diff --git a/RELEASES.md b/RELEASES.md
index 9e8273dcc0..7068f9cabd 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,7 @@
Version 0.8.14 (2022-0X-XX)
========================
* bigmodel!
+ * Toyota Alphard Hybrid 2021 support
* Toyota Avalon Hybrid 2022 support
Version 0.8.13 (2022-02-18)
diff --git a/docs/CARS.md b/docs/CARS.md
index 807ba387b0..339d78b936 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -52,6 +52,7 @@ How We Rate The Cars
|Lexus|RX Hybrid 2020-21|All|
|||||
|Lexus|UX Hybrid 2019-21|All||||||
|Toyota|Alphard 2019-20|All||||||
+|Toyota|Alphard Hybrid 2021|All||||||
|Toyota|Avalon 2022|All||||||
|Toyota|Avalon Hybrid 2022|All||||||
|Toyota|Camry 2021-22|All||[4](#Footnotes)||||
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 2838f501bc..2f72b4645d 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -102,6 +102,7 @@ routes = [
TestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
+ TestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 848fc7d6a9..dc0c64ad1b 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -190,7 +190,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
- elif candidate == CAR.ALPHARD_TSS2:
+ elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
stop_and_go = True
ret.wheelbase = 3.00
ret.steerRatio = 14.2
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 96af08f661..1aab887f54 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -30,6 +30,7 @@ class ToyotaFlags(IntFlag):
class CAR:
# Toyota
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
+ ALPHARDH_TSS2 = "TOYOTA ALPHARD HYBRID 2021"
AVALON = "TOYOTA AVALON 2016"
AVALON_2019 = "TOYOTA AVALON 2019"
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
@@ -97,6 +98,7 @@ class ToyotaCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
# Toyota
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
+ CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
CAR.AVALON: ToyotaCarInfo("Toyota Avalon 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
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]),
@@ -1764,6 +1766,23 @@ FW_VERSIONS = {
b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
],
},
+ CAR.ALPHARDH_TSS2: {
+ (Ecu.engine, 0x7e0, None): [
+ b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+ ],
+ (Ecu.eps, 0x7a1, None): [
+ b'8965B58040\x00\x00\x00\x00\x00\x00',
+ ],
+ (Ecu.esp, 0x7b0, None): [
+ b'F152658341\x00\x00\x00\x00\x00\x00'
+ ],
+ (Ecu.fwdRadar, 0x750, 0xf): [
+ b'\x018821F3301400\x00\x00\x00\x00',
+ ],
+ (Ecu.fwdCamera, 0x750, 0x6d): [
+ b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+ ],
+ },
}
STEER_THRESHOLD = 100
@@ -1810,6 +1829,7 @@ DBC = {
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+ CAR.ALPHARDH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
}
# These cars have non-standard EPS torque scale factors. All others are 73
@@ -1818,13 +1838,13 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
# 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.AVALONH_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}
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}
+ CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
# 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}