Improve Toyota Highlander tuning from https://github.com/commaai/openpilot/pull/690

selfdrive/car/toyota/interface.py

@@ -130,10 +130,10 @@ class CarInterface(object):
       ret.safetyParam = 73
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.444  # not optimized yet
+      tire_stiffness_factor = 0.8
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
-      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
     elif candidate == CAR.AVALON:
       stop_and_go = False