def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "toyota" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.toyota) ] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop # Most cars use this default safety param ret.safetyConfigs[0].safetyParam = 73 if candidate == CAR.PRIUS: ret.safetyConfigs[ 0].safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file stop_and_go = True ret.wheelbase = 2.70 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.INDI_PRIUS) ret.steerActuatorDelay = 0.3 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False ret.wheelbase = 2.65 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.LQR_RAV4) elif candidate == CAR.COROLLA: ret.safetyConfigs[0].safetyParam = 88 stop_and_go = False 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.PID_A) elif candidate == CAR.LEXUS_RX: stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_B) elif candidate == CAR.LEXUS_RXH: stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.LEXUS_RX_TSS2: stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 # not optimized yet ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_D) ret.wheelSpeedFactor = 1.035 elif candidate == CAR.LEXUS_RXH_TSS2: stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16.0 # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_E) ret.wheelSpeedFactor = 1.035 elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in [ CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2 ]: stop_and_go = True ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]: stop_and_go = True ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True ret.wheelbase = 2.78 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 set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]: stop_and_go = False 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 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]: stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_D) # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: if fw.ecu == "eps" and ( fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): set_lat_tune(ret.lateralTuning, LatTunes.PID_I) break elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: stop_and_go = True ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback 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.PID_D) elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]: stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.LEXUS_ESH: stop_and_go = True ret.wheelbase = 2.8190 ret.steerRatio = 16.06 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: stop_and_go = True ret.wheelbase = 3.03 ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate == CAR.LEXUS_IS: ret.safetyConfigs[0].safetyParam = 77 stop_and_go = False ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_RC: ret.safetyConfigs[0].safetyParam = 77 stop_and_go = False ret.wheelbase = 2.73050 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_CTH: ret.safetyConfigs[0].safetyParam = 100 stop_and_go = True ret.wheelbase = 2.60 ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_M) elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]: stop_and_go = True ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: stop_and_go = True ret.wheelbase = 2.70002 # from toyota online sepc. 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 set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: stop_and_go = True ret.wheelbase = 2.91 ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.ALPHARD_TSS2: stop_and_go = True ret.wheelbase = 3.00 ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_J) ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control found_ecus = [fw.ecu for fw in car_fw] ret.enableDsu = (len(found_ecus) > 0) and ( Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu) ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if ( stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED # removing the DSU disables AEB and it's considered a community maintained feature # intercepting the DSU is a community feature since it requires unofficial hardware ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu if ret.enableGasInterceptor: set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) elif candidate in [ CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2 ]: set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) ret.stoppingDecelRate = 0.3 # reach stopping target smoothly ret.startingAccelRate = 6.0 # release brakes fast else: set_long_tune(ret.longitudinalTuning, LongTunes.TSS) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "toyota" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False steering_angle_deadzone_deg = 0.0 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True ret.wheelbase = 2.70 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 # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': steering_angle_deadzone_deg = 1.0 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate == CAR.PRIUS_V: stop_and_go = True ret.wheelbase = 2.78 ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False ret.wheelbase = 2.65 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 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 elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): stop_and_go = True ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end ret.wheelSpeedFactor = 1.035 tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.CHR, CAR.CHRH): stop_and_go = True ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): stop_and_go = True ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): stop_and_go = True ret.wheelbase = 2.78 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 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): # 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 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid 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): stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_D) # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): set_lat_tune(ret.lateralTuning, LatTunes.PID_I) break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): stop_and_go = True ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): stop_and_go = True ret.wheelbase = 2.8702 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 set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: stop_and_go = True ret.wheelbase = 3.03 ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.wheelbase = 2.60 ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max set_lat_tune(ret.lateralTuning, LatTunes.PID_M) elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): stop_and_go = True ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: stop_and_go = True ret.wheelbase = 2.70002 # from toyota online sepc. 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 set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: stop_and_go = True ret.wheelbase = 2.91 ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): stop_and_go = True ret.wheelbase = 3.00 ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG set_lat_tune(ret.lateralTuning, LatTunes.PID_J) ret.centerToFront = ret.wheelbase * 0.44 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control found_ecus = [fw.ecu for fw in car_fw] ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu) ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) if not ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL # we can't use the fingerprint to detect this reliably, since # the EV gas pedal signal can take a couple seconds to appear if candidate in EV_HYBRID_CAR: ret.flags |= ToyotaFlags.HYBRID.value # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED if ret.enableGasInterceptor: set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) elif candidate in TSS2_CAR: set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: set_long_tune(ret.longitudinalTuning, LongTunes.TSS) return ret