diff --git a/RELEASES.md b/RELEASES.md
index 6a72f8989a..07202c02f5 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -19,6 +19,7 @@ Version 0.8.14 (2022-0X-XX)
* Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
* Toyota Alphard Hybrid 2021 support
* Toyota Avalon Hybrid 2022 support
+ * Toyota RAV4 2022 support
* Toyota RAV4 Hybrid 2022 support
Version 0.8.13 (2022-02-18)
diff --git a/docs/CARS.md b/docs/CARS.md
index 7e40120250..5100a8306d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -134,6 +134,7 @@ How We Rate The Cars
|Toyota|Camry Hybrid 2018-20|All|
|
[4](#footnotes)||||
|Toyota|Highlander 2017-19|All|
[3](#footnotes)|||||
|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)|||||
+|Toyota|RAV4 2022|All||||||
|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 Hybrid 2022|All||||||
|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 6f8816a008..e3b8dcd121 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -127,6 +127,7 @@ routes = [
TestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
+ TestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 1530eb18af..74ef29fcab 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -19,13 +19,16 @@ class TestCarDocs(unittest.TestCase):
def test_naming_conventions(self):
# Asserts market-standard car naming conventions by make
for car in self.all_cars:
+ tokens = car.model.lower().split(" ")
if car.car_name == "hyundai":
- tokens = car.model.lower().split(" ")
self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`")
self.assertNotIn("hev", tokens, "Use `Hybrid`")
self.assertNotIn("ev", tokens, "Use `Electric`")
if "plug-in hybrid" in car.model.lower():
self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization")
+ elif car.car_name == "toyota":
+ if "rav4" in tokens:
+ self.assertIn("RAV4", car.model, "Use correct capitalization")
if __name__ == "__main__":
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index aa8b449ef9..fd3bd15cf1 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -115,7 +115,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
- elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
+ elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ef47ff9249..595c0c995e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -62,6 +62,7 @@ class CAR:
RAV4 = "TOYOTA RAV4 2017"
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019"
+ RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
@@ -143,6 +144,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
+ CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
@@ -1276,6 +1278,25 @@ FW_VERSIONS = {
b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
],
},
+ CAR.RAV4_TSS2_2022: {
+ (Ecu.esp, 0x7b0, None): [
+ b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
+ b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
+ ],
+ (Ecu.eps, 0x7a1, None): [
+ b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
+ ],
+ (Ecu.engine, 0x700, None): [
+ b'\x01896634AA1000\x00\x00\x00\x00',
+ b'\x01896634A88000\x00\x00\x00\x00',
+ ],
+ (Ecu.fwdRadar, 0x750, 0xf): [
+ b'\x018821F0R01100\x00\x00\x00\x00',
+ ],
+ (Ecu.fwdCamera, 0x750, 0x6d): [
+ b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
+ ],
+ },
CAR.RAV4H_TSS2: {
(Ecu.engine, 0x700, None): [
b'\x01896634A15000\x00\x00\x00\x00',
@@ -1866,6 +1887,7 @@ DBC = {
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.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -1889,14 +1911,14 @@ DBC = {
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
# 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.RAV4H_TSS2_2022,
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
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.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
# these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022}
+RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
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.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,