Merge remote-tracking branch 'upstream/master' into isotp-parallel-response-pending

3 years ago · 7fd8740374
parent d5e31f1206 29a1bf5a46
commit 7fd8740374
43 changed files with 375 additions and 230 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -362,6 +362,44 @@ jobs:
                        CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v2
  model_replay_onnx:
    name: model replay onnx
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Pull LFS
      run: git lfs pull
    - name: Cache dependencies
      id: dependency-cache
      uses: actions/cache@v2
      with:
        path: /tmp/comma_download_cache
        key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/model_replay.py') }}
    - name: Cache scons
      id: scons-cache
      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
      env:
        CACHE_SKIP_SAVE: true
      with:
        path: /tmp/scons_cache
        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
        restore-keys: |
          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
          scons-
    - name: Build Docker image
      # Sim docker is needed to get the intel OPENCL drivers
      run: eval "$BUILD_CL"
    - name: Run replay
      run: |
        ${{ env.RUN_CL }} "scons -j$(nproc) && \
                            ONNXCPU=1 FILEREADER_CACHE=1 CI=1 coverage run \
                            selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
                            coverage xml"
  test_longitudinal:
    name: longitudinal
--- a/Dockerfile.openpilot_base_cl
+++ b/Dockerfile.openpilot_base_cl
@ -1,7 +1,18 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 RUN apt-get update && apt-get install -y --no-install-recommends\
    apt-utils \
    alien \
    unzip \
    tar \
    curl \
    xz-utils \
    dbus \
    gcc-arm-none-eabi \
    tmux \
    vim \
    lsb-core \
    libx11-6 \
  && rm -rf /var/lib/apt/lists/*
 # Intel OpenCL driver
@ -18,3 +29,9 @@ RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
    mkdir -p /etc/OpenCL/vendors && \
    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
    rm -rf /tmp/opencl-driver-intel
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6ad4ba689c557ed241862d10aef4235d3e96331f
+Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52
--- a/common/params.cc
+++ b/common/params.cc
@ -104,7 +104,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
    {"DoUninstall", CLEAR_ON_MANAGER_START},
    {"EndToEndToggle", PERSISTENT},
    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
    {"GitBranch", PERSISTENT},
    {"GitCommit", PERSISTENT},
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -51,13 +51,7 @@ How We Rate The Cars
 |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -75,12 +69,7 @@ How We Rate The Cars
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -94,7 +83,6 @@ How We Rate The Cars
 |Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -107,18 +95,15 @@ How We Rate The Cars
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -126,36 +111,20 @@ How We Rate The Cars
 |Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Passat 2015-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 ## Bronze Cars
@ -165,6 +134,11 @@ How We Rate The Cars
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -196,29 +170,55 @@ How We Rate The Cars
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 <a id="footnotes"></a>
--- a/launch_env.sh
+++ b/launch_env.sh
@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="5"
+  export AGNOS_VERSION="5.1"
 fi
 if [ -z "$PASSIVE" ]; then
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 6d19b46ef525b0ae224e0bf7db71918e96f9be66
+Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@ -17,6 +17,7 @@ class CarInterface(CarInterfaceBase):
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
    ret.minSteerSpeed = -math.inf
    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
    ret.steerRatio = 0.5
    ret.steerRateCost = 0.5
    ret.steerLimitTimer = 1.0
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@ -18,7 +18,7 @@ class CAR:
  BODY = "COMMA BODY"
 CAR_INFO: Dict[str, CarInfo] = {
-  CAR.BODY: CarInfo("comma body", package="All", good_torque=True, harness=Harness.none),
+  CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none),
 }
 FW_VERSIONS = {
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -1,9 +1,11 @@
 import os
-from typing import Any, Dict, List
+from typing import Dict, List
 from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
 from selfdrive.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
@ -11,7 +13,6 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 from cereal import car
 EventName = car.CarEvent.EventName
@ -59,19 +60,6 @@ def load_interfaces(brand_names):
  return ret
 def get_interface_attr(attr: str) -> Dict[str, Any]:
  # returns given attribute from each interface
  brand_names = {}
  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
    try:
      brand_name = car_folder.split('/')[-1]
      attr_data = getattr(__import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]), attr, None)
      brand_names[brand_name] = attr_data
    except (ImportError, OSError):
      pass
  return brand_names
 def _get_interface_names() -> Dict[str, List[str]]:
  # returns a dict of brand name and its respective models
  brand_names = {}
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -23,6 +23,14 @@ class CarInterface(CarInterfaceBase):
    ret.steerRateCost = 0.7
    ret.steerLimitTimer = 0.4
    # set max lateral acceleration
    if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
      ret.maxLateralAccel = 1.6
    if candidate in (CAR.PACIFICA_2018_HYBRID,):
      ret.maxLateralAccel = 1.4
    if candidate in (CAR.PACIFICA_2017_HYBRID,):
      ret.maxLateralAccel = 1.2
    if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
      ret.wheelbase = 2.91  # in meters
      ret.steerRatio = 12.7
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -15,9 +15,8 @@ from selfdrive.car.tests.routes import non_tested_cars
 def get_all_footnotes() -> Dict[Enum, int]:
  all_footnotes = []
-  for _, footnotes in get_interface_attr("Footnote").items():
+  for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    if footnotes is not None:
+    all_footnotes += footnotes
      all_footnotes += footnotes
  return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
@ -28,21 +27,20 @@ CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 def get_all_car_info() -> List[CarInfo]:
  all_car_info: List[CarInfo] = []
-  for models in get_interface_attr("CAR_INFO").values():
+  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    for model, car_info in models.items():
+    # Hyundai exception: those with radar have openpilot longitudinal
-      # Hyundai exception: those with radar have openpilot longitudinal
+    fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
-      fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
+    CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
      CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
-      if CP.dashcamOnly or car_info is None:
+    if CP.dashcamOnly or car_info is None:
-        continue
+      continue
-      # A platform can include multiple car models
+    # A platform can include multiple car models
-      if not isinstance(car_info, list):
+    if not isinstance(car_info, list):
-        car_info = (car_info,)
+      car_info = (car_info,)
-      for _car_info in car_info:
+    for _car_info in car_info:
-        all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
+      all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
  # Sort cars by make and model + year
  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -1,9 +1,13 @@
 import math
 from cereal import car
 from collections import namedtuple
 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
 class Tier(Enum):
  GOLD = "The best openpilot experience. Great highway driving and beyond."
@ -66,6 +70,11 @@ 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 = {
@ -76,7 +85,7 @@ class CarInfo:
      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: self.good_torque,
+      Column.STEERING_TORQUE: good_torque,
      Column.MAINTAINED: CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none,
    }
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@ -1,44 +1,12 @@
-import os
+from selfdrive.car.interfaces import get_interface_attr
 from common.basedir import BASEDIR
-def get_attr_from_cars(attr, result=dict, combine_brands=True):
+FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
-  # read all the folders in selfdrive/car and return a dict where:
+_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
  # - keys are all the car models
  # - values are attr values from all car folders
  result = result()
  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
    try:
      car_name = car_folder.split('/')[-1]
      values = __import__(f'selfdrive.car.{car_name}.values', fromlist=[attr])
      if hasattr(values, attr):
        attr_values = getattr(values, attr)
      else:
        continue
      if isinstance(attr_values, dict):
        for f, v in attr_values.items():
          if combine_brands:
            result[f] = v
          else:
            if car_name not in result:
              result[car_name] = {}
            result[car_name][f] = v
      elif isinstance(attr_values, list):
        result += attr_values
    except (ImportError, OSError):
      pass
  return result
 FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
 _FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
 _DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
 def is_valid_for_fingerprint(msg, car_fingerprint):
  adr = msg.address
  # ignore addresses that are more than 11 bits
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 import struct
 import traceback
 from typing import Any, List
 from collections import defaultdict
-from dataclasses import dataclass
+from dataclasses import dataclass, field
-
+from typing import Any, List
 from tqdm import tqdm
 import panda.python.uds as uds
 from cereal import car
-from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
+from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
 from selfdrive.swaglog import cloudlog
@ -96,9 +96,11 @@ class Request:
  brand: str
  request: List[bytes]
  response: List[bytes]
  whitelist_ecus: List[int] = field(default_factory=list)
  rx_offset: int = DEFAULT_RX_OFFSET
  bus: int = 1
 REQUESTS: List[Request] = [
  # Subaru
  Request(
@ -303,7 +305,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
  addrs = []
  parallel_addrs = []
-  versions = get_attr_from_cars('FW_VERSIONS', combine_brands=False)
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
  if extra is not None:
    versions.update(extra)
@ -328,23 +330,26 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
    for addr_chunk in chunks(addr):
      for r in REQUESTS:
        try:
-          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any')]
+          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
          if addrs:
            query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
            t = 2 * timeout if i == 0 else timeout
-            fw_versions.update(query.get_data(t))
+            fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()})
        except Exception:
          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
  # Build capnp list to put into CarParams
  car_fw = []
-  for addr, version in fw_versions.items():
+  for addr, (version, request, rx_offset) in fw_versions.items():
    f = car.CarParams.CarFw.new_message()
    f.ecu = ecu_types[addr]
    f.fwVersion = version
    f.address = addr[0]
    f.responseAddress = addr[0] + rx_offset
    f.request = request
    if addr[1] is not None:
      f.subAddress = addr[1]
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -75,6 +75,7 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
      ret.maxLateralAccel = 1.6
      ret.lateralTuning.pid.kpBP = [0., 40.]
      ret.lateralTuning.pid.kpV = [0., 0.17]
@ -108,6 +109,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.4  # end to end is 13.46
      ret.steerRatioRear = 0.
      ret.centerToFront = ret.wheelbase * 0.4
      ret.maxLateralAccel = 1.4
      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
    elif candidate == CAR.BUICK_REGAL:
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -100,6 +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.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.
@ -112,6 +113,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.38  # 10.93 is end-to-end 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 = 1.
      ret.maxLateralAccel = 1.6
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
    elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@ -126,6 +128,7 @@ class CarInterface(CarInterfaceBase):
      if eps_modified:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
      else:
        ret.maxLateralAccel = 1.6
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
    elif candidate == CAR.ACURA_ILX:
@ -162,6 +165,7 @@ class CarInterface(CarInterfaceBase):
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
      else:
        ret.maxLateralAccel = 1.7
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      tire_stiffness_factor = 0.677
@ -186,6 +190,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.06
      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 = 0.75
      ret.maxLateralAccel = 1.7
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
    elif candidate == CAR.FREED:
@ -216,8 +221,9 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.68
      ret.centerToFront = ret.wheelbase * 0.38
      ret.steerRatio = 15.0  # as spec
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      tire_stiffness_factor = 0.444
      ret.maxLateralAccel = 0.9
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
    elif candidate == CAR.ACURA_RDX_3G:
@ -226,6 +232,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.75
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 11.95  # as spec
      ret.maxLateralAccel = 1.2
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      tire_stiffness_factor = 0.677
@ -238,6 +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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
    elif candidate == CAR.ODYSSEY_CHN:
@ -258,6 +266,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.25  # 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 = 0.444
      ret.maxLateralAccel = 1.5
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
    elif candidate == CAR.RIDGELINE:
@ -268,6 +277,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.59  # 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 = 0.444
      ret.maxLateralAccel = 1.3
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
    elif candidate == CAR.INSIGHT:
@ -278,6 +288,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.0  # 12.58 is spec end-to-end
      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 = 1.4
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
    elif candidate == CAR.HONDA_E:
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -60,6 +60,7 @@ class CarInterface(CarInterfaceBase):
      # Values from optimizer
      ret.steerRatio = 16.55  # 13.8 is spec end-to-end
      tire_stiffness_factor = 0.82
      ret.maxLateralAccel = 3.2
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
@ -68,6 +69,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.84
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
      tire_stiffness_factor = 0.65
      ret.maxLateralAccel = 2.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.SONATA_LF:
@ -75,6 +77,7 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 4497. * CV.LB_TO_KG
      ret.wheelbase = 2.804
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
      ret.maxLateralAccel = 1.8
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.PALISADE:
@ -83,6 +86,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.90
      ret.steerRatio = 15.6 * 1.15
      tire_stiffness_factor = 0.63
      ret.maxLateralAccel = 2.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@ -139,6 +143,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.7
      ret.steerRatio = 13.73  # Spec
      tire_stiffness_factor = 0.385
      ret.maxLateralAccel = 3.0
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@ -188,6 +193,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.7
      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
      tire_stiffness_factor = 0.385
      ret.maxLateralAccel = 2.9
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      if candidate == CAR.KIA_NIRO_HEV:
@ -219,6 +225,7 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1825. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
      ret.maxLateralAccel = 2.4
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_FORTE:
@ -244,6 +251,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.85
      ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
      tire_stiffness_factor = 0.5
      ret.maxLateralAccel = 2.1
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
    elif candidate == CAR.KIA_EV6:
@ -254,8 +262,8 @@ class CarInterface(CarInterfaceBase):
                           get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
      tire_stiffness_factor = 0.65
-      max_lat_accel = 2.
+      ret.maxLateralAccel = 2.
-      set_torque_tune(ret.lateralTuning, max_lat_accel, 0.01)
+      set_torque_tune(ret.lateralTuning, ret.maxLateralAccel, 0.01)
    # Genesis
    elif candidate == CAR.GENESIS_G70:
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -1,13 +1,14 @@
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Dict, Tuple, List
+from typing import Any, Dict, Tuple, List
 from cereal import car
 from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from common.conversions import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -22,7 +23,6 @@ ACCEL_MIN = -3.5
 # generic car and radar interfaces
 class CarInterfaceBase(ABC):
  def __init__(self, CP, CarController, CarState):
    self.CP = CP
@ -81,6 +81,7 @@ class CarInterfaceBase(ABC):
    ret.steerControlType = car.CarParams.SteerControlType.torque
    ret.minSteerSpeed = 0.
    ret.wheelSpeedFactor = 1.0
    ret.maxLateralAccel = float('nan')
    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@ -293,3 +294,31 @@ class CarStateBase(ABC):
  @staticmethod
  def get_loopback_can_parser(CP):
    return None
 # interface-specific helpers
 def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> Dict[str, Any]:
  # read all the folders in selfdrive/car and return a dict where:
  # - keys are all the car models or brand names
  # - values are attr values from all car folders
  result = {}
  for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
    try:
      brand_name = car_folder.split('/')[-1]
      brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr])
      if hasattr(brand_values, attr) or not ignore_none:
        attr_data = getattr(brand_values, attr, None)
      else:
        continue
      if combine_brands:
        if isinstance(attr_data, dict):
          for f, v in attr_data.items():
            result[f] = v
      else:
        result[brand_name] = attr_data
    except (ImportError, OSError):
      pass
  return result
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -139,7 +139,7 @@ class IsoTpParallelQuery:
              cloudlog.warning(f"iso-tp query response pending: {hex(tx_addr)}")
          else:
            request_done[tx_addr] = True
-            cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
+            cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
      cur_time = time.monotonic()
      if cur_time - max(response_timeouts.values()) > 0:
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@ -51,6 +51,7 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
      ret.maxLateralAccel = 1.3
      ret.lateralTuning.pid.kf = 0.00005
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@ -61,6 +62,7 @@ class CarInterface(CarInterfaceBase):
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.steerActuatorDelay = 0.1
      ret.maxLateralAccel = 3.2
      ret.lateralTuning.pid.kf = 0.000038
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -43,14 +43,14 @@ class SubaruCarInfo(CarInfo):
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20"),
  CAR.IMPREZA: [
-    SubaruCarInfo("Subaru Impreza 2017-19", good_torque=True),
+    SubaruCarInfo("Subaru Impreza 2017-19"),
-    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26", good_torque=True),
+    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
  ],
  CAR.IMPREZA_2020: [
    SubaruCarInfo("Subaru Impreza 2020-21"),
    SubaruCarInfo("Subaru Crosstrek 2020-21"),
  ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", good_torque=True),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21"),
  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
  CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
  CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@ -18,7 +18,7 @@ class TestCarDocs(unittest.TestCase):
                     "Run selfdrive/car/docs.py to generate new supported cars documentation")
  def test_missing_car_info(self):
-    all_car_info_platforms = [p for i in get_interface_attr("CAR_INFO").values() for p in i]
+    all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
    for platform in sorted(interfaces.keys()):
      if platform not in all_car_info_platforms:
        self.fail("Platform: {} doesn't exist in CarInfo".format(platform))
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@ -4,9 +4,9 @@ import unittest
 from parameterized import parameterized
 from cereal import car
-from selfdrive.car.car_helpers import interfaces
+from selfdrive.car.car_helpers import get_interface_attr, interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import match_fw_to_car
+from selfdrive.car.fw_versions import REQUESTS, match_fw_to_car
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@ -57,6 +57,23 @@ class TestFwFingerprint(unittest.TestCase):
    self.assertTrue(passed, "Blacklisted FW versions found")
  def test_fw_request_ecu_whitelist(self):
    passed = True
    brands = set(r.brand for r in REQUESTS)
    versions = get_interface_attr('FW_VERSIONS')
    for brand in brands:
      whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
      brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
      # each ecu in brand's fw versions needs to be whitelisted at least once
      ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
      if len(whitelisted_ecus) and len(ecus_not_whitelisted):
        ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
        print(f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
        passed = False
    self.assertTrue(passed, "Not all ecus in FW versions found in query whitelists")
 if __name__ == "__main__":
  unittest.main()
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -38,7 +38,8 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.74   # unknown end-to-end spec
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.7, FRICTION=0.06)
+      ret.maxLateralAccel = 1.7
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
    elif candidate == CAR.PRIUS_V:
      stop_and_go = True
@ -46,7 +47,8 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 17.4
      tire_stiffness_factor = 0.5533
      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
+      ret.maxLateralAccel = 1.8
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
    elif candidate in (CAR.RAV4, CAR.RAV4H):
      stop_and_go = True if (candidate in CAR.RAV4H) else False
@ -54,14 +56,16 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.88   # 14.5 is spec end-to-end
      tire_stiffness_factor = 0.5533
      ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
+      ret.maxLateralAccel = 1.8
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.06)
    elif candidate == CAR.COROLLA:
      ret.wheelbase = 2.70
      ret.steerRatio = 18.27
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.8, FRICTION=0.024)
+      ret.maxLateralAccel = 2.8
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.024)
    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
      stop_and_go = True
@ -70,6 +74,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelSpeedFactor = 1.035
      tire_stiffness_factor = 0.5533
      ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      ret.maxLateralAccel = 1.4
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate in (CAR.CHR, CAR.CHRH):
@ -78,6 +83,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.6
      tire_stiffness_factor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 1.3
      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@ -87,8 +93,10 @@ class CarInterface(CarInterfaceBase):
      tire_stiffness_factor = 0.7933
      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
-        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
+        ret.maxLateralAccel = 2.4
        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
      else:
        ret.maxLateralAccel = 2.0
        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@ -97,6 +105,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@ -105,6 +114,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
      ret.maxLateralAccel = 1.8
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@ -115,6 +125,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
      tire_stiffness_factor = 0.7983
      ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      ret.maxLateralAccel = 1.6
      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@ -123,6 +134,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.3
      tire_stiffness_factor = 0.7933
      ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
      ret.maxLateralAccel = 2.5
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
@ -138,7 +150,8 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.9
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
+      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.07)
    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
      stop_and_go = True
@ -146,6 +159,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.0  # not optimized
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      ret.maxLateralAccel = 2.2
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
    elif candidate == CAR.SIENNA:
@ -154,6 +168,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.5
      tire_stiffness_factor = 0.444
      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 1.6
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@ -177,6 +192,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.7
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate == CAR.PRIUS_TSS2:
@ -185,6 +201,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.4   # True steerRatio from older prius
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.0
      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
    elif candidate == CAR.MIRAI:
@ -193,6 +210,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 14.8
      tire_stiffness_factor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
      ret.maxLateralAccel = 2.4
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@ -50,7 +50,7 @@ def set_long_tune(tune, name):
 ###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1, use_steering_angle=True):
+def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, use_steering_angle=True):
  if name == LatTunes.TORQUE:
    set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION)
  elif 'PID' in str(name):
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -100,7 +100,6 @@ class Footnote(Enum):
@dataclass
 class ToyotaCarInfo(CarInfo):
  package: str = "All"
  good_torque: bool = True
  harness: Enum = Harness.toyota
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -64,14 +64,17 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.ATLAS_MK1:
      ret.mass = 2011 + STD_CARGO_KG
      ret.wheelbase = 2.98
      ret.maxLateralAccel = 1.4
    elif candidate == CAR.GOLF_MK7:
      ret.mass = 1397 + STD_CARGO_KG
      ret.wheelbase = 2.62
      ret.maxLateralAccel = 1.5
    elif candidate == CAR.JETTA_MK7:
      ret.mass = 1328 + STD_CARGO_KG
      ret.wheelbase = 2.71
      ret.maxLateralAccel = 1.2
    elif candidate == CAR.PASSAT_MK8:
      ret.mass = 1551 + STD_CARGO_KG
@ -92,6 +95,7 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.TIGUAN_MK2:
      ret.mass = 1715 + STD_CARGO_KG
      ret.wheelbase = 2.74
      ret.maxLateralAccel = 1.1
    elif candidate == CAR.TOURAN_MK2:
      ret.mass = 1516 + STD_CARGO_KG
@ -109,6 +113,7 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.AUDI_A3_MK3:
      ret.mass = 1335 + STD_CARGO_KG
      ret.wheelbase = 2.61
      ret.maxLateralAccel = 1.7
    elif candidate == CAR.AUDI_Q2_MK1:
      ret.mass = 1205 + STD_CARGO_KG
@ -117,6 +122,7 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.AUDI_Q3_MK2:
      ret.mass = 1623 + STD_CARGO_KG
      ret.wheelbase = 2.68
      ret.maxLateralAccel = 1.6
    elif candidate == CAR.SEAT_ATECA_MK1:
      ret.mass = 1900 + STD_CARGO_KG
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@ -22,7 +22,7 @@ LOW_SPEED_FACTOR = 200
 JERK_THRESHOLD = 0.2
-def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=.1):
+def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01):
  tune.init('torque')
  tune.torque.useSteeringAngle = True
  tune.torque.kp = 1.0 / MAX_LAT_ACCEL
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@ -16,7 +16,7 @@ def plannerd_thread(sm=None, pm=None):
  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
  cloudlog.info("plannerd got CarParams: %s", CP.carName)
-  use_lanelines = not params.get_bool('EndToEndToggle')
+  use_lanelines = False
  wide_camera = params.get_bool('WideCameraOnly')
  cloudlog.event("e2e mode", on=use_lanelines)
--- a/selfdrive/hardware/tici/agnos.json
+++ b/selfdrive/hardware/tici/agnos.json
@ -41,9 +41,9 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-8aa796767e3af57fd24e4d54280944187b8fcc04c8748f5c20fef2700be10161.img.xz",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz",
-    "hash": "b51b8247f2b926edc3a2b8242bbab52a484ae72559a3b4a55e961bf6b8d47223",
+    "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36",
-    "hash_raw": "8aa796767e3af57fd24e4d54280944187b8fcc04c8748f5c20fef2700be10161",
+    "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca",
    "size": 10737418240,
    "sparse": true,
    "full_check": false,
--- a/selfdrive/hardware/tici/test_power_draw.py
+++ b/selfdrive/hardware/tici/test_power_draw.py
@ -16,11 +16,11 @@ class Proc:
  power: float
  rtol: float = 0.05
  atol: float = 0.1
-  warmup: float = 3.
+  warmup: float = 6.
 PROCS = [
-  Proc('camerad', 2.25),
+  Proc('camerad', 2.15),
-  Proc('modeld', 0.95),
+  Proc('modeld', 1.0),
  Proc('dmonitoringmodeld', 0.25),
  Proc('encoderd', 0.23),
 ]
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -44,19 +44,19 @@ class Laikad:
      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
-      pos_std = float(np.linalg.norm(self.gnss_kf.P[GStates.ECEF_POS]))
+      pos_std = self.gnss_kf.P[GStates.ECEF_POS].flatten().tolist()
-      vel_std = float(np.linalg.norm(self.gnss_kf.P[GStates.ECEF_VELOCITY]))
+      vel_std = self.gnss_kf.P[GStates.ECEF_VELOCITY].flatten().tolist()
      bearing_deg, bearing_std = get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std)
      meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
      dat = messaging.new_message("gnssMeasurements")
-      measurement_msg = log.GnssMeasurements.Measurement.new_message
+      measurement_msg = log.LiveLocationKalman.Measurement.new_message
      dat.gnssMeasurements = {
        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=localizer_valid),
        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=localizer_valid),
-        "bearingDeg": measurement_msg(value=[bearing_deg], std=bearing_std, valid=localizer_valid),
+        "bearingDeg": measurement_msg(value=[bearing_deg], std=[bearing_std], valid=localizer_valid),
        "ubloxMonoTime": ublox_mono_time,
        "correctedMeasurements": meas_msgs
      }
@ -77,7 +77,7 @@ class Laikad:
      filter_time = self.gnss_kf.filter.filter_time
      if filter_time is None:
        cloudlog.info("Init gnss kalman filter")
-      elif (t - filter_time) > MAX_TIME_GAP:
+      elif abs(t - filter_time) > MAX_TIME_GAP:
        cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
      else:
        cloudlog.error("Gnss kalman filter state is nan")
@ -136,7 +136,7 @@ def get_bearing_from_gnss(ecef_pos, ecef_vel, vel_std):
  ned_vel = np.einsum('ij,j ->i', converter.ned_from_ecef_matrix, ecef_vel)
  bearing = np.arctan2(ned_vel[1], ned_vel[0])
-  bearing_std = np.arctan2(vel_std, np.linalg.norm(ned_vel))
+  bearing_std = np.arctan2(np.linalg.norm(vel_std), np.linalg.norm(ned_vel))
  return float(np.rad2deg(bearing)), float(bearing_std)
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@ -17,7 +17,7 @@ from selfdrive.version import is_dirty
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
-TOTAL_SCONS_NODES = 2405
+TOTAL_SCONS_NODES = 2035
 MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
--- a/selfdrive/navd/helpers.py
+++ b/selfdrive/navd/helpers.py
@ -2,18 +2,24 @@ from __future__ import annotations
 import json
 import math
-from typing import Any, Dict, List, Optional, Tuple
+from typing import Any, Dict, List, Optional, Tuple, Union, cast
 from common.conversions import Conversions
 from common.numpy_fast import clip
 from common.params import Params
 EARTH_MEAN_RADIUS = 6371007.2
 SPEED_CONVERSIONS = {
    'km/h': Conversions.KPH_TO_MS,
    'mph': Conversions.MPH_TO_MS,
  }
 class Coordinate:
  def __init__(self, latitude: float, longitude: float) -> None:
    self.latitude = latitude
    self.longitude = longitude
    self.annotations: Dict[str, float] = {}
  @classmethod
  def from_mapbox_tuple(cls, t: Tuple[float, float]) -> Coordinate:
@ -116,6 +122,12 @@ def string_to_direction(direction: str) -> str:
  return 'none'
 def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float:
  unit = cast(str, maxspeed['unit'])
  speed = cast(float, maxspeed['speed'])
  return SPEED_CONVERSIONS[unit] * speed
 def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None:
  if not len(banners):
    return
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@ -10,11 +10,11 @@ from cereal import log
 from common.api import Api
 from common.params import Params
 from common.realtime import Ratekeeper
 from selfdrive.swaglog import cloudlog
 from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
-                                    distance_along_geometry,
+                                    distance_along_geometry, maxspeed_to_ms,
                                    minimum_distance,
                                    parse_banner_instructions)
 from selfdrive.swaglog import cloudlog
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
@ -110,7 +110,7 @@ class RouteEngine:
    params = {
      'access_token': self.mapbox_token,
-      # 'annotations': 'maxspeed',
+      'annotations': 'maxspeed',
      'geometries': 'geojson',
      'overview': 'full',
      'steps': 'true',
@ -131,9 +131,25 @@ class RouteEngine:
        self.route = r['routes'][0]['legs'][0]['steps']
        self.route_geometry = []
        maxspeed_idx = 0
        maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed']
        # Convert coordinates
        for step in self.route:
-          self.route_geometry.append([Coordinate.from_mapbox_tuple(c) for c in step['geometry']['coordinates']])
+          coords = []
          for c in step['geometry']['coordinates']:
            coord = Coordinate.from_mapbox_tuple(c)
            # Last step does not have maxspeed
            if (maxspeed_idx < len(maxspeeds)) and ('unknown' not in maxspeeds[maxspeed_idx]):
              coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeeds[maxspeed_idx])
            coords.append(coord)
            maxspeed_idx += 1
          self.route_geometry.append(coords)
          maxspeed_idx -= 1  # Every segment ends with the same coordinate as the start of the next
        self.step_idx = 0
      else:
@ -179,6 +195,23 @@ class RouteEngine:
    msg.navInstruction.timeRemaining = total_time
    msg.navInstruction.timeRemainingTypical = total_time_typical
    # Speed limit
    closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position))
    if closest_idx > 0:
      # If we are not past the closest point, show previous
      if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
        closest = geometry[closest_idx - 1]
    if 'maxspeed' in closest.annotations:
      msg.navInstruction.speedLimit = closest.annotations['maxspeed']
    # Speed limit sign type
    if 'speedLimitSign' in step:
      if step['speedLimitSign'] == 'mutcd':
        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd
      elif step['speedLimitSign'] == 'vienna':
        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna
    self.pm.send('navInstruction', msg)
    # Transition to next route segment
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@ -10,9 +10,8 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
 from common.timeout import Timeout
-from common.transformations.camera import get_view_frame_from_road_frame, eon_f_frame_size, tici_f_frame_size, \
+from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
-                                          eon_d_frame_size, tici_d_frame_size
+from selfdrive.hardware import PC
 from selfdrive.hardware import PC, TICI
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
@ -23,14 +22,14 @@ from tools.lib.logreader import LogReader
 TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 SEGMENT = 0
 MAX_FRAMES = 20 if PC else 1300
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
-
+def get_log_fn(ref_commit, test_route):
-def get_log_fn(ref_commit, test_route, tici=True):
+  return f"{test_route}_model_tici_{ref_commit}.bz2"
  return f"{test_route}_{'model_tici' if tici else 'model'}_{ref_commit}.bz2"
 def replace_calib(msg, calib):
@ -41,12 +40,15 @@ def replace_calib(msg, calib):
 def model_replay(lr, frs):
-  spinner = Spinner()
+  if not PC:
-  spinner.update("starting model replay")
+    spinner = Spinner()
    spinner.update("starting model replay")
  else:
    spinner = None
  vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size if TICI else eon_f_frame_size))
+  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size if TICI else eon_d_frame_size))
+  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size))
  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
  vipc_server.start_listener()
@ -76,7 +78,7 @@ def model_replay(lr, frs):
    for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']):
      # need a pair of road/wide msgs
-      if TICI and None in (cam_msgs[0], cam_msgs[1]):
+      if None in (cam_msgs[0], cam_msgs[1]):
        break
      for msg in cam_msgs:
@ -107,7 +109,7 @@ def model_replay(lr, frs):
          recv = None
          if msg.which() in ('roadCameraState', 'wideRoadCameraState'):
-            if not TICI or min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
+            if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
              recv = "modelV2"
          elif msg.which() == 'driverCameraState':
            recv = "driverState"
@ -118,14 +120,19 @@ def model_replay(lr, frs):
              recv_cnt[recv] += 1
              log_msgs.append(messaging.recv_one(sm.sock[recv]))
-          spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
+          if spinner:
-                         frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
+            spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
                           frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
-      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()):
+      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES:
        break
      else:
        print(f'Received {frame_idxs["roadCameraState"]} frames')
  finally:
-    spinner.close()
+    if spinner:
      spinner.close()
    managed_processes['modeld'].stop()
    managed_processes['dmonitoringmodeld'].stop()
@ -144,9 +151,8 @@ if __name__ == "__main__":
  frs = {
    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")),
    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")),
    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
  }
  if TICI:
    frs['wideRoadCameraState'] = FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
  # run replay
  log_msgs = model_replay(lr, frs)
@ -156,9 +162,9 @@ if __name__ == "__main__":
  if not update:
    with open(ref_commit_fn) as f:
      ref_commit = f.read().strip()
-    log_fn = get_log_fn(ref_commit, TEST_ROUTE, tici=TICI)
+    log_fn = get_log_fn(ref_commit, TEST_ROUTE)
    try:
-      cmp_log = LogReader(BASE_URL + log_fn)
+      cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES]
      ignore = [
        'logMonoTime',
@ -167,7 +173,8 @@ if __name__ == "__main__":
        'driverState.modelExecutionTime',
        'driverState.dspExecutionTime'
      ]
-      tolerance = None if not PC else 1e-3
+      # TODO this tolerence is absurdly large
      tolerance = 5e-1 if PC else None
      results: Any = {TEST_ROUTE: {}}
      results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
      diff1, diff2, failed = format_diff(results, ref_commit)
@ -182,13 +189,13 @@ if __name__ == "__main__":
      failed = True
  # upload new refs
-  if update or failed:
+  if (update or failed) and not PC:
    from selfdrive.test.openpilotci import upload_file
    print("Uploading new refs")
    new_commit = get_commit()
-    log_fn = get_log_fn(new_commit, TEST_ROUTE, tici=TICI)
+    log_fn = get_log_fn(new_commit, TEST_ROUTE)
    save_log(log_fn, log_msgs)
    try:
      upload_file(log_fn, os.path.basename(log_fn))
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-49e231ccf06ef35994a3ec907af959c28e3c0870
+0e18bb3317437f2cad6d0a5782a9222eda655d58
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -57,12 +57,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
      "../assets/offroad/icon_monitoring.png",
    },
    {
      "EndToEndToggle",
      "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
      "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
      "../assets/offroad/icon_road.png",
    },
    {
      "DisengageOnAccelerator",
      "Disengage On Accelerator Pedal",
@ -95,9 +89,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    auto toggle = new ParamControl(param, title, desc, icon, this);
    bool locked = params.getBool((param + "Lock").toStdString());
    toggle->setEnabled(!locked);
    if (!locked) {
      connect(uiState(), &UIState::offroadTransition, toggle, &ParamControl::setEnabled);
    }
    addItem(toggle);
  }
 }
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@ -311,24 +311,19 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
  // paint path
  QLinearGradient bg(0, height(), 0, height() / 4);
-  if (scene.end_to_end) {
+  const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
-    const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
+  float orientation_future = 0;
-    float orientation_future = 0;
+  if (orientation.getZ().size() > 16) {
-    if (orientation.getZ().size() > 16) {
+    orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
      orientation_future = std::abs(orientation.getZ()[16]);  // 2.5 seconds
    }
    // straight: 112, in turns: 70
    float curve_hue = fmax(70, 112 - (orientation_future * 420));
    // FIXME: painter.drawPolygon can be slow if hue is not rounded
    curve_hue = int(curve_hue * 100 + 0.5) / 100;
    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
    bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
    bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
  } else {
    bg.setColorAt(0, whiteColor());
    bg.setColorAt(1, whiteColor(0));
  }
  // straight: 112, in turns: 70
  float curve_hue = fmax(70, 112 - (orientation_future * 420));
  // FIXME: painter.drawPolygon can be slow if hue is not rounded
  curve_hue = int(curve_hue * 100 + 0.5) / 100;
  bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
  bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
  bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
  painter.setBrush(bg);
  painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -114,7 +114,7 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
  }
  max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, model_position, scene.end_to_end ? 0.9 : 0.5, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
 }
 static void update_sockets(UIState *s) {
@ -221,7 +221,6 @@ void UIState::updateStatus() {
    if (scene.started) {
      status = STATUS_DISENGAGED;
      scene.started_frame = sm->frame;
      scene.end_to_end = Params().getBool("EndToEndToggle");
      wide_camera = Params().getBool("WideCameraOnly");
    }
    started_prev = scene.started;
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@ -107,7 +107,7 @@ typedef struct UIScene {
  QPointF lead_vertices[2];
  float light_sensor, accel_sensor, gyro_sensor;
-  bool started, ignition, is_metric, longitudinal_control, end_to_end;
+  bool started, ignition, is_metric, longitudinal_control;
  uint64_t started_frame;
 } UIScene;
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@ -1,25 +1,10 @@
 FROM ghcr.io/commaai/openpilot-base-cl:latest
 RUN apt-get update && apt-get install -y --no-install-recommends\
    apt-utils \
    unzip \
    tar \
    curl \
    xz-utils \
    dbus \
    gcc-arm-none-eabi \
    tmux \
    vim \
    lsb-core \
    libx11-6 \
  && rm -rf /var/lib/apt/lists/*
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
 # get same tmux config used on NEOS for debugging
 RUN cd $HOME && \
    curl -O https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
		`@ -1 +1 @@`
			`Subproject commit 6ad4ba689c557ed241862d10aef4235d3e96331f`				`Subproject commit 7cbb4f1c8cb7cfc798a058c611801442b40feb52`
		`@ -1 +1 @@`
			`Subproject commit 6d19b46ef525b0ae224e0bf7db71918e96f9be66`				`Subproject commit 475a9a312410908abcaa32f2e48140fcbfc2362f`
`@ -1 +1 @@`
	`49e231ccf06ef35994a3ec907af959c28e3c0870`	`0e18bb3317437f2cad6d0a5782a9222eda655d58`