diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index fe5ae72a2c..beba63a488 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -128,11 +128,12 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
 
-    self.sws_toggle = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_TOGGLE"])
-    self.sws_sensitivity = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_SENSITIVITY"])
-    self.sws_buzzer = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_BUZZER"])
-    self.sws_fld = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_FLD"])
-    self.sws_warning = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_WARNING"])
+    if self.CP.carFingerprint != CAR.PRIUS_V:
+      self.sws_toggle = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_TOGGLE"])
+      self.sws_sensitivity = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_SENSITIVITY"])
+      self.sws_buzzer = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_BUZZER"])
+      self.sws_fld = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_FLD"])
+      self.sws_warning = (cp_cam.vl["LKAS_HUD"]["LANE_SWAY_WARNING"])
 
     return ret
 
@@ -246,6 +247,18 @@ class CarState(CarStateBase):
       ("LKAS_HUD", 1),
     ]
 
+    if CP.carFingerprint != CAR.PRIUS_V:
+      signals = [
+        ("LANE_SWAY_TOGGLE", "LKAS_HUD"),
+        ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
+        ("LANE_SWAY_BUZZER", "LKAS_HUD"),
+        ("LANE_SWAY_FLD", "LKAS_HUD"),
+        ("LANE_SWAY_WARNING", "LKAS_HUD"),
+      ]
+      checks = [
+        ("LKAS_HUD", 1),
+      ]
+
     if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       signals += [
         ("ACC_TYPE", "ACC_CONTROL"),