diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 81ce927f65..b901e07721 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -20,7 +20,7 @@ repos:
hooks:
- id: mypy
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
- additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+ additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
args:
- --warn-redundant-casts
- --warn-return-any
diff --git a/docs/CARS.md b/docs/CARS.md
index de7dbacf28..fb163b44e0 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
**All supported cars can move between the tiers as support changes.**
-# Gold - 33 cars
+# Gold - 31 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -55,8 +55,6 @@ How We Rate The Cars
|Lexus|NX Hybrid 2020|All|
|||||
|Lexus|RX 2020-22|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)||||
@@ -73,13 +71,12 @@ How We Rate The Cars
|Toyota|RAV4 2019-21|All||||||
|Toyota|RAV4 Hybrid 2019-21|All||||||
-# Silver - 76 cars
+# Silver - 67 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|RS3 2018|ACC + Lane Assist||||||
|Audi|S3 2015-17|ACC + Lane Assist||||||
|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||||
@@ -113,22 +110,18 @@ How We Rate The Cars
|Lexus|NX 2018-19|All|
[3](#footnotes)|||||
|Lexus|NX Hybrid 2018-19|All|[3](#footnotes)|||||
|Lexus|RX Hybrid 2020-21|All||||||
-|Mazda|CX-5 2022|All||||||
+|Nissan|Altima 2019-20|ProPILOT||||||
+|Nissan|Leaf 2018-22|ProPILOT||||||
+|Nissan|Rogue 2018-20|ProPILOT||||||
+|Nissan|X-Trail 2017|ProPILOT||||||
|SEAT|Ateca 2018|Driver Assistance||||||
|SEAT|Leon 2014-20|Driver Assistance||||||
|Subaru|Ascent 2019-20|All||||||
|Subaru|Crosstrek 2020-21|EyeSight||||||
|Subaru|Forester 2019-21|All||||||
|Subaru|Impreza 2020-21|EyeSight||||||
-|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||||||
-|Škoda|Octavia RS 2016|Driver Assistance||||||
-|Škoda|Scala 2020|Driver Assistance||||||
-|Škoda|Superb 2015-18|Driver Assistance||||||
-|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||||
-|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||||
+|Toyota|Alphard 2019-20|All||||||
+|Toyota|Alphard Hybrid 2021|All||||||
|Toyota|Camry 2018-20|All||[4](#footnotes)||||
|Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)||||
|Toyota|Highlander 2017-19|All|[3](#footnotes)|||||
@@ -138,7 +131,6 @@ How We Rate The Cars
|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)|||||
|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance||||||
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance||||||
|Volkswagen|Golf 2015-20|Driver Assistance||||||
@@ -148,23 +140,21 @@ How We Rate The Cars
|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[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 - 67 cars
+# Bronze - 78 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|Q2 2018|ACC + Lane Assist||||||
|Audi|Q3 2020-21|ACC + Lane Assist||||||
-|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
+|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise||||||
-|Chrysler|Pacifica 2020|Adaptive Cruise||||||
+|Chrysler|Pacifica 2020|Adaptive Cruise||||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise||||||
|Genesis|G90 2018|All||||||
@@ -189,14 +179,14 @@ How We Rate The Cars
|Honda|Passport 2019-21|All||||||
|Honda|Pilot 2016-21|Honda Sensing||||||
|Honda|Ridgeline 2017-22|Honda Sensing||||||
-|Hyundai|Elantra 2017-19|SCC + LKAS||||||
+|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||||||
+|Hyundai|Veloster 2019-20|SCC + LKAS||||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||||
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise||||||
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS||||||
@@ -205,26 +195,36 @@ How We Rate The Cars
|Lexus|RC 2020|All||||||
|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||||||
-|Nissan|Rogue 2018-20|ProPILOT||||||
-|Nissan|X-Trail 2017|ProPILOT||||||
-|Subaru|Crosstrek 2018-19|EyeSight||||||
-|Subaru|Impreza 2017-19|EyeSight||||||
+|Mazda|CX-5 2022|All||||||
+|Mazda|CX-9 2021|All||||||
+|Subaru|Crosstrek 2018-19|EyeSight||||||
+|Subaru|Impreza 2017-19|EyeSight||||||
+|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||||||
+|Škoda|Octavia RS 2016|Driver Assistance||||||
+|Škoda|Scala 2020|Driver Assistance||||||
+|Škoda|Superb 2015-18|Driver Assistance||||||
|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||||||
|Toyota|Corolla 2017-19|All|[3](#footnotes)|||||
|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||||
+|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|Caravelle 2020[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|Passat 2015-19[6](#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|Tiguan 2019-22[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Touran 2017|Driver Assistance||||||
diff --git a/release/files_common b/release/files_common
index 96649b9f16..0ace73623f 100644
--- a/release/files_common
+++ b/release/files_common
@@ -105,7 +105,9 @@ selfdrive/car/ecu_addrs.py
selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py
selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data.json
+selfdrive/car/torque_data/params.yaml
+selfdrive/car/torque_data/substitute.yaml
+selfdrive/car/torque_data/override.yaml
selfdrive/car/body/*.py
selfdrive/car/chrysler/*.py
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9220aee522..c6a64fe919 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,4 +1,4 @@
-import json
+import yaml
import os
import time
from abc import abstractmethod, ABC
@@ -20,7 +20,9 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
+TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
+TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
# generic car and radar interfaces
@@ -109,9 +111,25 @@ class CarInterfaceBase(ABC):
@staticmethod
def get_torque_params(candidate, default=float('NaN')):
+ with open(TORQUE_SUBSTITUTE_PATH) as f:
+ sub = yaml.load(f, Loader=yaml.FullLoader)
+ if candidate in sub:
+ candidate = sub[candidate]
+
with open(TORQUE_PARAMS_PATH) as f:
- data = json.load(f)
- return {key: data[key].get(candidate, default) for key in data}
+ params = yaml.load(f, Loader=yaml.FullLoader)
+ with open(TORQUE_OVERRIDE_PATH) as f:
+ params_override = yaml.load(f, Loader=yaml.FullLoader)
+
+ assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0
+
+ if candidate in params_override:
+ out = params_override[candidate]
+ elif candidate in params:
+ out = params[candidate]
+ else:
+ raise NotImplementedError(f"Did not find torque params for {candidate}")
+ return {key:out[i] for i, key in enumerate(params['legend'])}
@abstractmethod
def _update(self, c: car.CarControl) -> car.CarState:
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 15df1aafef..412874c813 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -33,6 +33,7 @@ class TestCarInterfaces(unittest.TestCase):
assert car_interface
self.assertGreater(car_params.mass, 1)
+ self.assertGreater(car_params.maxLateralAccel, 0)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json
deleted file mode 100644
index 4917cba9bc..0000000000
--- a/selfdrive/car/torque_data.json
+++ /dev/null
@@ -1 +0,0 @@
-{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 2.743464625803003, "HONDA ACCORD HYBRID 2018": 1.5904016830979033, "LEXUS NX HYBRID 2018": 2.398678119681945, "TOYOTA COROLLA TSS2 2019": 2.3859244449846466, "VOLKSWAGEN ARTEON 1ST GEN": 1.4249208219414902, "TOYOTA CAMRY HYBRID 2021": 2.5434553806317055, "VOLKSWAGEN JETTA 7TH GEN": 1.2228130240634283, "HONDA INSIGHT 2019": 1.468352089969897, "SUBARU FORESTER 2019": 3.6185035528523546, "HYUNDAI ELANTRA 2021": 3.5294999663335185, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.2179616966432905, "HYUNDAI KONA HYBRID 2020": 4.493208192966529, "HONDA ODYSSEY 2018": 1.8838175399087222, "LEXUS RX 2016": 1.3912132245094184, "TOYOTA COROLLA 2017": 3.0143547548384735, "LEXUS ES 2019": 2.012201253045193, "HYUNDAI SANTA FE 2019": 3.039728566484244, "TOYOTA AVALON 2022": 2.4619858654670885, "JEEP GRAND CHEROKEE V6 2018": 1.8411674990629987, "CHEVROLET VOLT PREMIER 2017": 1.5943438675127841, "TOYOTA RAV4 HYBRID 2017": 1.9803053616868995, "LEXUS RX 2020": 1.664616846377383, "TOYOTA HIGHLANDER HYBRID 2018": 1.8866764457400844, "TOYOTA CAMRY HYBRID 2018": 2.014213351947917, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.4428896585442685, "TOYOTA MIRAI 2021": 2.7217623852898853, "LEXUS IS 2018": 3.5624668608596837, "TOYOTA HIGHLANDER 2017": 1.9199133105823853, "HYUNDAI SONATA HYBRID 2021": 2.7313907441569554, "VOLKSWAGEN ATLAS 1ST GEN": 1.4483948408160645, "LEXUS ES HYBRID 2019": 2.4138026617523547, "HYUNDAI GENESIS 2015-2016": 1.7636839808044658, "JEEP GRAND CHEROKEE 2019": 1.787264083939164, "SUBARU ASCENT LIMITED 2019": 3.0494069339774565, "HONDA CR-V 2017": 1.9828470679233807, "HONDA FIT 2018": 1.594940026552055, "TOYOTA CAMRY 2021": 2.5057990840460342, "AUDI Q3 2ND GEN": 1.4558300885316715, "AUDI A3 3RD GEN": 1.5304173783542625, "LEXUS RX HYBRID 2017": 1.577216425446677, "HONDA CIVIC 2022": 2.69252285552613, "GENESIS G70 2018": 3.866842361627636, "CHRYSLER PACIFICA HYBRID 2018": 1.5771851419640903, "VOLKSWAGEN PASSAT 8TH GEN": 1.2985597059739313, "HONDA CR-V 2016": 0.7745984062630755, "HYUNDAI IONIQ PHEV 2020": 2.5696218908589383, "GMC ACADIA DENALI 2018": 1.3310088601868082, "HYUNDAI SONATA 2019": 1.9736552675022665, "TOYOTA AVALON 2019": 1.7245149905226294, "TOYOTA C-HR 2018": 1.5895016960662856, "HONDA CR-V HYBRID 2019": 2.0687746810729193, "CHRYSLER PACIFICA 2020": 1.40536880000744, "HYUNDAI IONIQ ELECTRIC 2020": 3.3220838625838667, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 1.7753192756242595, "KIA OPTIMA SX 2019 & 2016": 3.12625562280304, "TOYOTA AVALON HYBRID 2019": 1.7681286449373381, "TOYOTA RAV4 HYBRID 2022": 2.5518187542231816, "HONDA PASSPORT 2021": 1.5174924139130355, "KIA K5 2021": 2.482916204106975, "ACURA ILX 2016": 1.5237423964720282, "HYUNDAI IONIQ HYBRID 2017-2019": 2.3723887901632645, "KIA NIRO EV 2020": 2.924651969180446, "SUBARU IMPREZA SPORT 2020": 2.5317689549587694, "CHRYSLER PACIFICA HYBRID 2017": 1.167126725149114, "HYUNDAI KONA ELECTRIC 2019": 4.201092987427836, "HYUNDAI ELANTRA HYBRID 2021": 3.7153193626001926, "HYUNDAI SANTA FE HYBRID 2022": 3.3049230586030545, "CHRYSLER PACIFICA 2018": 1.524867383058782, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 2.5970979517766213, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.5460982690267173, "MAZDA CX-9 2021": 1.9514800984278198, "HYUNDAI SANTA FE 2022": 3.5354982200434524, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.8902492836532216, "HONDA HRV 2019": 2.1262957371020352, "TOYOTA AVALON HYBRID 2022": 2.4142150048378683, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": 2.4086794443413906, "VOLKSWAGEN TAOS 1ST GEN": 2.0031666974545947, "KIA FORTE E 2018 & GT 2021": 2.022553820222557, "CADILLAC ESCALADE ESV 2016": 1.5522339636408988, "TOYOTA C-HR 2021": 1.6519334844316687, "TOYOTA C-HR HYBRID 2018": 1.3193315010905482}, "MAX_LAT_ACCEL_MEASURED": {"HONDA PILOT 2017": 0.9069354290994807, "HONDA CIVIC 2016": 0.4030275472529351, "TOYOTA CAMRY 2018": 1.686123168195758, "TOYOTA COROLLA HYBRID TSS2 2019": 1.9139332621491167, "TOYOTA RAV4 2019": 2.234047196286479, "HYUNDAI PALISADE 2020": 1.8303582523301922, "TOYOTA SIENNA 2018": 1.4752503435300715, "ACURA RDX 2020": 0.40911581320000334, "TOYOTA RAV4 2017": 1.6622227720995595, "HONDA RIDGELINE 2017": 0.8224685813281227, "TOYOTA PRIUS 2017": 1.4548827870876067, "TOYOTA HIGHLANDER HYBRID 2020": 2.0649784271823037, "HYUNDAI SONATA 2020": 2.243989856570093, "KIA STINGER GT2 2018": 1.9531287107084392, "TOYOTA HIGHLANDER 2020": 1.659381392090836, "HONDA ACCORD 2018": 0.40486739531686267, "TOYOTA PRIUS TSS2 2021": 1.861541601048098, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.1930739374812243, "LEXUS NX 2020": 1.565268724838564, "TOYOTA RAV4 HYBRID 2019": 2.0915384047218426, "HONDA CIVIC (BOSCH) 2019": 0.4062886118517984, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 0.35128914564548286, "LEXUS NX HYBRID 2018": 1.81821359787186, "TOYOTA COROLLA TSS2 2019": 1.911280958056631, "VOLKSWAGEN ARTEON 1ST GEN": 1.2587939472578302, "TOYOTA CAMRY HYBRID 2021": 2.312510643730013, "VOLKSWAGEN JETTA 7TH GEN": 1.232161945396623, "HONDA INSIGHT 2019": 0.5174836462945298, "SUBARU FORESTER 2019": 2.29255993930968, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 2.133978602602408, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 0.8254773781363679, "LEXUS RX 2016": 1.0954776820595344, "TOYOTA COROLLA 2017": 2.2012870528168964, "LEXUS ES 2019": 2.069508805495439, "HYUNDAI SANTA FE 2019": 2.3763720477660253, "TOYOTA AVALON 2022": 2.531962323786023, "JEEP GRAND CHEROKEE V6 2018": 1.4193323242487865, "CHEVROLET VOLT PREMIER 2017": 1.8576430337666092, "TOYOTA RAV4 HYBRID 2017": 1.7425797219020926, "LEXUS RX 2020": 1.5118835180227874, "TOYOTA HIGHLANDER HYBRID 2018": 1.6872527654528833, "TOYOTA CAMRY HYBRID 2018": 1.6793468378089895, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 1.5614447712441282, "TOYOTA MIRAI 2021": 2.271146483563897, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 1.6573774863189379, "HYUNDAI SONATA HYBRID 2021": 1.9464120717803253, "VOLKSWAGEN ATLAS 1ST GEN": 1.6867005451451638, "LEXUS ES HYBRID 2019": 1.956450687999482, "HYUNDAI GENESIS 2015-2016": 1.5359761378898085, "JEEP GRAND CHEROKEE 2019": 1.2418961305308847, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 0.2642062271814174, "HONDA FIT 2018": 0.5896345937094754, "TOYOTA CAMRY 2021": 2.1783533980215166, "AUDI Q3 2ND GEN": 1.1582239457022647, "AUDI A3 3RD GEN": 1.598699116126939, "LEXUS RX HYBRID 2017": 1.319771127672888, "HONDA CIVIC 2022": 1.1806949852580793, "GENESIS G70 2018": 2.2496820850331134, "CHRYSLER PACIFICA HYBRID 2018": 1.294798200968084, "VOLKSWAGEN PASSAT 8TH GEN": 1.247540921731637, "HONDA CR-V 2016": 0.6991119250342539, "HYUNDAI IONIQ PHEV 2020": 1.9062392690595655, "GMC ACADIA DENALI 2018": 1.2986994230652662, "HYUNDAI SONATA 2019": 1.257445187146704, "TOYOTA AVALON 2019": 1.664577368475227, "TOYOTA C-HR 2018": 1.308490445144888, "HONDA CR-V HYBRID 2019": 0.4693072746041504, "CHRYSLER PACIFICA 2020": 1.1712413003138664, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": 1.1573057001955744, "LEXUS NX 2018": 1.9457312007432144, "KIA OPTIMA SX 2019 & 2016": 2.0928228595938845, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 1.7647290773049569, "HONDA PASSPORT 2021": 0.8248357750132685, "KIA K5 2021": 1.4628018983720577, "ACURA ILX 2016": 0.6330753921140401, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 2.020186575503497, "SUBARU IMPREZA SPORT 2020": 2.136786720514988, "CHRYSLER PACIFICA HYBRID 2017": 1.0642918033307907, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 1.3654603720349934, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 1.255230465866663, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 3.3823387508235827, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 1.544104124172169, "HONDA HRV 2019": 0.7492792210307291, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 1.2203463907025918, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 1.6590543949912684, "KIA FORTE E 2018 & GT 2021": 2.3970573789339786, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 1.3559230155096402, "TOYOTA C-HR HYBRID 2018": 1.271271459066948}, "FRICTION": {"HONDA PILOT 2017": 0.2168217463499328, "HONDA CIVIC 2016": 0.28406761310944795, "TOYOTA CAMRY 2018": 0.1327947477896041, "TOYOTA COROLLA HYBRID TSS2 2019": 0.21792021497538405, "TOYOTA RAV4 2019": 0.12757022360707945, "HYUNDAI PALISADE 2020": 0.13391574986922777, "TOYOTA SIENNA 2018": 0.1853443239485906, "ACURA RDX 2020": 0.18058553315570297, "TOYOTA RAV4 2017": 0.14319170324556796, "HONDA RIDGELINE 2017": 0.2380553573913589, "TOYOTA PRIUS 2017": 0.2079869382946584, "TOYOTA HIGHLANDER HYBRID 2020": 0.14038812589302646, "HYUNDAI SONATA 2020": 0.08266051305053168, "KIA STINGER GT2 2018": 0.11909534626930472, "TOYOTA HIGHLANDER 2020": 0.14658637853444048, "HONDA ACCORD 2018": 0.21616610462729247, "TOYOTA PRIUS TSS2 2021": 0.20613763260512002, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.16250373743651828, "LEXUS NX 2020": 0.14404022591302845, "TOYOTA RAV4 HYBRID 2019": 0.1319247989758836, "HONDA CIVIC (BOSCH) 2019": 0.2575217845562353, "KIA NIRO HYBRID 2021": 0.14468633728800306, "HONDA ACCORD HYBRID 2018": 0.21150723931119184, "LEXUS NX HYBRID 2018": 0.16117151597250162, "TOYOTA COROLLA TSS2 2019": 0.21045927995242877, "VOLKSWAGEN ARTEON 1ST GEN": 0.17828895368353925, "TOYOTA CAMRY HYBRID 2021": 0.16283734136957057, "VOLKSWAGEN JETTA 7TH GEN": 0.19508489725001105, "HONDA INSIGHT 2019": 0.25750800088299297, "SUBARU FORESTER 2019": 0.11783702069698135, "HYUNDAI ELANTRA 2021": 0.09377564130711125, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.14740189509875762, "HYUNDAI KONA HYBRID 2020": 0.0863709736632968, "HONDA ODYSSEY 2018": 0.2125595696498247, "LEXUS RX 2016": 0.21475140622981923, "TOYOTA COROLLA 2017": 0.12325064090161544, "LEXUS ES 2019": 0.12757526660498053, "HYUNDAI SANTA FE 2019": 0.12230125806479573, "TOYOTA AVALON 2022": 0.11030226705639488, "JEEP GRAND CHEROKEE V6 2018": 0.12871972792344108, "CHEVROLET VOLT PREMIER 2017": 0.16697256960295873, "TOYOTA RAV4 HYBRID 2017": 0.14074453855329072, "LEXUS RX 2020": 0.2249895411716623, "TOYOTA HIGHLANDER HYBRID 2018": 0.16692807938039034, "TOYOTA CAMRY HYBRID 2018": 0.13418904852016877, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.19324413131475543, "TOYOTA MIRAI 2021": 0.20035237756713503, "LEXUS IS 2018": 0.073103111226694, "TOYOTA HIGHLANDER 2017": 0.17502689439420385, "HYUNDAI SONATA HYBRID 2021": 0.09518615688045734, "VOLKSWAGEN ATLAS 1ST GEN": 0.12761803335799474, "LEXUS ES HYBRID 2019": 0.1682771025433274, "HYUNDAI GENESIS 2015-2016": 0.10254237048034251, "JEEP GRAND CHEROKEE 2019": 0.15702739382013717, "SUBARU ASCENT LIMITED 2019": 0.12936982863095342, "HONDA CR-V 2017": 0.22518506713451308, "HONDA FIT 2018": 0.10803295063463647, "TOYOTA CAMRY 2021": 0.15512845523424743, "AUDI Q3 2ND GEN": 0.14083949977629878, "AUDI A3 3RD GEN": 0.1611945965384188, "LEXUS RX HYBRID 2017": 0.19322020114452776, "HONDA CIVIC 2022": 0.24279247053469405, "GENESIS G70 2018": 0.06869638264150804, "CHRYSLER PACIFICA HYBRID 2018": 0.13887505891474383, "VOLKSWAGEN PASSAT 8TH GEN": 0.21714039653367842, "HONDA CR-V 2016": 0.41726236462791455, "HYUNDAI IONIQ PHEV 2020": 0.13800461817330806, "GMC ACADIA DENALI 2018": 0.3447163106452739, "HYUNDAI SONATA 2019": 0.15371520337813344, "TOYOTA AVALON 2019": 0.10392921606262978, "TOYOTA C-HR 2018": 0.2015190716953846, "HONDA CR-V HYBRID 2019": 0.19595630321202379, "CHRYSLER PACIFICA 2020": 0.14337114313208268, "HYUNDAI IONIQ ELECTRIC 2020": 0.08104502306679212, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.1471001686544422, "KIA OPTIMA SX 2019 & 2016": 0.11703652166984638, "TOYOTA AVALON HYBRID 2019": 0.10863628402866225, "TOYOTA RAV4 HYBRID 2022": 0.14334213238415072, "HONDA PASSPORT 2021": 0.19826160782809032, "KIA K5 2021": 0.1027179720106188, "ACURA ILX 2016": 0.35663988815912573, "HYUNDAI IONIQ HYBRID 2017-2019": 0.12332151728479951, "KIA NIRO EV 2020": 0.0892074288578785, "SUBARU IMPREZA SPORT 2020": 0.15841234487251604, "CHRYSLER PACIFICA HYBRID 2017": 0.1345638758810282, "HYUNDAI KONA ELECTRIC 2019": 0.08503096350356723, "HYUNDAI ELANTRA HYBRID 2021": 0.09887804390243872, "HYUNDAI SANTA FE HYBRID 2022": 0.11171499761140577, "CHRYSLER PACIFICA 2018": 0.13611561752951415, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": 0.10502695501512567, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.21818156330777305, "MAZDA CX-9 2021": 0.1793735649504697, "HYUNDAI SANTA FE 2022": 0.09184808719698756, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.14050744688135813, "HONDA HRV 2019": 0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
new file mode 100644
index 0000000000..fb086fd13f
--- /dev/null
+++ b/selfdrive/car/torque_data/override.yaml
@@ -0,0 +1,29 @@
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
+### angle control
+# Nissan appears to have torque
+NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
+NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
+NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
+NISSAN LEAF 2018: [.nan, 1.5, .nan]
+NISSAN ROGUE 2019: [.nan, 1.5, .nan]
+
+# Tesla has high torque
+TESLA AP1 MODEL S: [.nan, 2.5, .nan]
+TESLA AP2 MODEL S: [.nan, 2.5, .nan]
+
+# Guess
+FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+###
+
+# No steering wheel
+COMMA BODY: [.nan, 1000, .nan]
+
+# Totally new car
+KIA EV6 2022: [3.0, 2.5, 0.05]
+
+# Dashcam or fallback configured as ideal car
+mock: [10.0, 10, 0.0]
+
+# Manually checked
+HONDA CIVIC 2022: [2.5, 1.2, 0.15]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
new file mode 100644
index 0000000000..160f605488
--- /dev/null
+++ b/selfdrive/car/torque_data/params.yaml
@@ -0,0 +1,96 @@
+ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
+ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022]
+CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085]
+CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627]
+CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823]
+CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716]
+GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
+HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
+HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
+JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
+KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554]
+LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212]
+LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
+LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659]
+LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
+LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
+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]
+SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062]
+TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
+TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
+TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
+TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
+TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
+TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993]
+TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724]
+TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664]
+TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368]
+TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
+TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
+TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
+TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
+TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653]
+TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198]
+VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
new file mode 100644
index 0000000000..d368b2c672
--- /dev/null
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -0,0 +1,75 @@
+MAZDA 3: MAZDA CX-9 2021
+MAZDA 6: MAZDA CX-9 2021
+MAZDA CX-5: MAZDA CX-9 2021
+MAZDA CX-5 2022: MAZDA CX-9 2021
+MAZDA CX-9: MAZDA CX-9 2021
+
+TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
+TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
+TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
+TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
+TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
+LEXUS IS 2018: LEXUS NX 2018
+LEXUS CT HYBRID 2018 : LEXUS NX 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS NX HYBRID 2020: LEXUS NX 2020
+LEXUS RC 2020: LEXUS NX 2020
+TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
+TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
+
+KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
+KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
+KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
+KIA SELTOS 2021: HYUNDAI SONATA 2020
+KIA NIRO HYBRID 2019: KIA NIRO EV 2020
+KIA NIRO HYBRID 2021: KIA NIRO EV 2020
+HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
+HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
+HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
+HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
+HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
+HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+GENESIS G90 2017: GENESIS G70 2018
+GENESIS G80 2017: GENESIS G70 2018
+GENESIS G70 2020: HYUNDAI SONATA 2020
+
+HONDA FREED 2020: HONDA ODYSSEY 2018
+HONDA CR-V EU 2016: HONDA CR-V 2016
+HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
+HONDA E 2020: HONDA CIVIC (BOSCH) 2019
+HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
+
+BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
+CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
+CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
+CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
+HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
+
+SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
+SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
+VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
+AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
+
+# Old subarus don't have much data guessing it's like low torque impreza
+SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
+SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
+SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 05d016911b..662f8cc5b8 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-2d736ca51acc1ac06216631b0529b50d9a6d2170
\ No newline at end of file
+41161c8d151b0c2017214cad0aad3156533ab868