Openpilot Community Bounty - Solve Rivian Angle-Based Steering

Help Us Take Openpilot on Rivian to the Next Level
https://www.gofundme.com/f/community-bounty-unlock-anglebased-steering-for-rivian

The Rivian Openpilot community has made incredible progress bringing Comma.ai’s open-source driver assistance software to the Rivian R1T and R1S. Today, Rivians can run Openpilot with full longitudinal control (acceleration and braking) and torque-based lateral control through the stock LKAS system.

But we know Rivians can do more.

The Challenge

Right now, steering is limited to torque-based commands sent to the Lane Keep Assist (LKAS) system. While this works, it’s less precise and less capable than what Rivian’s Highway Assist system can deliver. Highway Assist uses angle-based steering messages, which would allow for smoother, more consistent control—especially at higher speeds, on long curves, and during lane changes.

So far, no one has been able to unlock or integrate these angle-based steering messages into Openpilot for Gen 1 Rivians. Despite months of effort, the breakthrough has remained just out of reach.

And here’s the critical piece:

The solution must work anywhere, not just on Rivian’s pre-mapped highway system.
True Openpilot integration means angle-based steering must function on all supported roads, not only in limited or geo-fenced conditions.

Our Goal

We are raising funds to create a reward for the developer (or team) who successfully enables angle-based steering on Rivian Gen 1 vehicles running Openpilot.

What counts as success?
Documented, repeatable proof of angle-based steering working universally (not restricted to pre-mapped highways) on a Rivian with Openpilot, shared openly with the community so others can replicate and benefit.

Why is this important?
Unlocking universal angle-based steering would be a game-changer for Rivian Openpilot users, because it:

Eliminates steering torque inconsistency issues across different vehicles.
Removes the 90-degree steering lockout imposed by the LKAS system.
Provides smoother, more precise, and more capable control compared to torque-based steering.
Pushes Rivian Openpilot support closer to parity with the best existing Openpilot ports.

How the Bounty Works

All donations go directly into the bounty pool.
The bounty will be awarded once a verified solution is demonstrated and confirmed by the community.
If multiple contributors collaborate on the solution, the funds will be divided fairly.
Every dollar collected—minus GoFundMe fees—goes toward the bounty.

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