Difference between revisions of "Toyota"

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Toyota has a lot of information available on techinfo. https://techinfo.toyota.com/
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= Models =
 
 
Also see https://www.ioactive.com/pdfs/IOActive_Adventures_in_Automotive_Networks_and_Control_Units.pdf
 
 
 
 
== Avalon ==
 
== Avalon ==
 
*2017 (Standard and Hybrid)
 
*2017 (Standard and Hybrid)
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* 1998
 
* 1998
 
** Panda flashing red/blue. No green. No white panda in Android Chffr app, no purple checks.
 
** Panda flashing red/blue. No green. No white panda in Android Chffr app, no purple checks.
 +
* 2010
 +
** http://tucrrc.utulsa.edu/ToyotaCAN.html
 
*2015 Hybrid SE
 
*2015 Hybrid SE
 
** Panda flashing orange/green  Blue is lit.  No LKAS or TSS
 
** Panda flashing orange/green  Blue is lit.  No LKAS or TSS
Line 18: Line 17:
 
**Adaptive Cruise Control
 
**Adaptive Cruise Control
 
**Lane Departure Alert (with steering assist)
 
**Lane Departure Alert (with steering assist)
 +
*2009
 +
**Able to capture data with panda
 +
 +
==Corolla (for openpiolot)==
 +
*2018 LE Eco
 +
**Driving Support ECU ([https://i.imgur.com/MmAIgHU.png location])
 +
***Can be reached via glove box; remove then reach in towards driver's side. DSU is under the radio.
 +
 +
== Echo ==
 +
*2003
 +
** Solid blue and fast blinking red LEDs on panda, pairs and shows being connected in the chffr app, white panda icon while driving, but no data showing in cabana.
  
 
== Highlander ==
 
== Highlander ==
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*2017
 
*2017
**Has Dynamic Radar Cruise Control and LDA standard
+
**Has Dynamic Radar Cruise Control and LDA standard. Support added on 0.5.3
 +
**White Panda works (tested with wire only)
 +
 
 +
*2018
 +
**Has Dynamic Radar Cruise Control and LDA standard. Support added on 0.5.3.
  
 
== Prius ==
 
== Prius ==
 +
* 2010
 +
** Panda works, wired and wireless.
 +
** Starting this year the Advance Technology Package trim enable dynamic radar cruise control and Lane-Keeping Assist
 +
 
* 2014
 
* 2014
 
** Panda works, wired and wireless.
 
** Panda works, wired and wireless.
Line 41: Line 59:
 
* 2017 Prius and Prius Prime
 
* 2017 Prius and Prius Prime
 
** Panda works, wired and wireless.
 
** Panda works, wired and wireless.
** Adaptive Cruise Control (ACC) - Unknown
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** Adaptive Cruise Control (ACC) - works
** Automatic Braking - Unknown
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** Automatic Braking - works
 
** Auto Parking Features - Not available on tested model
 
** Auto Parking Features - Not available on tested model
 
** Blind Spot Detection - Not available on tested model
 
** Blind Spot Detection - Not available on tested model
** Lane Keep Assist System (LKAS/LKA) -  Unknown
+
** Lane Keep Assist System (LKAS/LKA) -  works
  
 
== Prius (for openpilot) ==
 
== Prius (for openpilot) ==
 
 
* 2017 Prius Two
 
* 2017 Prius Two
 
** ODB2 connector
 
** ODB2 connector
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*** 7 -- 12V on power on
 
*** 7 -- 12V on power on
 
*** 10 -- GND
 
*** 10 -- GND
** Driving Support ECU
+
** Driving Support ECU ([https://i.imgur.com/8xdIasI.jpg location], behind the glove compartment)
 
*** 32-pin
 
*** 32-pin
 +
 +
== Rav4 (for openpilot) ==
 +
* 2017-2018
 +
** Driving Support ECU ([https://i.imgur.com/1pbFmFm.jpg location])
 +
* 2019
 +
** No DSU, although SnG (Stop-n-Go) works fine.
 +
 +
== Yaris ==
 +
* 2009
 +
** Panda works
  
 
== Lexus NX==
 
== Lexus NX==
 
 
* 2016 NX300h, European version
 
* 2016 NX300h, European version
 
** Panda seems to work with chffr, solid green, blinking red, solid blue. White panda icon in chffr when recording. Only tested it with engine running, did not drive yet.
 
** Panda seems to work with chffr, solid green, blinking red, solid blue. White panda icon in chffr when recording. Only tested it with engine running, did not drive yet.
 +
* 2018 NX300h, Asia version (?)
 +
** Chffrplus works on EON + Grey Panda.
 +
 +
== Lexus IS ==
 +
* 2017 IS300h Luxury Auto, Australian version (AVE30R)
 +
** White Panda in Factory OBD2 port:
 +
*** Only receive 5 messages.
 +
*** [https://community.comma.ai/cabana/?route=24e44addb6c8c193%7C2018-07-15--13-13-36&max=2&url=https%3A%2F%2Fchffrprivate.blob.core.windows.net%2Fchffrprivate3%2Fv2%2F24e44addb6c8c193%2F086a7e9226b2293ba6cff913f40b727e_2018-07-15--13-13-36 Example output]
 +
** White Panda with Toyota Giraffe:
 +
*** Installation see https://www.youtube.com/watch?v=eyIB-e9ScMQ.
 +
*** Switches set to 1011 to passthrough stock system. (Chffr + Panda only)
 +
*** [https://community.comma.ai/cabana/?route=24e44addb6c8c193%7C2018-07-31--08-30-09&max=2&url=https%3A%2F%2Fchffrprivate.blob.core.windows.net%2Fchffrprivate3%2Fv2%2F24e44addb6c8c193%2F9dd828558e878e616726dfa86af91e17_2018-07-31--08-30-09 Example output]
 +
** EON + White Panda + Toyota Giraffe:
 +
*** Giraffe Switches set to 0010 (If not using a comma power and not using the resistor on pin 12 and 13).
 +
*** Giraffe Switches set to 0000 (If using comma power and NOT using the resistor on pin 12 and 13).
 +
*** Lateral Control is fully working. (Require tuning)
 +
*** Longitudinal Control uses stock ACC system.
 +
 +
== Lexus 4th Gen RX (2016 to 2018 - 2019 has a refresh)==
 +
* 2016 RX450h, North American version
 +
** Seem to be completely Supported
 +
** DSU Location documented at: https://shadowmite.com/4G_RX_DSU.html
 +
 +
== Lexus 4th Gen LS (2007 to 2017) ==
 +
*European 2007 ls460 with SE-L trim offered with Adaptive cruise control and Lane-keep assist. Both features included with APCS in the US starting with 2010 model and up for ls460 and ls600h.
 +
**2008 and 2009 ls600h were offered with Adaptive cruise control but not with Lane-keep assist because of the low beam LED headlight interfering with the object recognition camera at night. Models equipped with APCS actually include all hardware for the Lane-keep assist feature and the software is included in the car as well. It can be activated by removing the plastic cover on the steering wheel button used to set the Adaptive cruise control distance and manually pressing on the second connector on the PCB with something conductive. A cleaner solution is simply to swap the 2008 button for an European 2007 ls460 button with LKA or a US 2010 ls460/ls600hl button also with LKA. Those modification are not necessary to port openpilot but just to show that the ls600h starting from 2008 with APCS is also a candidate for openpilot as it feature both Adaptive cruise control and Lane-keep assist.
 +
 +
= Official documentation =
 +
Toyota has a lot of information available on techinfo. https://techinfo.toyota.com/
 +
 +
= Additional Info =
 +
* https://www.ioactive.com/pdfs/IOActive_Adventures_in_Automotive_Networks_and_Control_Units.pdf
 +
* [http://illmatics.com/car_hacking.pdf CAN Messages - Charlie Miller / Chris Valasek]
 +
 +
[[Category:Vehicle_Makes]]

Latest revision as of 22:08, 3 May 2019

Models

Avalon

  • 2017 (Standard and Hybrid)
    • Adaptive Cruise Control
    • Lane Departure Alert (with steering assist)

Camry

  • 1998
    • Panda flashing red/blue. No green. No white panda in Android Chffr app, no purple checks.
  • 2010
  • 2015 Hybrid SE
    • Panda flashing orange/green Blue is lit. No LKAS or TSS

Corolla

  • 2017
    • Adaptive Cruise Control
    • Lane Departure Alert (with steering assist)
  • 2009
    • Able to capture data with panda

Corolla (for openpiolot)

  • 2018 LE Eco
    • Driving Support ECU (location)
      • Can be reached via glove box; remove then reach in towards driver's side. DSU is under the radio.

Echo

  • 2003
    • Solid blue and fast blinking red LEDs on panda, pairs and shows being connected in the chffr app, white panda icon while driving, but no data showing in cabana.

Highlander

  • 2001
    • Panda flashing red/blue. No green. No white panda in Android Chffr app, no purple checks.
  • 2017
    • Has Dynamic Radar Cruise Control and LDA standard. Support added on 0.5.3
    • White Panda works (tested with wire only)
  • 2018
    • Has Dynamic Radar Cruise Control and LDA standard. Support added on 0.5.3.

Prius

  • 2010
    • Panda works, wired and wireless.
    • Starting this year the Advance Technology Package trim enable dynamic radar cruise control and Lane-Keeping Assist
  • 2014
    • Panda works, wired and wireless.
    • Adaptive Cruise Control (ACC) - Not available on tested model
    • Automatic Braking - Not available on tested model
    • Auto Parking Features - Not available on tested model
    • Blind Spot Detection - Not available on tested model
    • Lane Keep Assist System (LKAS/LKA) - Not available on tested model
  • 2016 Prius
    • Adaptive Cruise Control
    • Lane Departure Alert
  • 2017 Prius and Prius Prime
    • Panda works, wired and wireless.
    • Adaptive Cruise Control (ACC) - works
    • Automatic Braking - works
    • Auto Parking Features - Not available on tested model
    • Blind Spot Detection - Not available on tested model
    • Lane Keep Assist System (LKAS/LKA) - works

Prius (for openpilot)

  • 2017 Prius Two
    • ODB2 connector
      • CAN on 6,14
      • 7.5A fuse
    • 12-pin JAE straight camera connector
      • CAN on 5,11 -- CA1P,CA1N
        • Goes to central gateway, radar and driving support
      • CAN on 6,12 -- CANH,CANL (not used for lane keep)
        • Goes to radar and driving support
      • 1 -- Heater?
      • 7 -- 12V on power on
      • 10 -- GND
    • Driving Support ECU (location, behind the glove compartment)
      • 32-pin

Rav4 (for openpilot)

  • 2017-2018
  • 2019
    • No DSU, although SnG (Stop-n-Go) works fine.

Yaris

  • 2009
    • Panda works

Lexus NX

  • 2016 NX300h, European version
    • Panda seems to work with chffr, solid green, blinking red, solid blue. White panda icon in chffr when recording. Only tested it with engine running, did not drive yet.
  • 2018 NX300h, Asia version (?)
    • Chffrplus works on EON + Grey Panda.

Lexus IS

  • 2017 IS300h Luxury Auto, Australian version (AVE30R)
    • White Panda in Factory OBD2 port:
    • White Panda with Toyota Giraffe:
    • EON + White Panda + Toyota Giraffe:
      • Giraffe Switches set to 0010 (If not using a comma power and not using the resistor on pin 12 and 13).
      • Giraffe Switches set to 0000 (If using comma power and NOT using the resistor on pin 12 and 13).
      • Lateral Control is fully working. (Require tuning)
      • Longitudinal Control uses stock ACC system.

Lexus 4th Gen RX (2016 to 2018 - 2019 has a refresh)

Lexus 4th Gen LS (2007 to 2017)

  • European 2007 ls460 with SE-L trim offered with Adaptive cruise control and Lane-keep assist. Both features included with APCS in the US starting with 2010 model and up for ls460 and ls600h.
    • 2008 and 2009 ls600h were offered with Adaptive cruise control but not with Lane-keep assist because of the low beam LED headlight interfering with the object recognition camera at night. Models equipped with APCS actually include all hardware for the Lane-keep assist feature and the software is included in the car as well. It can be activated by removing the plastic cover on the steering wheel button used to set the Adaptive cruise control distance and manually pressing on the second connector on the PCB with something conductive. A cleaner solution is simply to swap the 2008 button for an European 2007 ls460 button with LKA or a US 2010 ls460/ls600hl button also with LKA. Those modification are not necessary to port openpilot but just to show that the ls600h starting from 2008 with APCS is also a candidate for openpilot as it feature both Adaptive cruise control and Lane-keep assist.

Official documentation

Toyota has a lot of information available on techinfo. https://techinfo.toyota.com/

Additional Info