The SmartDSU (SDSU) is used to provide longitudinal control on Toyota vehicles that otherwise do not have openpilot (OP) supported longitudinal control.
Depending on the vehicle, OP will run in one of the following modes:
- OP controls longitudinal (gas/brake) & lateral (steering)
- OP controls lateral (steering) only.
In vehicles where OP controls lateral only, OP relies on the vehicle’s adaptive cruise control (ACC) for longitudinal control. It is possible to disconnect the DSU unit on some Toyotas to enable OP longitudinal, however this comes at the expense of disabling automatic emergency braking (AEB). The SDSU is installed between the DSU & DSU harness connector. It filters the traffic between the DSU & powertrain CAN bus thus enabling longitudinal control without removing AEB.
More technical explanation is available at the github repo
- Toyota vehicles with a Driver Support Unit (DSU).
- This can be further verified by checking Toyota Parts and seeing if your vehicle has an 88150-xxxxx part number. (e.g. example)
- Unfortunately, Camrys DO NOT have DSUs, thus can not have a SDSU added, thus they will only work in lateral mode only.
Some cars that are supported:
| Year | Model |
|---|---|
| 2017-2019 | Corolla |
| 2016-2018 | Rav4 |
| 2016-2018 | Rav4 Hybrid |
| 2016-2020 | Prius |
| 2017-2020 | Prius Prime |
| 2017-2019 | Highlander |
| 2018-2019 | Sienna |
Likely, other DSU based Toyota’s are supported if they have the 88150-xxxxx part number. Check your vehicle.
Upon locating the DSU, install the SDSU between the DSU and its connector.
TODO: Add links to locations for various DSUs on various vehicles:
- Lexus IS (US): DSU is located above the driver’s right knee when seated in the driver’s seat.
- Toyota Corolla: Through the glove box behind the head unit.
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