An Android phone, running Linux and modified openpilot software, can do basic self-driving of a car

The car is a research vehicle of a local university, where they fitted custom motors for controlling steering. The Redmi Note 9 Pro phone is communicating via a wireless CAN bus interface to the Suzuki Alto car.

This is really more a proof of concept than a serious commercial solution, but the code is open source (link in the article), so one can see how it works… and it does actually drive the car.

See https://mankaran32.medium.com/hacking-my-android-phone-to-drive-my-car-9ea98c30e91b