Skip to content

Toyota: Support Avalon Hybrid 2022 (TSS2.5) #23892

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
adeebshihadeh merged 6 commits into from
Mar 19, 2022
Merged

Toyota: Support Avalon Hybrid 2022 (TSS2.5) #23892

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
e2474e5
Add Avalon Hybrid 2022
sshane Mar 2, 2022
8dfba78
update docs
sshane Mar 2, 2022
bdc78c7
set a tune
sshane Mar 2, 2022
06f8b85
Merge remote-tracking branch 'upstream/master' into avalonh-tss2
sshane Mar 18, 2022
da62010
add test route
sshane Mar 18, 2022
be6bd9d
uploaded route
sshane Mar 19, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions RELEASES.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
Version 0.8.14 (2022-0X-XX)
========================
* bigmodel!
* Toyota Avalon Hybrid 2022 support

Version 0.8.13 (2022-02-18)
========================
Expand Down
1 change: 1 addition & 0 deletions docs/CARS.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ How We Rate The Cars
|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
Expand Down
1 change: 1 addition & 0 deletions selfdrive/car/tests/routes.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,7 @@
TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
TestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
TestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
TestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
TestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
TestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/toyota/interface.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_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
Expand Down
26 changes: 23 additions & 3 deletions selfdrive/car/toyota/values.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ class CAR:
AVALON_2019 = "TOYOTA AVALON 2019"
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5
AVALONH_TSS2 = "TOYOTA AVALON HYBRID 2022"
CAMRY = "TOYOTA CAMRY 2018"
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5
Expand All @@ -55,7 +56,7 @@ class CAR:
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"

# Lexus
Expand Down Expand Up @@ -100,6 +101,7 @@ class ToyotaCarInfo(CarInfo):
CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk", footnotes=[Footnote.CAMRY]),
CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
Expand Down Expand Up @@ -271,6 +273,23 @@ class ToyotaCarInfo(CarInfo):
b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
],
},
CAR.AVALONH_TSS2: {
(Ecu.esp, 0x7b0, None): [
b'F152641080\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B41110\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x018966306Q6000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201200\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
],
},
CAR.CAMRY: {
(Ecu.engine, 0x700, None): [
b'\x018966306L3100\x00\x00\x00\x00',
Expand Down Expand Up @@ -1774,6 +1793,7 @@ class ToyotaCarInfo(CarInfo):
CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.AVALONH_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
Expand All @@ -1798,11 +1818,11 @@ class ToyotaCarInfo(CarInfo):
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2}
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2}

NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}

EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2}

Expand Down