From 5e71fde25ae660e563ddedc96cd2d80285b78b60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 Jan 2026 14:10:12 -0800 Subject: [PATCH] Toyota SecOC platforms should use torque control (#3086) * use torque control for secoc platforms * checked 5 dongles for each platform. sienna was closer to 1.5, but within margin of error --- opendbc/car/torque_data/override.toml | 1 + opendbc/car/torque_data/substitute.toml | 3 +-- opendbc/car/toyota/interface.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml index 2471b278..e1e9c7e1 100644 --- a/opendbc/car/torque_data/override.toml +++ b/opendbc/car/torque_data/override.toml @@ -94,6 +94,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "ACURA_TLX_2G_MMR" = [1.7, 1.7, 0.16] "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2] "LEXUS_LS" = [1.35, 1.7, 0.17] +"TOYOTA_RAV4_PRIME" = [1.7, 2.0, 0.14] # Dashcam or fallback configured as ideal car "MOCK" = [10.0, 10, 0.0] diff --git a/opendbc/car/torque_data/substitute.toml b/opendbc/car/torque_data/substitute.toml index 678d4018..134f85a2 100644 --- a/opendbc/car/torque_data/substitute.toml +++ b/opendbc/car/torque_data/substitute.toml @@ -9,8 +9,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA" "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS" -"TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2" -"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2" +"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME" "LEXUS_IS" = "LEXUS_NX" "LEXUS_CTH" = "LEXUS_NX" "LEXUS_ES" = "TOYOTA_CAMRY" diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py index d4404046..d1a3a2b9 100644 --- a/opendbc/car/toyota/interface.py +++ b/opendbc/car/toyota/interface.py @@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase): # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf stop_and_go = candidate != CAR.TOYOTA_AVALON - elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN): + elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023): ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0]