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Lexus LC 2024 (#31199)

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* Initial pass

* Add physical measurements for LEXUS_LC_2024

* Add new test route for TOYOTA.LEXUS_LC_TSS2

* Add new public-OK test route for TOYOTA.LEXUS_LC_TSS2

* update docs

* | not /

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
pull/31354/head
Nelson Chen 1 year ago committed by GitHub
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commit 879e2521ac
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6 changed files with 32 additions and 2 deletions
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  1. 3
      docs/CARS.md
  2. 1
      selfdrive/car/tests/routes.py
  3. 1
      selfdrive/car/torque_data/substitute.toml
  4. 17
      selfdrive/car/toyota/fingerprints.py
  5. 6
      selfdrive/car/toyota/interface.py
  6. 6
      selfdrive/car/toyota/values.py

3
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 276 Supported Cars # 277 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video| |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -162,6 +162,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|| |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|| |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|| |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||

1
selfdrive/car/tests/routes.py
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@ -207,6 +207,7 @@ routes = [
CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX), # hybrid CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX), # hybrid
CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid
CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid
CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),

1
selfdrive/car/torque_data/substitute.toml
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@ -11,6 +11,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"LEXUS CT HYBRID 2018" = "LEXUS NX 2018" "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
"LEXUS ES 2018" = "TOYOTA CAMRY 2018" "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
"LEXUS RC 2020" = "LEXUS NX 2020" "LEXUS RC 2020" = "LEXUS NX 2020"
"LEXUS LC 2024" = "LEXUS NX 2020"
"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020" "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020" "KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"

17
selfdrive/car/toyota/fingerprints.py
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@ -1383,6 +1383,23 @@ FW_VERSIONS = {
b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
], ],
}, },
CAR.LEXUS_LC_TSS2: {
(Ecu.engine, 0x7e0, None): [
b'\x0131130000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152611390\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B11091\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.LEXUS_RC: { CAR.LEXUS_RC: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896632461100\x00\x00\x00\x00', b'\x01896632461100\x00\x00\x00\x00',

6
selfdrive/car/toyota/interface.py
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@ -181,6 +181,12 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.444 # not optimized yet ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG ret.mass = 4070 * CV.LB_TO_KG
elif candidate == CAR.LEXUS_LC_TSS2:
ret.wheelbase = 2.87
ret.steerRatio = 14.7
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4500 * CV.LB_TO_KG
elif candidate == CAR.PRIUS_TSS2: elif candidate == CAR.PRIUS_TSS2:
ret.wheelbase = 2.70002 # from toyota online sepc. ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius ret.steerRatio = 13.4 # True steerRatio from older prius

6
selfdrive/car/toyota/values.py
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@ -81,6 +81,7 @@ class CAR(StrEnum):
LEXUS_IS_TSS2 = "LEXUS IS 2023" LEXUS_IS_TSS2 = "LEXUS IS 2023"
LEXUS_NX = "LEXUS NX 2018" LEXUS_NX = "LEXUS NX 2018"
LEXUS_NX_TSS2 = "LEXUS NX 2020" LEXUS_NX_TSS2 = "LEXUS NX 2020"
LEXUS_LC_TSS2 = "LEXUS LC 2024"
LEXUS_RC = "LEXUS RC 2020" LEXUS_RC = "LEXUS RC 2020"
LEXUS_RX = "LEXUS RX 2016" LEXUS_RX = "LEXUS RX 2016"
LEXUS_RX_TSS2 = "LEXUS RX 2020" LEXUS_RX_TSS2 = "LEXUS RX 2020"
@ -206,6 +207,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Lexus NX 2020-21"), ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"), ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
], ],
CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
CAR.LEXUS_RX: [ CAR.LEXUS_RX: [
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@ -444,6 +446,7 @@ DBC = {
CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -480,7 +483,8 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
# Toyota/Lexus Safety Sense 2.0 and 2.5 # Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2, TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2,
CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2} CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
CAR.CHR_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}

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