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2019+ Avalon: allow stop and go (#23952)

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* Avalon actually has SNG

* update readme

* Revert "update readme"

This reverts commit 076561a057.

* update readme

* fix

* variants as it includes hybrids
pull/23948/head^2
Shane Smiskol 3 years ago committed by GitHub
parent 0adfef0b34
commit 156337475e
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3 changed files with 7 additions and 3 deletions
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  1. 5
      docs/CARS.md
  2. 3
      selfdrive/car/toyota/interface.py
  3. 2
      selfdrive/car/toyota/values.py

5
docs/CARS.md
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@ -44,9 +44,10 @@
| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph | | Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph | | Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Alphard 2019-20 | All | openpilot | 0mph | 0mph | | Toyota | Alphard 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph | | Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon 2019-21 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph | | Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph | | Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph | | Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph | | Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph | | Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |

3
selfdrive/car/toyota/interface.py
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@ -103,6 +103,9 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.PID_G) set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2): elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
# starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON
ret.wheelbase = 2.82 ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983 tire_stiffness_factor = 0.7983

2
selfdrive/car/toyota/values.py
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@ -30,7 +30,7 @@ class CAR:
AVALON = "TOYOTA AVALON 2016" AVALON = "TOYOTA AVALON 2016"
AVALON_2019 = "TOYOTA AVALON 2019" AVALON_2019 = "TOYOTA AVALON 2019"
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019" AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
AVALON_TSS2 = "TOYOTA AVALON 2022" AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5
CAMRY = "TOYOTA CAMRY 2018" CAMRY = "TOYOTA CAMRY 2018"
CAMRYH = "TOYOTA CAMRY HYBRID 2018" CAMRYH = "TOYOTA CAMRY HYBRID 2018"
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5 CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5

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