Toyota Lexus - commaai/openpilot Wiki

Original URL: https://github.com/commaai/openpilot/wiki/Toyota-Lexus

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Supported Toyota/Lexus Vehicles

The most up-to-date list of supported vehicles is on the openpilot main page. Please take careful note of the following columns and pay attention to and read any footnotes:

Toyota Camry Support

Toyota Camry / Camry Hybrid 2018-20 can only use Stock adaptive cruise control due to having the radar directly control gas and brakes, with no external DSU to unplug. (unplugging the radar = no radar tracks and no ACC)

For 2018-2020 Camry models which don't have Full-Speed Range Dynamic Radar Cruise Control openpilot will not function below 25mph this includes the 4CYL L, 4CYL LE and 4CYL SE non-hybrid models. There is no current solution for this, these vehicles cannot use a comma pedal to solve this issue. This is because these models use a Continental radar not used on other vehicles and messages from the radar cut out completely below 25mph.

This limitation does not apply to Camry models with Full-Speed Range Dynamic Radar Cruise Control including the (2018-2020 XLE, XSE, LE HV, XLE HV, and SE HV)

2021+ Toyota ECU Security Key Support (new STEERING_LKA + More)

Current Bounty Amount

There is a new STEERING_LKA message and more in some new Toyotas that currently has an unknown "authentication code" scheme appended to the end. The algorithm and security system for this "authentication code" is currently unknown and OP is unable to control latitude.

Known vehicles with Toyota ECU Security Key on the Forward Recognition Camera which OP does not currently support:

Known vehicles WITHOUT Toyota ECU Security Key on the Forward Recognition Camera, but aren't yet supported by OP:

Follow the discussion below for more info such as a timeline of events so far, or visit the Discord and search "ECU Security":

https://github.com/commaai/openpilot/discussions/19932

There is also an open bounty for support. Please see the discussion above and the linked spreadsheet in there for more information:

Note: Some may also refer to this as "TSS2.1" before it was later discovered that there are vehicles with TSS2.5 that do not have ECU Security Key such as the 2021 Toyota Camry and the 2021 Toyota Highlander later. "TSS2.1" was a misnomer in retrospect. All to say, a reasonable guess is that ECU Security Key may be rolled out to more models including revisions of or future TSS2.5 models.

Toyota/Lexus Terms

The following terms are specific to Toyota and Lexus vehicles and are often used in discussions.

For general terms, go here.

Toyota Safety Sense (TSS) Versions

Term Abbreviation Definition
Toyota Safety Sense 2.0 TSS2 TSS 2.0 TSS2 builds on the previous TSS-C and TSS-P suites, and consists of six active safety and driver assistance systems: PCS, DRCC, LDA, AHB, RSA, and LTA. It has a better angle sensor, and supports full range ACC on all openpilot compatible models.
Toyota Safety Sense P TSSP TSS-P An advanced active safety package for mid-size and large vehicles, and consists of six active safety and driver assistance systems: PCS, LDA, and AHB. Includes a DSU which does ACC and AEB.
Toyota Safety Sense C TSSC TSS-C An advanced active safety package for compact vehicles, and consists of six active safety and driver assistance systems: PCS, DRCC, LDA, and AHB. It does not feature lane keep assist, thus is not compatible with openpilot.

Terms and Abbreviations

Term Abbreviation Definition
Driver Support Unit DSU This embedded system implements cruise control and Automatic Emergency Braking in some Toyota cars.
Pre-Collision System PCS May also include pedestrian detection and be written as PCS w/PD. This is the main AEB feature.
Dynamic Radar Cruise Control DRCC This is ACC, and may be full speed depending on the model
Lane Departure Alert LDA The audible alert when leaving a lane. May also include Steering Assist and be listed as LDA w/SA
Auto High Beams AHB Pretty straight forward.
Road Sign Assist RSA* The thing that displays speed limit and stop signs on your dash.
Lane Tracing Assist LTA The stock feature that enables lane centering or lane keeping while using DRCC

openpilot Capabilities

Lateral Control

Control over the steering wheel. openpilot handles lateral control for all supported Toyota/Lexus vehicles. However, some TSSP vehicles may have jerky non-precise steering as noted in Steering Sensor.

Torque

Toyotas have very good torque, and work well on local and highway roads.

Steering Sensor

TSS2 Toyotas have a great angle sensor, as well as select 2019+ TSSP Toyotas. Most TSSP Toyotas have a bad angle sensor. This results in jerky, non-precise steering. The worst culprit of this is the Prius. This can be fixed on some models with a ZSS.

openpilot Replaces LDA LTA

As noted in the comma.ai FAQ, openpilot replaces the LDA and LTA features on Toyota and Lexus vehicles when openpilot is enabled. LDA alerts will originate from openpilot when openpilot is enabled, even when the cruise control feature is not enabled. You can disable LDA warnings inside the openpilot settings. Sadly, if your vehicle is equiped with LDA w/SA, openpilot does not currently emulate the Steering Assist function when the cruise control is disabled.

Longitudinal Control

Control over the gas and brakes.

TSS2 Vehicles

openpilot handles longitudinal control for these vehicles without any additional modifications. AEB and blindspot warning will continue to function as they did on the original vehicle. There is no option on these vehicles to use Stock ACC while using openpilot.

TSSP Vehicles

The Driver Support Unit is what controls AEB and longitudinal on TSSP cars. This unit must be unplugged to give openpilot control, although this removes AEB. Users are strongly discouraged from disconnecting their DSU and abandoning AEB. Instead, a SDSU solves this problem, by passing through the correct AEB messages while allowing openpilot to control longitudinal.

TSSP vehicle owners have the benefit of choosing to use openpilot or stock ACC, this is not an option for TSS2 vehicle owners. SmartenedDSU owners may also have the option to switch between stock and openpilot for each drive.

It is possible to enable OP stop-and-go in TSSP vehicles with a non-zero value for "no ACC accel below" on the official supported cars list with an SDSU and comma pedal. Some models may have luck with only an SDSU and the 2-line "SnG hack". See the discord for more information.

Stock vs openpilot Longitudinal Control Differences

Both systems work well and there are numerous people who prefer one system over the other. Generally, the stock ACC is slower to accelerate from a stop and will keep a larger following distance as low speed. openpilot on the other hand accelerates more aggressively and maintains a closer distance at low speeds but a larger distance as high (freeway) speeds. Some hybrid owners prefer the stock system because its gentler acceleration profile means less use of the internal combustion engine in traffic.

Community Features

comma pedal

A comma pedal allows Toyotas without full-range cruise control to gain stop-and-go using openpilot with a device plugged into the gas pedal.

SDSU (SmartDSU/SmartenedDSU)

Upgrades the Driver Support Unit to passthrough AEB and enable openpilot longitudinal control. SDSU was first sold as an external, harness-style contraption, and later the SmartenedDSU (DSU modified by forwarding a severed CAN connection back into the network by way of an onboard, stripped down, reflashed Panda) and became preferred, with quick creation/installation.

Zorro Steering Sensor (ZSS)

Upgrades TSSP cars with a better angle sensor which allows more accurate steering with openpilot.

Common Toyota/Lexus Questions:

How can I find out what version of Toyota Safety Sense (TSS) or other features my car has?

A couple of helpful links. You can lookup you vehicle details using your VIN on the Toyota Vehicle Information Lookup. You can also review this handy TSS Applicability Chart

Links: