So you want Lane Trace/Lane Centering?


Work In Progress..
'18 CX-9 Signature
Well, you might be able to get it. According to, "if your car has adaptive cruise control and lane keep assist, you are in luck."

What is openpilot?
comma openpilot is an open source driver-assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) for compatible vehicles. It performs similarly to Tesla Autopilot and GM Super Cruise. openpilot can steer, accelerate, and brake automatically for other vehicles within its lane. Check it out on github.

In order to enforce driver alertness, openpilot includes a camera based Driver Monitoring (DM) system that alerts the driver when distracted or asleep. However, even with an attentive driver, we must make further efforts for the system to be safe. We have designed openpilot with two other safety considerations:

  1. The driver must always be capable to immediately retake manual control of the vehicle, by stepping on either pedal or by pressing the cancel button.
  2. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits.


Discord community:

List of currently supported cars and intro to DevKit:

Basically, this is software that allows you to modify the behavior of the Mazda ACC and LKAS. With that said, Mazdas are currently not supported, but if anyone is willing to cough up $600 for the kit (plus the development car harness for $300) and learn how to code it, here you go. Here's a video of a Toyota Corolla with the software in operation:

Setup video (I noticed that they make the same mistake I did when running the wires for my dashcam - I emailed them about it):