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Driving Model

The driving model is the "brains" behind openpilot. It processes video and outputs the desired steering and acceleration/braking.

Model preferences are personal; they can vary based upon vehicle, region, environment, and preferences. This page is just a guide -- try a few models and search for feedback in the Discord.

Tip

Models are released often, so this page can go out of date quickly. Discord will generally have the most up to date info. This page was last updated on: December 16, 2025

Current Recommendation(s)

  • Dark Souls v2: The current favorite and default in upstream openpilot.

Previous Favorites (newest to oldest)

Older models that aren't completely out of date yet.

  • Plan Plus (1 or 2)
    • This model adds 'Recovery Power' which adds a centering ability to the model.
    • Make sure to start with 'Recovery Power' at 0.6 if in a GM vehicle and adjust from there.
  • Dark Souls
  • Cool Green Watermelon
  • Green Watermelon v8
  • Green Watermelon v7
  • The Cool People v3
  • Firehose