Toyota

Toyota C-HR 2021

Compatibility Info

ADAS PackageAll
FingerprintTOYOTA_CHR_TSS2
Harnesstoyota_a

Longitudinal reports

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General Information

openpilot upgrades your Toyota C-HR with automated lane centering at all speeds, and adaptive cruise control that automatically resumes from a stop.

Important Notes

  • openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`.

Capabilities

Min Steering Speedany speed
Min Enable Speedany speed
Longitudinal Controlopenpilot available
Auto ResumeYes
Steering Torquefull

Suggested Parts

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 Typetorque

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 LocationfwdCamera
Bus Lookup
pt: toyota_nodsu_pt_generated

Feature Flags:

Experimental LongitudinalEnabled
BSM EnabledNo
PCM CruiseYes

Quick Navigation

Compatibility Info
Capabilities
Vehicle Metrics
Technical Parameters
System Configuration

Vehicle Metrics

Curb Weight3,300 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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