From 156337475e51156739dc443ff6d15c9f9960c4bb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Mar 2022 19:45:30 -0800 Subject: [PATCH] 2019+ Avalon: allow stop and go (#23952) * Avalon actually has SNG * update readme * Revert "update readme" This reverts commit 076561a0578bcc626fd6710bc411330ef13334d4. * update readme * fix * variants as it includes hybrids --- docs/CARS.md | 5 +++-- selfdrive/car/toyota/interface.py | 3 +++ selfdrive/car/toyota/values.py | 2 +- 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 94ba58e3..c7ab9bbf 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -44,9 +44,10 @@ | Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph | | Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph | | Toyota | Alphard 2019-20 | All | openpilot | 0mph | 0mph | -| Toyota | Avalon 2016-21 | TSS-P | Stock3| 20mph1 | 0mph | +| Toyota | Avalon 2016-18 | TSS-P | Stock3| 20mph1 | 0mph | +| Toyota | Avalon 2019-21 | TSS-P | Stock3| 0mph | 0mph | | Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph | -| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock3| 20mph1 | 0mph | +| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock3| 0mph | 0mph | | Toyota | Camry 2018-20 | All | Stock | 0mph4 | 0mph | | Toyota | Camry 2021-22 | All | openpilot | 0mph4 | 0mph | | Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph4 | 0mph | diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index be9d7fd5..18e15bfe 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -103,6 +103,9 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2): + # starting from 2019, all Avalon variants have stop and go + # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf + stop_and_go = candidate != CAR.AVALON ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 304524d4..31a40a71 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -30,7 +30,7 @@ class CAR: AVALON = "TOYOTA AVALON 2016" AVALON_2019 = "TOYOTA AVALON 2019" AVALONH_2019 = "TOYOTA AVALON HYBRID 2019" - AVALON_TSS2 = "TOYOTA AVALON 2022" + AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5 CAMRY = "TOYOTA CAMRY 2018" CAMRYH = "TOYOTA CAMRY HYBRID 2018" CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5