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Toyota C-HR Hybrid 2021-22
Toyota
Toyota C-HR Hybrid 2021-22
Compatibility Info
Support Type
Upstream
ADAS Package
All
Fingerprint
TOYOTA_CHR_TSS2
Harness
toyota_a
Longitudinal reports
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General Information
openpilot upgrades your
Toyota C-HR Hybrid
with automated lane centering
at all speeds
, and adaptive cruise control
that automatically resumes from a stop
.
Suggested Parts
QTY
PART NAME
1
Toyota A connector
1
comma four
1
harness box
1
comma power v3
1
mount
1
OBD-C cable (2 ft)
Technical Parameters
Tire Configuration:
Stiffness Factor
~0.79
Front Stiffness
~158,897
Rear Stiffness
~197,358
Vehicle Control:
Actuator Delay
~0.12s
Limit Timer
~0.40s
Control Type
torque
Speed Parameters:
Stopping Speed
~0.25 m/s
Starting Speed
~0.25 m/s
Stop Accel
~-2.00 m/s²
System Configuration
Network Settings:
Network Location
fwdCamera
Bus Lookup
pt:
toyota_nodsu_pt_generated
Feature Flags:
Experimental Longitudinal
Enabled
DSU Enabled
No
BSM Enabled
No
PCM Cruise
Yes
Capabilities
Min Steering Speed
any speed
Min Enable Speed
any speed
Longitudinal Control
openpilot available
Auto Resume
Yes
Steering Torque
full
Quick Navigation
Compatibility Info
Support Type
ADAS Package
Fingerprint
Harness
Capabilities
Min Steering Speed
Min Enable Speed
Longitudinal Control
Auto Resume
Steering Torque
Vehicle Metrics
Curb Weight
Wheelbase
Steer Ratio
Center to Front Ratio
Max Lateral Accel
Technical Parameters
Tire Stiffness Factor
Front Stiffness
Rear Stiffness
Actuator Delay
Limit Timer
Control Type
Stopping Speed
Starting Speed
Stop Accel
System Configuration
Network Location
Bus Lookup
Experimental Longitudinal
DSU Enabled
BSM Enabled
PCM Cruise
Vehicle Metrics
Curb Weight
3,300 lbs
Wheelbase
~2.64 m
Steer Ratio
~13.60
Center to Front Ratio
~0.50
Max Lateral Accel
~1.37 m/s²
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