2019+ Avalon: allow stop and go (#23952)

* Avalon actually has SNG

* update readme

* Revert "update readme"

This reverts commit 076561a057.

* update readme

* fix

* variants as it includes hybrids
old-commit-hash: 156337475e

docs/CARS.md

@@ -44,9 +44,10 @@
 | Lexus     | RX Hybrid 2020-21             | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Alphard 2019-20               | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon 2019-21                | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Avalon 2022                   | All               | openpilot        | 0mph               | 0mph              |
-| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021-22                 | All               | openpilot        | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |

selfdrive/car/toyota/interface.py

@@ -103,6 +103,9 @@ class CarInterface(CarInterfaceBase):
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
+      # starting from 2019, all Avalon variants have stop and go
+      # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
+      stop_and_go = candidate != CAR.AVALON
       ret.wheelbase = 2.82
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983

selfdrive/car/toyota/values.py

@@ -30,7 +30,7 @@ class CAR:
   AVALON = "TOYOTA AVALON 2016"
   AVALON_2019 = "TOYOTA AVALON 2019"
   AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
-  AVALON_TSS2 = "TOYOTA AVALON 2022"
+  AVALON_TSS2 = "TOYOTA AVALON 2022"  # TSS 2.5
   CAMRY = "TOYOTA CAMRY 2018"
   CAMRYH = "TOYOTA CAMRY HYBRID 2018"
   CAMRY_TSS2 = "TOYOTA CAMRY 2021"  # TSS 2.5