---
pretty_name: "commaCarSegments"
tags:
- comma
- openpilot
license: mit
---

# commaCarSegments

`commaCarSegments` is a dataset of raw [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) data recorded from our fleet of [openpilot](https://github.com/commaai/openpilot) users driving over [300 different production vehicles](https://comma.ai/vehicles), around the USA and rest of the world.

![](https://pbs.twimg.com/media/GnJXpzDasAAK9Fg?format=jpg&name=medium)

## 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](https://github.com/commaai/openpilot/tree/master/cereal) messages that can be read with openpilot's [LogReader](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py).


## Using this dataset

Here's a simple example that shows the CAN addresses with the length of their messages on a Chevy Bolt:
```python
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](https://github.com/commaai/opendbc): our project for interfacing with the car's CAN bus
* [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana): a beautiful tool for exploring CAN data (try `./cabana --demo`)
* [Example notebooks](https://github.com/commaai/openpilot/blob/master/tools/car_porting/examples/) 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](https://comma.ai/jobs) working on this stuff here at comma.