diff --git a/README.md b/README.md
index fafa233200..ed3165fbd6 100644
--- a/README.md
+++ b/README.md
@@ -99,6 +99,7 @@ Supported Cars
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | UX Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019            | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 22e43934dc..35d4d44f82 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -176,7 +176,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
       ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
-    elif candidate in [CAR.AVALON, CAR.AVALON_2019]:
+    elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
       stop_and_go = False
       ret.safetyParam = 73
       ret.wheelbase = 2.82
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9f03caf005..93222fb3cd 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -37,6 +37,7 @@ class CAR:
   HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
   AVALON = "TOYOTA AVALON 2016"
   AVALON_2019 = "TOYOTA AVALON 2019"
+  AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
@@ -315,6 +316,26 @@ FW_VERSIONS = {
       b'8646F0702100\x00\x00\x00\x00',
     ],
   },
+  CAR.AVALONH_2019: {
+    (Ecu.esp, 0x7b0, None): [
+      b'F152641040\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881510704200\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B07010\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F0702100\x00\x00\x00\x00',
+    ],
+  },
   CAR.CAMRY: {
     (Ecu.engine, 0x700, None): [
       b'\x018966306L3100\x00\x00\x00\x00',
@@ -1655,6 +1676,7 @@ DBC = {
   CAR.HIGHLANDERH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
   CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+  CAR.AVALONH_2019: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index e26c0a5c26..fc9604e8d3 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -87,6 +87,7 @@ routes = [
 
   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),
   TestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
   TestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
   TestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),