211: 3}

Also see:

  • opendbc: our project for interfacing with the car's CAN bus
  • cabana: a beautiful tool for exploring CAN data (try ./cabana --demo)
  • Example notebooks using this dataset for large-scale validation of openpilot changes

In the dataset

Totals

  • 230 different platforms
  • 188883 segments
  • 3148 hours
Platform Segment Count Hours Unique Users Unique Routes
TOYOTA_RAV4_TSS2 11387 189.78 298 6457
TOYOTA_COROLLA_TSS2 8559 142.65 253 4446
TOYOTA_PRIUS 8310 138.5 244 4391
CHEVROLET_BOLT_EUV 7662 127.7 175 4755
TOYOTA_HIGHLANDER_TSS2 6971 116.18 177 4131
RIVIAN_R1_GEN1 5827 97.12 215 2302
TOYOTA_RAV4_TSS2_2023 5170 86.17 168 2664
HONDA_ACCORD 4552 75.87 128 2589
HONDA_ODYSSEY 4318 71.97 99 2595
RAM_1500_5TH_GEN 4086 68.1 107 2046
TOYOTA_PRIUS_TSS2 3939 65.65 103 2176
HONDA_CRV_5G 3836 63.93 100 2204
CHRYSLER_PACIFICA_2019_HYBRID 3831 63.85 99 2355
HYUNDAI_IONIQ_5 3594 59.9 116 1933
TOYOTA_CAMRY 3428 57.13 85 2117
HONDA_PILOT 3239 53.98 86 1826
MAZDA_CX5_2022 3093 51.55 85 1607
KIA_EV6 3062 51.03 102 1514
TOYOTA_CAMRY_TSS2 2968 49.47 81 1717
HONDA_RIDGELINE 2639 43.98 60 1468
LEXUS_RX_TSS2 2589 43.15 71 1461
TOYOTA_RAV4_TSS2_2022 2526 42.1 69 1276
HYUNDAI_PALISADE 2481 41.35 65 1451
CHEVROLET_SILVERADO 2454 40.9 56 1330
TOYOTA_SIENNA 2331 38.85 66 1364
TOYOTA_HIGHLANDER 2319 38.65 63 1140
HONDA_CIVIC_BOSCH 2118 35.3 60 1066
LEXUS_ES_TSS2 2105 35.08 62 1150
LEXUS_RX 2029 33.82 57 1031
CHRYSLER_PACIFICA_2020 1773 29.55 40 1022
VOLKSWAGEN_GOLF_MK7 1762 29.37 48 897
TOYOTA_RAV4 1661 27.68 42 923
KIA_NIRO_EV 1661 27.68 41 935
SUBARU_OUTBACK 1654 27.57 45 882
SUBARU_FORESTER 1590 26.5 42 895
VOLKSWAGEN_TIGUAN_MK2 1564 26.07 38 821
FORD_EXPLORER_MK6 1511 25.18 49 784
VOLKSWAGEN_ATLAS_MK1 1497 24.95 33 848
HONDA_CIVIC 1483 24.72 33 861
TOYOTA_RAV4_PRIME 1471 24.52 45 577
HYUNDAI_SONATA 1465 24.42 40 731
SUBARU_ASCENT 1459 24.32 34 846
TOYOTA_RAV4H 1405 23.42 40 775
FORD_F_150_MK14 1354 22.57 45 534
HONDA_CIVIC_2022 1341 22.35 46 630
CHRYSLER_PACIFICA_2018_HYBRID 1327 22.12 30 738
TOYOTA_COROLLA 1264 21.07 39 696
NISSAN_LEAF 1172 19.53 31 689
FORD_MAVERICK_MK1 1169 19.48 35 588
CHEVROLET_VOLT 1130 18.83 30 620
TESLA_MODEL_3 1025 17.08 39 403
HYUNDAI_TUCSON_4TH_GEN 1021 17.02 33 508
SUBARU_IMPREZA 1015 16.92 26 467
HYUNDAI_IONIQ_6 996 16.6 35 438
HYUNDAI_SANTA_FE 978 16.3 25 540
HYUNDAI_SANTA_FE_2022 968 16.13 23 449
SUBARU_IMPREZA_2020 956 15.93 27 435
CHRYSLER_PACIFICA_2018 931 15.52 21 492
TOYOTA_SIENNA_4TH_GEN 923 15.38 36 428
JEEP_GRAND_CHEROKEE 869 14.48 23 473
TOYOTA_AVALON_2019 830 13.83 26 480
TESLA_MODEL_Y 826 13.77 30 361
ACURA_RDX_3G 747 12.45 21 395
KIA_CARNIVAL_4TH_GEN 703 11.72 20 412
HONDA_INSIGHT 661 11.02 16 355
JEEP_GRAND_CHEROKEE_2019 602 10.03 15 356
HYUNDAI_SONATA_HYBRID 591 9.85 15 325
MAZDA_CX9_2021 567 9.45 14 246
LEXUS_NX_TSS2 509 8.48 16 287
HYUNDAI_ELANTRA_HEV_2021 505 8.42 12 334
HYUNDAI_KONA_EV 505 8.42 16 198
SKODA_KODIAQ_MK1 465 7.75 13 238
HYUNDAI_GENESIS 453 7.55 13 268
GENESIS_GV70_1ST_GEN 451 7.52 13 191
HYUNDAI_ELANTRA_2021 438 7.3 14 197
KIA_STINGER 434 7.23 9 185
VOLKSWAGEN_PASSAT_MK8 413 6.88 12 224
VOLKSWAGEN_JETTA_MK7 399 6.65 13 212
AUDI_Q3_MK2 387 6.45 12 198
KIA_SPORTAGE_5TH_GEN 386 6.43 12 193
LEXUS_NX 378 6.3 9 230
HONDA_CRV_HYBRID 359 5.98 14 215
FORD_ESCAPE_MK4 356 5.93 17 209
SKODA_SUPERB_MK3 355 5.92 12 214
LEXUS_IS 323 5.38 8 204
SKODA_OCTAVIA_MK3 322 5.37 7 133
HYUNDAI_SANTA_FE_HEV_2022 318 5.3 9 165
FORD_MUSTANG_MACH_E_MK1 315 5.25 13 143
HYUNDAI_SANTA_FE_PHEV_2022 313 5.22 8 139
HYUNDAI_IONIQ_HEV_2022 312 5.2 8 159
GENESIS_G80 311 5.18 7 151
HYUNDAI_IONIQ_PHEV 309 5.15 10 169
KIA_SORENTO_HEV_4TH_GEN 308 5.13 8 175
KIA_SORENTO_4TH_GEN 306 5.1 9 200
CHEVROLET_EQUINOX 303 5.05 7 204
TOYOTA_MIRAI 299 4.98 6 140
LEXUS_IS_TSS2 295 4.92 9 177
AUDI_A3_MK3 295 4.92 7 157
HYUNDAI_IONIQ_EV_2020 288 4.8 6 149
KIA_NIRO_EV_2ND_GEN 282 4.7 6 117
HONDA_FIT 282 4.7 7 118
HYUNDAI_SONATA_LF 275 4.58 7 134
GENESIS_G90 260 4.33 10 129
TOYOTA_AVALON_TSS2 253 4.22 6 167
TOYOTA_AVALON 252 4.2 7 130
FORD_F_150_LIGHTNING_MK1 230 3.83 9 95
LEXUS_ES 214 3.57 7 151
HYUNDAI_KONA_EV_2022 206 3.43 5 125
GENESIS_GV80 200 3.33 4 134
NISSAN_ALTIMA 200 3.33 4 105
GENESIS_GV60_EV_1ST_GEN 199 3.32 4 96
KIA_NIRO_HEV_2ND_GEN 190 3.17 8 117
TOYOTA RAV4 2019 185 3.08 6 58
VOLKSWAGEN_ARTEON_MK1 185 3.08 5 50
RAM 1500 5TH GEN 180 3.0 6 67
TOYOTA_ALPHARD_TSS2 170 2.83 6 85
KIA_OPTIMA_G4_FL 167 2.78 5 73
NISSAN_LEAF_IC 166 2.77 6 128
VOLKSWAGEN_CRAFTER_MK2 165 2.75 5 46
KIA_NIRO_PHEV_2022 163 2.72 4 110
HYUNDAI_IONIQ 159 2.65 6 80
TOYOTA_CHR 158 2.63 6 98
HONDA_CRV 156 2.6 5 69
TOYOTA PRIUS 2017 155 2.58 5 70
SEAT_ATECA_MK1 153 2.55 4 79
HONDA_HRV 150 2.5 3 101
VOLKSWAGEN_TROC_MK1 150 2.5 3 82
ACURA_RDX 147 2.45 3 18
KIA_NIRO_HEV_2021 146 2.43 4 98
RAM_HD_5TH_GEN 143 2.38 9 58
GENESIS_G70_2020 135 2.25 4 42
FORD_RANGER_MK2 124 2.07 4 43
FORD_FOCUS_MK4 124 2.07 3 49
LEXUS_LC_TSS2 121 2.02 3 71
SUBARU_OUTBACK_PREGLOBAL_2018 108 1.8 5 46
MOCK 107 1.78 22 74
HYUNDAI_SANTA_CRUZ_1ST_GEN 106 1.77 3 77
KIA_NIRO_PHEV 103 1.72 4 44
NISSAN_ROGUE 103 1.72 5 67
KIA_K5_2021 101 1.68 3 69
KIA_STINGER_2022 100 1.67 2 27
HYUNDAI_IONIQ_PHEV_2019 100 1.67 2 35
HYUNDAI_ELANTRA_GT_I30 100 1.67 2 51
SUBARU_LEGACY 98 1.63 3 54
FORD_BRONCO_SPORT_MK1 94 1.57 8 30
TOYOTA CAMRY 2021 84 1.4 4 29
KIA_FORTE 81 1.35 3 40
VOLKSWAGEN_TRANSPORTER_T61 75 1.25 2 50
CHRYSLER PACIFICA HYBRID 2019 74 1.23 3 25
TOYOTA HIGHLANDER 2017 74 1.23 2 14
TOYOTA_CHR_TSS2 67 1.12 3 25
LEXUS_CTH 65 1.08 3 42
HYUNDAI_STARIA_4TH_GEN 61 1.02 2 20
HONDA_HRV_3G 60 1.0 3 17
CHRYSLER_PACIFICA_2017_HYBRID 60 1.0 5 23
HYUNDAI_CUSTIN_1ST_GEN 58 0.97 4 38
CHEVROLET_VOLT_2019 55 0.92 2 34
VOLKSWAGEN_TAOS_MK1 55 0.92 2 24
LEXUS RX 2016 55 0.92 3 16
TOYOTA COROLLA TSS2 2019 53 0.88 4 29
LEXUS_RC 53 0.88 3 39
TOYOTA_PRIUS_V 53 0.88 3 17
HYUNDAI TUCSON 4TH GEN 50 0.83 1 17
GENESIS_GV70_ELECTRIFIED_1ST_GEN 50 0.83 1 34
TOYOTA_YARIS 50 0.83 1 27
HONDA RIDGELINE 2017 50 0.83 1 33
VOLKSWAGEN_TOURAN_MK2 50 0.83 1 28
SKODA KAROQ 1ST GEN 50 0.83 1 21
KIA_OPTIMA_H_G4_FL 50 0.83 1 30
BUICK_REGAL 50 0.83 1 33
HYUNDAI_KONA_EV_2ND_GEN 50 0.83 1 25
KIA_CEED 50 0.83 1 28
SUBARU_FORESTER_2022 50 0.83 1 19
GMC_ACADIA 50 0.83 1 17
HYUNDAI SANTA FE 2022 50 0.83 1 40
HONDA_FREED 50 0.83 1 32
TOYOTA RAV4 HYBRID 2022 50 0.83 1 33
SUBARU_OUTBACK_PREGLOBAL 50 0.83 1 16
JEEP GRAND CHEROKEE 2019 50 0.83 1 21
CHRYSLER PACIFICA 2020 50 0.83 1 18
TOYOTA HIGHLANDER HYBRID 2018 50 0.83 1 15
NISSAN_XTRAIL 50 0.83 1 34
AUDI Q3 2ND GEN 47 0.78 1 5
SKODA_KAMIQ_MK1 35 0.58 1 9
VOLKSWAGEN_PASSAT_NMS 33 0.55 3 8
TOYOTA COROLLA 2017 32 0.53 2 5
CHEVROLET_TRAVERSE 31 0.52 2 18
GMC_YUKON 24 0.4 1 3
HYUNDAI_KONA_2022 24 0.4 3 18
HONDA ODYSSEY 2018 19 0.32 3 15
CHEVROLET SILVERADO 1500 2020 19 0.32 1 10
KIA_SELTOS 17 0.28 1 6
HYUNDAI ELANTRA 2021 16 0.27 1 16
HONDA ACCORD 2018 16 0.27 1 16
DODGE_DURANGO 15 0.25 1 1
VOLKSWAGEN_POLO_MK6 13 0.22 1 5
VOLKSWAGEN ATLAS 1ST GEN 12 0.2 1 5
HONDA CIVIC (BOSCH) 2019 12 0.2 2 9
PERODUA MYVI 12 0.2 1 12
KIA_SORENTO 10 0.17 1 1
SKODA_KAROQ_MK1 8 0.13 3 8
CADILLAC_ESCALADE_ESV_2019 8 0.13 1 2
SUBARU IMPREZA LIMITED 2019 7 0.12 3 3
CADILLAC_XT4 6 0.1 2 2
TOYOTA PRIUS TSS2 2021 6 0.1 1 1
HYUNDAI_AZERA_HEV_6TH_GEN 5 0.08 1 5
HYUNDAI PALISADE 2020 4 0.07 1 4
ACURA_ILX 4 0.07 1 3
TOYOTA RAV4 2017 4 0.07 1 2
LEXUS ES 2019 4 0.07 1 4
MAZDA_CX5 4 0.07 1 3
TOYOTA RAV4 HYBRID 2019 3 0.05 1 1
MAZDA CX-5 2022 3 0.05 1 2
TURBO_RC_CAR 3 0.05 1 3
HONDA_CRV_HYBRID_6G 3 0.05 1 3
CHEVROLET BOLT EUV 2022 2 0.03 1 1
TOYOTA RAV4 2022 2 0.03 2 2
HONDA_E 2 0.03 1 1
TOYOTA CAMRY 2018 2 0.03 1 2
HONDA_PILOT_4G 2 0.03 1 1
SUBARU OUTBACK 6TH GEN 2 0.03 1 2
HYUNDAI SANTA FE 2019 1 0.02 1 1
TOYOTA HIGHLANDER HYBRID 2020 1 0.02 1 1
HYUNDAI_SONATA_HEV_2024 1 0.02 1 1
FORD_ESCAPE_MK4_5 1 0.02 1 1
KIA NIRO EV 2020 1 0.02 1 1
TOYOTA C-HR 2018 1 0.02 1 1
CADILLAC_ESCALADE 1 0.02 1 1
TOYOTA AVALON 2022 1 0.02 1 1
TOYOTA HIGHLANDER 2020 1 0.02 1 1

We're hiring!

If you have fun playing with this dataset, consider a job working on this stuff here at comma.

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