My Self-Driving G-Wagon

truck

The truck

A 2011 Mercedes-Benz G55 AMG (W463): M113K 5.4 L supercharged V8, 722.6 five-speed, permanent four-wheel drive, hydraulic steering, no driver-assistance computer from the factory. What was added and what was changed, from the as-built record. Dates are 2026.

The G55, side view, with what has been added to it Line drawing of a 2011 Mercedes-Benz G55 from the left side. Filled parts were added for this project; outlined parts are factory. Colour is the subsystem: blue perception and models, orange control and powertrain, aqua electrical and CAN. Numbers match the list below the drawing. 1 2 3 4 5 6 7 8 9 10

Perception and modelsControl and powertrainElectrical and CANaddedfactoryCAN-CCAN-B

#PartHardwareSoftware, rateSinceWhat it does
1Cameras addedELP AR0234 on an 8 mm lens; Arducam B0576 IMX662MJPEG, 20 fps recorded; one case on the sun-visor mount10-22An ELP AR0234 on an 8 mm lens for the narrow view and an Arducam IMX662 for the wide view, in one case on the sun-visor mount. Both are recorded on every drive.
2Tablet addedGalaxy Tab Active5 Prodashboard v139, Kotlin and Compose; voice assistant11-05A Galaxy Tab Active5 Pro in the cabin running a dashboard written for this truck, with a voice assistant. It shows the decoded vehicle state and the driving model's path.
3Gateway, Raspberry Pi 5 addedRaspberry Pi 5 on NVMeRust gateway; 62 signals decoded live; every frame on both buses10-26A Rust service that records every frame on both CAN buses from key-in to key-out and decodes 62 signals live for the tablet and the driving model.
4Jetson Orin NX 16 GB addedJetson Orin NX 16 GB, 2 TB NVMeN16, TensorRT fp16, 32.5 ms a step; YOLO26s at 10 Hz; SegFormer-B0 at 5 Hz10-26Runs comma's N16 driving model (406M parameters) with TensorRT at 20 Hz on the truck's cameras, with YOLO26s for objects and SegFormer-B0 for free ground beside it.
5Compute battery addedEco-Worthy 314 Ah LiFePO4, 4,019 Wh; Victron Orion-Tr 12/12-30Abattery and charger read over Bluetooth every 10 s10-26A 314 Ah LiFePO4 battery in the trunk, charged from the starting battery through a Victron Orion-Tr 12/12-30A DC-DC charger. The gateway reads both over Bluetooth.
6Engine ECU, Bosch ME 2.8.1 factoryBosch ME 2.8.1, Infineon C167, 512 KB flashstock code and calibration; torque request at 50 Hz, 100 ms watchdog; 10 Hz telemetry11-03The controller of the M113K supercharged 5.4 L V8. Since 3 Nov 2026 it runs patched firmware that accepts a torque request on CAN at 50 Hz with a 100 ms watchdog. The patch was run on an emulator of the ECU before it was written over K-line.
7Transmission, 722.6 five-speed factory722.6 with the Ultimate-NAG52 controllerfirmware V15: upstream dev with 5 G55 patches; live data at 10 Hz10-18Controlled by Ultimate-NAG52, the open-source replacement for the factory EGS52, on a firmware build with five G55 patches (since 18 Oct 2026).
8Cruise control stalk factoryfactory stalk on the steering-column modulethe gateway's cruise controller; SET+ accepted 7 of 710-29Since 29 Oct 2026 the gateway presses the factory cruise control over CAN-C, on a command from the tablet.
9Steering factoryfactory hydraulic steering box, no motornothing steers yet; simulation onlyfactoryHydraulic, with no electric motor. Nothing steers the truck yet: steering is tested and trained in a simulator built from the truck's own drives.
10CAN buses factoryCAN-C 500 kbit/s, CAN-B 83.3 kbit/s131 signals in 47 messages in the DBC files; 62 decoded livefactoryCAN-C at 500 kbit/s for powertrain and chassis, CAN-B at 83.3 kbit/s for the body. 131 signals in 47 messages are decoded in the project's DBC files.