BMRLNAP Model v4 (August 30, 2026) (BMV4), built from f877d7a in commaai/openpilot.

Fill out the quick polls below! If something feels off, reply with your car and which branch you're on.

[poll name=overall type=regular results=always public=true chartType=bar dynamic=true]

How is this model?

  • 5 - Great
  • 4 - Good
  • 3 - Ok
  • 2 - Bad
  • 1 - Poor[/poll]

[poll name=lateral type=multiple results=always min=1 max=5 public=true chartType=bar dynamic=true]

Lateral (steering):

  • Smooth and steady
  • Felt natural and humanlike
  • Lane hugging to one side
  • Ping-pong, wanders, or oscillates
  • Understeers or gives up mid-turn
  • Cuts corners or over-steers
  • Drifts toward exits and lane splits[/poll]

[poll name=long_mode type=regular results=always public=true chartType=bar dynamic=true]

Longitudinal used:

  • Experimental Mode
  • Chill mode
  • Stock ACC only[/poll]

[poll name=longitudinal type=multiple results=always min=1 max=5 public=true chartType=bar dynamic=true]

Longitudinal (acceleration and braking), skip if stock ACC:

  • Smooth acceleration and braking
  • Jerky acceleration
  • Hard or late braking
  • Overshoots the stop line or rolls through
  • Does not hold the set speed
  • Bad in stop and go traffic[/poll]

[poll name=steering type=regular results=always public=true chartType=bar dynamic=true]

Steering control:

  • 1 - Torque based
  • 2 - Angle based
  • 3 - Pure PID
  • 4 - Not sure[/poll]

[!TIP]Update to the latest build before you report a problem. Branch bugs get blamed on models all the time. If it is still wrong after updating, open it under #bug-reports:driving-issues.

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