Toyota: combine more hybrid platforms (#31057)

* Combine * migrate test models segs * fix highlander engine * no change old-commit-hash: 29536324c1
2 years ago · 0c68412407
parent d6922d3522
commit 0c68412407
11 changed files with 83 additions and 136 deletions
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -155,7 +155,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -123,6 +123,7 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
      found_versions = live_fw_versions.get(addr, set())
      if not len(found_versions):
        # Some models can sometimes miss an ecu, or show on two different addresses
+        # FIXME: this logic can be improved to be more specific, should require one of the two addresses
        if candidate in config.non_essential_ecus.get(ecu_type, []):
          continue

--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -193,14 +193,14 @@ routes = [
  CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2),  # hybrid
  CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022),  # hybrid
  CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
+  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
  CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
  CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2),  # hybrid
  CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
-  CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
  CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
  CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
  CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
-  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
+  CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX),  # hybrid
  CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
  CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2),  # hybrid
  CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
@ -210,7 +210,7 @@ routes = [
  CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
  CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
  CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
-  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
+  CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER),  # hybrid
  CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
  CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
  CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
--- a/selfdrive/car/tests/test_models_segs.txt
+++ b/selfdrive/car/tests/test_models_segs.txt
@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8674d9a8304d501aee2bfaea2d668d746fd424b5b0872b83ab265d15d3a3d887
-size 125301
+oid sha256:8570e4144f2c17a1c804b18cea0d4358bea211f67c823fd3bd152b6af7cf207d
+size 125147
--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@ -49,9 +49,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
 "LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
 "LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
-"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
 "LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
-"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
 "MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
 "SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
 "SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
@ -66,9 +65,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
 "TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
 "TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
-"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
 "TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
-"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600]
 "TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
 "TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
 "TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@ -10,7 +10,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "LEXUS IS 2018" = "LEXUS NX 2018"
 "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
 "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
-"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018"
 "LEXUS RC 2020" = "LEXUS NX 2020"

 "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -102,7 +102,7 @@ class CarController:
    if self.CP.enableGasInterceptor and CC.longActive:
      MAX_INTERCEPTOR_GAS = 0.5
      # RAV4 has very sensitive gas pedal
-      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
+      if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
        PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
      elif self.CP.carFingerprint in (CAR.COROLLA,):
        PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@ -614,13 +614,22 @@ FW_VERSIONS = {
      b'\x01896630E88000\x00\x00\x00\x00',
      b'\x01896630EA0000\x00\x00\x00\x00',
    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
    (Ecu.eps, 0x7a1, None): [
      b'8965B48140\x00\x00\x00\x00\x00\x00',
      b'8965B48150\x00\x00\x00\x00\x00\x00',
+      b'8965B48160\x00\x00\x00\x00\x00\x00',
      b'8965B48210\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F15260E011\x00\x00\x00\x00\x00\x00',
+      b'F152648541\x00\x00\x00\x00\x00\x00',
+      b'F152648542\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
      b'881510E01100\x00\x00\x00\x00',
@ -635,29 +644,6 @@ FW_VERSIONS = {
      b'8646F0E01300\x00\x00\x00\x00',
    ],
  },
-  CAR.HIGHLANDERH: {
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B48160\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648541\x00\x00\x00\x00\x00\x00',
-      b'F152648542\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4702100\x00\x00\x00\x00',
-      b'8821F4702300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F0E01200\x00\x00\x00\x00',
-      b'8646F0E01300\x00\x00\x00\x00',
-    ],
-  },
  CAR.HIGHLANDER_TSS2: {
    (Ecu.eps, 0x7a1, None): [
      b'8965B48241\x00\x00\x00\x00\x00\x00',
@ -1273,39 +1259,24 @@ FW_VERSIONS = {
  },
  CAR.LEXUS_ES: {
    (Ecu.engine, 0x7e0, None): [
+      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152606202\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881513309500\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B33502\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701200\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F3302200\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_ESH: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.abs, 0x7b0, None): [
      b'F152633171\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
+      b'881513309500\x00\x00\x00\x00',
      b'881513310400\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
+      b'8965B33502\x00\x00\x00\x00\x00\x00',
      b'8965B33512\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'8821F4701100\x00\x00\x00\x00',
+      b'8821F4701200\x00\x00\x00\x00',
      b'8821F4701300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
@ -1463,43 +1434,6 @@ FW_VERSIONS = {
      b'\x018966348W1300\x00\x00\x00\x00',
      b'\x018966348W2300\x00\x00\x00\x00',
    ],
-    (Ecu.abs, 0x7b0, None): [
-      b'F152648472\x00\x00\x00\x00\x00\x00',
-      b'F152648473\x00\x00\x00\x00\x00\x00',
-      b'F152648474\x00\x00\x00\x00\x00\x00',
-      b'F152648492\x00\x00\x00\x00\x00\x00',
-      b'F152648493\x00\x00\x00\x00\x00\x00',
-      b'F152648494\x00\x00\x00\x00\x00\x00',
-      b'F152648630\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.dsu, 0x791, None): [
-      b'881514810300\x00\x00\x00\x00',
-      b'881514810500\x00\x00\x00\x00',
-      b'881514810700\x00\x00\x00\x00',
-    ],
-    (Ecu.eps, 0x7a1, None): [
-      b'8965B0E011\x00\x00\x00\x00\x00\x00',
-      b'8965B0E012\x00\x00\x00\x00\x00\x00',
-      b'8965B48102\x00\x00\x00\x00\x00\x00',
-      b'8965B48111\x00\x00\x00\x00\x00\x00',
-      b'8965B48112\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x750, 0xf): [
-      b'8821F4701000\x00\x00\x00\x00',
-      b'8821F4701100\x00\x00\x00\x00',
-      b'8821F4701200\x00\x00\x00\x00',
-      b'8821F4701300\x00\x00\x00\x00',
-    ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'8646F4801100\x00\x00\x00\x00',
-      b'8646F4801200\x00\x00\x00\x00',
-      b'8646F4802001\x00\x00\x00\x00',
-      b'8646F4802100\x00\x00\x00\x00',
-      b'8646F4802200\x00\x00\x00\x00',
-      b'8646F4809000\x00\x00\x00\x00',
-    ],
-  },
-  CAR.LEXUS_RXH: {
    (Ecu.engine, 0x7e0, None): [
      b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -1513,13 +1447,23 @@ FW_VERSIONS = {
    ],
    (Ecu.abs, 0x7b0, None): [
      b'F152648361\x00\x00\x00\x00\x00\x00',
+      b'F152648472\x00\x00\x00\x00\x00\x00',
+      b'F152648473\x00\x00\x00\x00\x00\x00',
+      b'F152648474\x00\x00\x00\x00\x00\x00',
+      b'F152648492\x00\x00\x00\x00\x00\x00',
+      b'F152648493\x00\x00\x00\x00\x00\x00',
+      b'F152648494\x00\x00\x00\x00\x00\x00',
      b'F152648501\x00\x00\x00\x00\x00\x00',
      b'F152648502\x00\x00\x00\x00\x00\x00',
      b'F152648504\x00\x00\x00\x00\x00\x00',
+      b'F152648630\x00\x00\x00\x00\x00\x00',
      b'F152648740\x00\x00\x00\x00\x00\x00',
      b'F152648A30\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.dsu, 0x791, None): [
+      b'881514810300\x00\x00\x00\x00',
+      b'881514810500\x00\x00\x00\x00',
+      b'881514810700\x00\x00\x00\x00',
      b'881514811300\x00\x00\x00\x00',
      b'881514811500\x00\x00\x00\x00',
      b'881514811700\x00\x00\x00\x00',
@ -1538,6 +1482,7 @@ FW_VERSIONS = {
      b'8821F4701300\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F4801100\x00\x00\x00\x00',
      b'8646F4801200\x00\x00\x00\x00',
      b'8646F4802001\x00\x00\x00\x00',
      b'8646F4802100\x00\x00\x00\x00',
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.444  # not optimized yet
      ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid

-    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.79
      ret.steerRatio = 16.  # 14.8 is spec end-to-end
@ -98,7 +98,8 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.7933
      ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid

-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
+      # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
      stop_and_go = True
      ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
      ret.steerRatio = 16.0
@ -141,9 +142,7 @@ class CarInterface(CarInterfaceBase):
      ret.tireStiffnessFactor = 0.444  # not optimized yet
      ret.mass = 3060. * CV.LB_TO_KG

-    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
-      if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
-        stop_and_go = True
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
      ret.wheelbase = 2.8702
      ret.steerRatio = 16.0  # not optimized
      ret.tireStiffnessFactor = 0.444  # not optimized yet
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@ -50,6 +50,15 @@ class TestToyotaInterfaces(unittest.TestCase):


 class TestToyotaFingerprint(unittest.TestCase):
+  def test_non_essential_ecus(self):
+    # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model.value):
+        engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
+        self.assertEqual(len(engine_ecus) > 1,
+                         car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
+                         f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")
+
  # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
  # fingerprint in the absence of full FW matches:
  @settings(max_examples=100)
@ -144,7 +153,7 @@ class TestToyotaFingerprint(unittest.TestCase):
        self.assertEqual(list(matches)[0], platform)
      else:
        # If a platform has multiple matches, add it and its matches
-        platforms_with_shared_codes |= {platform, *matches}
+        platforms_with_shared_codes |= {str(platform), *matches}

    self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))

--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -62,7 +62,6 @@ class CAR(StrEnum):
  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
  HIGHLANDER = "TOYOTA HIGHLANDER 2017"
  HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
-  HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
  PRIUS = "TOYOTA PRIUS 2017"
  PRIUS_V = "TOYOTA PRIUS v 2017"
  PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
@ -77,7 +76,6 @@ class CAR(StrEnum):
  # Lexus
  LEXUS_CTH = "LEXUS CT HYBRID 2018"
  LEXUS_ES = "LEXUS ES 2018"
-  LEXUS_ESH = "LEXUS ES HYBRID 2018"
  LEXUS_ES_TSS2 = "LEXUS ES 2019"
  LEXUS_IS = "LEXUS IS 2018"
  LEXUS_IS_TSS2 = "LEXUS IS 2023"
@ -85,7 +83,6 @@ class CAR(StrEnum):
  LEXUS_NX_TSS2 = "LEXUS NX 2020"
  LEXUS_RC = "LEXUS RC 2020"
  LEXUS_RX = "LEXUS RX 2016"
-  LEXUS_RXH = "LEXUS RX HYBRID 2017"
  LEXUS_RX_TSS2 = "LEXUS RX 2020"
  LEXUS_GS_F = "LEXUS GS F 2016"

@ -147,12 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
    ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
    ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
  ],
-  CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+  CAR.HIGHLANDER: [
+    ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
+    ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
+  ],
  CAR.HIGHLANDER_TSS2: [
    ToyotaCarInfo("Toyota Highlander 2020-23"),
    ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
  ],
-  CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
  CAR.PRIUS: [
    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
    ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@ -188,8 +187,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {

  # Lexus
  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
-  CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  CAR.LEXUS_ES: [
+    ToyotaCarInfo("Lexus ES 2017-18"),
+    ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
+  ],
  CAR.LEXUS_ES_TSS2: [
    ToyotaCarInfo("Lexus ES 2019-24"),
    ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
@ -209,8 +210,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.LEXUS_RX: [
    ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
    ToyotaCarInfo("Lexus RX 2017-19"),
-  ],
-  CAR.LEXUS_RXH: [
+    # Hybrid platforms
    ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
    ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
  ],
@ -222,33 +222,32 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {

 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V),
                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
-  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+  (0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
           CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V),
          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
-  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
-           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]


@ -395,8 +394,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
    # FIXME: On some models, abs can sometimes be missing
    Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2],
    # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC,
-                 CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX_TSS2],
+    Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS,
+                 CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
  },
  extra_ecus=[
    # All known ECUs on a late-model Toyota vehicle not queried here:
@ -444,7 +443,6 @@ DBC = {
  CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-  CAR.LEXUS_RXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
@ -452,7 +450,6 @@ DBC = {
  CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.HIGHLANDERH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -462,7 +459,6 @@ DBC = {
  CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
-  CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -495,4 +491,4 @@ RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2}
 ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}

 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA}