diff --git a/README.md b/README.md
index 266e1374a7..21dadfac92 100644
--- a/README.md
+++ b/README.md
@@ -112,6 +112,7 @@ Supported Cars
 | Toyota    | Highlander 2020-21            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020-21     | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Mirai 2021	            | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 082284a442..a1c2497ae3 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -298,6 +298,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
+    elif candidate == CAR.MIRAI:
+      stop_and_go = True
+      ret.safetyParam = 73
+      ret.wheelbase = 2.91
+      ret.steerRatio = 14.8
+      tire_stiffness_factor = 0.8
+      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00006
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 5bf030d9c6..9d1680450b 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -48,6 +48,7 @@ class CAR:
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
   LEXUS_NXH = "LEXUS NX300H 2018"
   LEXUS_NX = "LEXUS NX300 2018"
+  MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
@@ -289,12 +290,15 @@ FINGERPRINTS = {
   }],
   CAR.PRIUS_TSS2: [{
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 800: 8, 810: 2, 814: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1593: 8, 1595: 8, 1649: 8, 1653: 8, 1654: 8, 1655: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
+  CAR.MIRAI: [{
+    15: 8, 36: 8, 37: 8, 164: 8, 166: 8, 170: 8, 180: 8, 203: 8, 295: 8, 401: 8, 426: 6, 466: 8, 467: 8, 494: 8, 495: 8, 550: 8, 552: 4, 560: 7, 562: 8, 581: 5, 608: 8, 610: 8, 643: 7, 664: 8, 665: 8, 666: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 789: 8, 791: 8, 800: 8, 810: 2, 812: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 870: 7, 871: 2, 877: 8, 881: 8, 889: 8, 891: 8, 892: 8, 893: 8, 894: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 955: 8, 956: 8, 971: 7, 983: 8, 984: 8, 987: 8, 998: 5, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1081: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1593: 8, 1595: 8, 1649: 8, 1653: 8, 1654: 8, 1655: 8, 1677: 8, 1745: 8, 1769: 8, 1770: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1872: 8, 1880: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2008: 8, 2009: 8, 2015: 8, 2016: 8, 2017: 8
   }]
 }
 
 # Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
 IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2,
-                        CAR.LEXUS_NX, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_ESH]
+                        CAR.LEXUS_NX, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_ESH, CAR.MIRAI]
 
 FW_VERSIONS = {
   CAR.AVALON: {
@@ -1461,6 +1465,13 @@ FW_VERSIONS = {
       b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.MIRAI: {
+    (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',],
+    (Ecu.esp, 0x7B0, None): [b'\x01F15266203200\x00\x00\x00\x00',], # a second ESP ECU
+    (Ecu.eps, 0x7A1, None): [b'\x028965B6204100\x00\x00\x00\x008965B6203100\x00\x00\x00\x00',],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
+  },
 }
 
 STEER_THRESHOLD = 100
@@ -1498,12 +1509,14 @@ DBC = {
   CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_NX: dbc_dict('lexus_nx300_2018_pt_generated', 'toyota_adas'),
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.MIRAI: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
 }
 
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
-                CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2])
+                CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
+                CAR.MIRAI])
 
 NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
 
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index d52b8cf91d..47531cbfbd 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -437,6 +437,12 @@ routes = {
     'enableCamera': True,
     'enableDsu': False,
   },
+  "9b36accae406390e|2021-03-30--10-41-38": {
+    'carFingerprint': TOYOTA.MIRAI,
+    'enableCamera': True,
+    'enableDsu': False,
+    'fingerprintSource': 'fixed',
+  },
   "cae14e88932eb364|2021-03-26--14-43-28": {
     'carFingerprint': VOLKSWAGEN.GOLF_MK7,
     'enableCamera': True,