diff --git a/docs/CARS.md b/docs/CARS.md
index c8614c8037..e9b9e947f3 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -25,7 +25,8 @@ How We Rate The Cars
- 
- No steering control below certain speeds.
### Steering Torque
-- 
- Car has enough steering torque for comfortable highway driving.
+- - Car has enough steering torque to take tighter turns.
+- 
- Car has enough steering torque for comfortable highway driving.
- - Limited ability to make turns.
### Actively Maintained
@@ -34,7 +35,7 @@ How We Rate The Cars
**All supported cars can move between the tiers as support changes.**
-## Gold Cars
+# Gold - 29 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -53,6 +54,8 @@ How We Rate The Cars
|Lexus|NX 2020|All||||||
|Lexus|NX Hybrid 2020|All||||||
|Lexus|UX Hybrid 2019-21|All||||||
+|Toyota|Avalon 2022|All||||||
+|Toyota|Avalon Hybrid 2022|All||||||
|Toyota|Camry 2021-22|All||[4](#footnotes)||||
|Toyota|Camry Hybrid 2021-22|All||||||
|Toyota|Corolla 2020-22|All||||||
@@ -66,11 +69,17 @@ How We Rate The Cars
|Toyota|RAV4 2019-21|All||||||
|Toyota|RAV4 Hybrid 2019-21|All||||||
-## Silver Cars
+# Silver - 78 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
+|Audi|A3 2014-19|ACC + Lane Assist||||||
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist||||||
|Audi|Q2 2018|ACC + Lane Assist||||||
+|Audi|Q3 2020-21|ACC + Lane Assist||||||
+|Audi|RS3 2018|ACC + Lane Assist||||||
+|Audi|S3 2015-17|ACC + Lane Assist||||||
+|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||||
|Genesis|G70 2018|All||||||
|Genesis|G80 2018|All||||||
|Hyundai|Elantra 2021-22|SCC + LKAS||||||
@@ -84,6 +93,7 @@ How We Rate The Cars
|Hyundai|Santa Fe 2021-22|All||||||
|Hyundai|Santa Fe Hybrid 2022|All||||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All||||||
+|Hyundai|Sonata 2018-19|SCC + LKAS||||||
|Hyundai|Tucson Diesel 2019|SCC + LKAS||||||
|Kia|Ceed 2019|SCC + LKAS||||||
|Kia|Forte 2018|SCC + LKAS||||||
@@ -99,13 +109,13 @@ How We Rate The Cars
|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)|||||
|Lexus|NX 2018-19|All|[3](#footnotes)|||||
|Lexus|NX Hybrid 2018-19|All|[3](#footnotes)|||||
-|Lexus|RX 2020-22|All||||||
-|Lexus|RX Hybrid 2020-21|All||||||
+|Lexus|RX 2020-22|All||||||
+|Lexus|RX Hybrid 2020-21|All||||||
|Mazda|CX-5 2022|All||||||
|SEAT|Ateca 2018|Driver Assistance||||||
|SEAT|Leon 2014-20|Driver Assistance||||||
|Subaru|Forester 2019-21|All||||||
-|Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance||||||
+|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance||||||
|Škoda|Karoq 2019|Driver Assistance||||||
|Škoda|Kodiaq 2018-19|Driver Assistance||||||
|Škoda|Octavia 2015, 2018-19|Driver Assistance||||||
@@ -114,75 +124,82 @@ How We Rate The Cars
|Škoda|Superb 2015-18|Driver Assistance||||||
|Toyota|Alphard 2019-20|All||||||
|Toyota|Alphard Hybrid 2021|All||||||
-|Toyota|Avalon 2022|All||||||
-|Toyota|Avalon Hybrid 2022|All||||||
+|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||||
+|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||||
|Toyota|Camry 2018-20|All||[4](#footnotes)||||
|Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)||||
+|Toyota|Highlander 2017-19|All|[3](#footnotes)|||||
+|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)|||||
+|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||||
+|Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||||
|Toyota|RAV4 2022|All||||||
+|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 Hybrid 2022|All||||||
-|Volkswagen|Arteon 2018, 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|Passat 2015-19[7](#footnotes)|Driver Assistance||||||
+|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
+|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance||||||
+|Volkswagen|Golf 2015-20|Driver Assistance||||||
+|Volkswagen|Golf Alltrack 2017-18|Driver Assistance||||||
+|Volkswagen|Golf GTE 2016|Driver Assistance||||||
+|Volkswagen|Golf GTI 2018-21|Driver Assistance||||||
+|Volkswagen|Golf R 2016-19|Driver Assistance||||||
+|Volkswagen|Golf SportsVan 2016|Driver Assistance||||||
+|Volkswagen|Golf SportWagen 2015|Driver Assistance||||||
+|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance||||||
|Volkswagen|Polo 2020|Driver Assistance||||||
-|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance||||||
+|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance||||||
|Volkswagen|Touran 2017|Driver Assistance||||||
-## Bronze Cars
+# Bronze - 66 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus||||||
|Acura|RDX 2016-18|AcuraWatch Plus||||||
-|Acura|RDX 2019-21|All||||||
-|Audi|A3 2014-19|ACC + Lane Assist||||||
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist||||||
-|Audi|Q3 2020-21|ACC + Lane Assist||||||
-|Audi|RS3 2018|ACC + Lane Assist||||||
-|Audi|S3 2015-17|ACC + Lane Assist||||||
+|Acura|RDX 2019-21|All||||||
|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
-|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise||||||
+|Chrysler|Pacifica 2017-18|Adaptive Cruise||||||
|Chrysler|Pacifica 2020|Adaptive Cruise||||||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||||
-|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise||||||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||||
+|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise||||||
|Genesis|G90 2018|All||||||
-|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise||||||
-|Honda|Accord 2018-21|All||||||
-|Honda|Accord Hybrid 2018-21|All||||||
+|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise||||||
+|Honda|Accord 2018-21|All||||||
+|Honda|Accord Hybrid 2018-21|All||||||
|Honda|Civic 2016-18|Honda Sensing||||||
-|Honda|Civic 2019-20|All|||[2](#footnotes)|||
-|Honda|Civic Hatchback 2017-21|Honda Sensing||||||
+|Honda|Civic 2019-20|All|||[2](#footnotes)|||
+|Honda|Civic Hatchback 2017-21|Honda Sensing||||||
|Honda|CR-V 2015-16|Touring||||||
-|Honda|CR-V 2017-21|Honda Sensing||||||
+|Honda|CR-V 2017-21|Honda Sensing||||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing||||||
|Honda|e 2020|All||||||
-|Honda|Fit 2018-19|Honda Sensing||||||
+|Honda|Fit 2018-19|Honda Sensing||||||
|Honda|Freed 2020|Honda Sensing||||||
|Honda|HR-V 2019-20|Honda Sensing||||||
-|Honda|Insight 2019-21|All||||||
-|Honda|Inspire 2018|All||||||
+|Honda|Insight 2019-21|All||||||
+|Honda|Inspire 2018|All||||||
|Honda|Odyssey 2018-20|Honda Sensing||||||
-|Honda|Passport 2019-21|All||||||
-|Honda|Pilot 2016-21|Honda Sensing||||||
-|Honda|Ridgeline 2017-22|Honda Sensing||||||
+|Honda|Passport 2019-21|All||||||
+|Honda|Pilot 2016-21|Honda Sensing||||||
+|Honda|Ridgeline 2017-22|Honda Sensing||||||
|Hyundai|Elantra 2017-19|SCC + LKAS||||||
|Hyundai|Genesis 2015-16|SCC + LKAS||||||
|Hyundai|Ioniq Electric 2019|SCC + LKAS||||||
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS||||||
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS||||||
-|Hyundai|Sonata 2018-19|SCC + LKAS||||||
|Hyundai|Tucson 2021|SCC + LKAS||||||
|Hyundai|Veloster 2019-20|SCC + LKAS||||||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||||
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise||||||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||||
+|Jeep|Grand Cherokee 2019-20|Adaptive Cruise||||||
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS||||||
|Kia|Optima 2017|SCC + LKAS||||||
|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)|||||
|Lexus|IS 2017-19|All||||||
|Lexus|RC 2020|All||||||
-|Lexus|RX 2016-18|All|[3](#footnotes)|||||
-|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)|||||
+|Lexus|RX 2016-18|All|[3](#footnotes)|||||
+|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)|||||
|Mazda|CX-9 2021|All||||||
|Nissan|Altima 2019-20|ProPILOT||||||
|Nissan|Leaf 2018-22|ProPILOT||||||
@@ -190,37 +207,21 @@ How We Rate The Cars
|Nissan|X-Trail 2017|ProPILOT||||||
|Subaru|Ascent 2019-20|All||||||
|Subaru|Crosstrek 2018-19|EyeSight||||||
-|Subaru|Crosstrek 2020-21|EyeSight||||||
+|Subaru|Crosstrek 2020-21|EyeSight||||||
|Subaru|Impreza 2017-19|EyeSight||||||
-|Subaru|Impreza 2020-21|EyeSight||||||
-|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)|||||
-|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||||
-|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||||
-|Toyota|C-HR 2017-21|All||||||
-|Toyota|C-HR Hybrid 2017-19|All||||||
+|Subaru|Impreza 2020-21|EyeSight||||||
+|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)|||||
+|Toyota|C-HR 2017-21|All||||||
+|Toyota|C-HR Hybrid 2017-19|All||||||
|Toyota|Corolla 2017-19|All|[3](#footnotes)|||||
-|Toyota|Highlander 2017-19|All|[3](#footnotes)|||||
-|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)|||||
-|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||[5](#footnotes)||
-|Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||[5](#footnotes)||
-|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||[5](#footnotes)||
-|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||||
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||||
-|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
-|Volkswagen|Atlas 2018-19, 2022[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|California 2021[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance||||||
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance||||||
-|Volkswagen|Golf 2015-20|Driver Assistance||||||
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance||||||
-|Volkswagen|Golf GTE 2016|Driver Assistance||||||
-|Volkswagen|Golf GTI 2018-21|Driver Assistance||||||
-|Volkswagen|Golf R 2016-19|Driver Assistance||||||
-|Volkswagen|Golf SportsVan 2016|Driver Assistance||||||
-|Volkswagen|Golf SportWagen 2015|Driver Assistance||||||
-|Volkswagen|Jetta 2018-21|Driver Assistance||||||
-|Volkswagen|Jetta GLI 2021|Driver Assistance||||||
-|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance||||||
+|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||||
+|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||||
+|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Jetta 2018-21|Driver Assistance||||||
+|Volkswagen|Jetta GLI 2021|Driver Assistance||||||
+|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance||||||
@@ -228,10 +229,9 @@ How We Rate The Cars
22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
3When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
428mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-5An inaccurate steering wheel angle sensor makes precise control difficult.
-6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-7Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
-8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
+5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+6Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
+7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
## Community Maintained Cars
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
\ No newline at end of file
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index cd9b7bc6ee..f93dc64b06 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -28,7 +28,8 @@ How We Rate The Cars
- {{star_icon.format(Star.EMPTY.value)}} - No steering control below certain speeds.
### Steering Torque
-- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque for comfortable highway driving.
+- {{star_icon.format(Star.FULL.value)}} - Car has enough steering torque to take tighter turns.
+- {{star_icon.format(Star.HALF.value)}} - Car has enough steering torque for comfortable highway driving.
- {{star_icon.format(Star.EMPTY.value)}} - Limited ability to make turns.
### Actively Maintained
@@ -38,7 +39,7 @@ How We Rate The Cars
**All supported cars can move between the tiers as support changes.**
{% for tier, cars in tiers.items() %}
-## {{tier.name.title()}} Cars
+# {{tier.name.title()}} - {{cars | length}} cars
|{{Column | map(attribute='value') | join('|')}}|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 95561872ac..e3b46c29e4 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -6,7 +6,9 @@ from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Optional, Union, no_type_check
-STEERING_TORQUE_THRESHOLD = 2.0 # m/s^2
+TACO_TORQUE_THRESHOLD = 2.5 # m/s^2
+GREAT_TORQUE_THRESHOLD = 1.5 # m/s^2
+GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
class Tier(Enum):
@@ -70,11 +72,6 @@ class CarInfo:
if self.min_enable_speed is not None:
min_enable_speed = self.min_enable_speed
- # TODO: remove hardcoded good torque and just use maxLateralAccel
- good_torque = self.good_torque
- if not math.isnan(CP.maxLateralAccel):
- good_torque = CP.maxLateralAccel >= STEERING_TORQUE_THRESHOLD
-
self.car_name = CP.carName
self.make, self.model = self.name.split(' ', 1)
self.row = {
@@ -82,21 +79,27 @@ class CarInfo:
Column.MODEL: self.model,
Column.PACKAGE: self.package,
# StarColumns
- Column.LONGITUDINAL: CP.openpilotLongitudinalControl and not CP.radarOffCan,
- Column.FSR_LONGITUDINAL: min_enable_speed <= 0.,
- Column.FSR_STEERING: min_steer_speed <= 0.,
- Column.STEERING_TORQUE: good_torque,
- Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
+ Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
+ Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
+ Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
+ Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY, # TODO: remove hardcoding and use maxLateralAccel
+ Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
}
+ if not math.isnan(CP.maxLateralAccel):
+ if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
+ self.row[Column.STEERING_TORQUE] = Star.FULL
+ elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+ self.row[Column.STEERING_TORQUE] = Star.HALF
+ else:
+ self.row[Column.STEERING_TORQUE] = Star.EMPTY
+
if CP.notCar:
for col in StarColumns:
- self.row[col] = True
+ self.row[col] = Star.FULL
self.all_footnotes = all_footnotes
for column in StarColumns:
- self.row[column] = Star.FULL if self.row[column] else Star.EMPTY
-
# Demote if footnote specifies a star
footnote = get_footnote(self.footnotes, column)
if footnote is not None and footnote.value.star is not None:
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ad98f8863f..de5db98ea6 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -100,7 +100,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
- ret.maxLateralAccel = 1.7
+ ret.maxLateralAccel = 0.4
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
@@ -245,7 +245,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
- ret.maxLateralAccel = 1.5
+ ret.maxLateralAccel = 0.8
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate == CAR.ODYSSEY_CHN:
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 91a7fa5d10..7e6cfa0d09 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -93,9 +93,6 @@ class Footnote(Enum):
CAMRY = CarFootnote(
"28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
Column.FSR_LONGITUDINAL)
- ANGLE_SENSOR = CarFootnote(
- "An inaccurate steering wheel angle sensor makes precise control difficult.",
- Column.STEERING_TORQUE, star=Star.HALF)
@dataclass
@@ -133,10 +130,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
CAR.PRIUS: [
- ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
- ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+ ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
],
- CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU, Footnote.ANGLE_SENSOR]),
+ CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
CAR.PRIUS_TSS2: [
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 3a9b1d9479..2f42570934 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0e18bb3317437f2cad6d0a5782a9222eda655d58
+f301bdf52b271c8c4ef0f2bce3be9c8f90037652