diff --git a/cereal b/cereal
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-Subproject commit c4cc38c4689b5e06be1cbfbb26c0463c377c0a6d
+Subproject commit aaf67ac782c833fec2c14a11a6cf99a659080d11
diff --git a/docs/CARS.md b/docs/CARS.md
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--- a/docs/CARS.md
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@@ -6,213 +6,213 @@ A supported vehicle is one that just works when you install a comma three. All s
# 205 Supported Cars
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
-|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
-|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
-|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
-|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
-|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
-|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[](##)|GM|
-|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|OBD-II|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|FCA|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|FCA|
-|comma|body|All|Stock|0 mph|0 mph|[](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|Hyundai H|
-|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[](##)|Hyundai C|
-|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[](##)|GM|
-|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
-|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|Honda Nidec|
-|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[2](#footnotes)|[](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|Honda Bosch B|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|Honda Bosch B|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[](##)|Honda Bosch A|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[](##)|Honda Bosch A|
-|Honda|e 2020|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
-|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[](##)|Hyundai B|
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai K|
-|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai K|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[](##)|Hyundai J|
-|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|Hyundai Q|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai H|
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai C|
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[](##)|Hyundai H|
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai C|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai H|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai B|
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai G|
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai O|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai I|
-|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
-|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Hyundai L|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai E|
-|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[](##)|Hyundai L|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Hyundai N|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|FCA|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai E|
-|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|Hyundai P|
-|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai B|
-|Kia|Forte 2019-21|All|Stock|0 mph|0 mph|[](##)|Hyundai G|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai A|
-|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
-|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[](##)|Hyundai F|
-|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[](##)|Hyundai C|
-|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai H|
-|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[](##)|Hyundai C|
-|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai B|
-|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai G|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai A|
-|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai E|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai C|
-|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|Toyota|
-|Lexus|NX 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|Toyota|
-|Lexus|RX 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Lexus|RX Hybrid 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[](##)|Mazda|
-|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan A|
-|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[](##)|Ram|
-|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
-|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Toyota|Avalon 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Toyota|Avalon 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[4](#footnotes)|0 mph|[](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[4](#footnotes)|0 mph|[](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Corolla 2017-19|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[](##)|Toyota|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Highlander 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Prius 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Toyota|
-|Toyota|Sienna 2018-20|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|Toyota|
-|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|J533|
-|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|J533|
-|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
-|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
-|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[](##)|[](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[](##)|[](##)|GM|
+|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
+|comma|body|All|Stock|0 mph|0 mph|[](##)|[](##)|None|
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
+|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[](##)|[](##)|GM|
+|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[2](#footnotes)|[](##)|[](##)|Honda Bosch A|
+|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Honda Bosch B|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|e 2020|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|Honda Nidec|
+|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai K|
+|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai K|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
+|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai B|
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai I|
+|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai D|
+|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
+|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
+|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
+|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
+|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai P|
+|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai B|
+|Kia|Forte 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
+|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[](##)|[](##)|Hyundai C|
+|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B|
+|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A|
+|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
+|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
+|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX Hybrid 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
+|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B|
+|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
+|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
+|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
+|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon Hybrid 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Camry 2018-20|All|Stock|0 mph[4](#footnotes)|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Camry 2021-22|All|openpilot|0 mph[4](#footnotes)|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla 2017-19|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius Prime 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2017-18|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Sienna 2018-20|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|[](##)|J533|
+|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|[](##)|J533|
+|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
+|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
+|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 499732ffe..3f9d51b43 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -10,10 +10,6 @@ from common.conversions import Conversions as CV
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
-# Makes that lack auto-resume with stock long, and auto resume in any configuration
-NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
-NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
-
class Column(Enum):
MAKE = "Make"
@@ -23,6 +19,7 @@ class Column(Enum):
FSR_LONGITUDINAL = "No ACC accel below"
FSR_STEERING = "No ALC below"
STEERING_TORQUE = "Steering Torque"
+ AUTO_RESUME = "Resume from stop"
HARNESS = "Harness"
@@ -139,6 +136,7 @@ class CarInfo:
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,
+ Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
Column.HARNESS: self.harness.value,
}
@@ -166,7 +164,7 @@ class CarInfo:
acc = ""
if self.min_enable_speed > 0:
acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph"
- elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
+ elif CP.autoResumeSng:
acc = " that automatically resumes from a stop"
if self.row[Column.STEERING_TORQUE] != Star.FULL:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 09d950ea8..118e54aa0 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -49,6 +49,7 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+ ret.autoResumeSng = False
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9da6aabd6..401b243ba 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -107,11 +107,14 @@ class CarInterfaceBase(ABC):
ret = car.CarParams.new_message()
ret.carFingerprint = candidate
+ # Car docs fields
+ ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+ ret.autoResumeSng = True # describes whether car can resume from a stop automatically
+
# standard ALC params
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0
- ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 9c04d975f..fe567468b 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -13,6 +13,7 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
+ ret.autoResumeSng = False
ret.steerLimitTimer = 1.0
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index a464734a3..b84291225 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -15,6 +15,7 @@ class CarInterface(CarInterfaceBase):
ret.carName = "subaru"
ret.radarOffCan = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
+ ret.autoResumeSng = False
if candidate in PREGLOBAL_CARS:
ret.enableBsm = 0x25c in fingerprint[0]
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 642c39952..a0d3ce9b8 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -218,6 +218,7 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
if not ret.openpilotLongitudinalControl:
+ ret.autoResumeSng = False
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 7e686b970..6f0bb9a19 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -197,6 +197,7 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"unsupported car {candidate}")
+ ret.autoResumeSng = ret.minEnableSpeed == -1
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f77f24459..591acc2f1 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-656daeb9de3680258527500ecae4ddff323b2e59
\ No newline at end of file
+af74c25e869d1128c0277f789e8f88bb95c5be1b