Toyota

Toyota RAV4 Prime 2021-23

Compatibility Info

ADAS PackageAll
FingerprintTOYOTA_RAV4_PRIME
Harnesstoyota_a

Longitudinal reports

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General Information

openpilot upgrades your Toyota RAV4 Prime with automated lane centering and adaptive cruise control while driving above 19 mph. Traffic light and stop sign handling is also available in Experimental mode.

Important Notes

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Example PR

Capabilities

Min Steering Speedany speed
Min Enable Speed19 mph
Longitudinal Controlopenpilot
Auto ResumeNo
Steering Torquefull

Suggested Parts

Technical Parameters

Tire Configuration:

Stiffness Factor~0.55
Front Stiffness~143,828
Rear Stiffness~178,642

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_secoc_pt_generated
radar: toyota_tss2_adas

Feature Flags:

Experimental LongitudinalDisabled
BSM EnabledNo
PCM CruiseYes

Quick Navigation

Compatibility Info
Capabilities
Vehicle Metrics
Technical Parameters
System Configuration

Vehicle Metrics

Curb Weight4,372 lbs
Wheelbase~2.68 m
Steer Ratio~16.88
Center to Front Ratio~0.50
Max Lateral Accel~2.09 m/s²
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