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What is Radar ACC Filter?

For most of the Toyotas, longitudinal signal (0x343) can be intercepted through ADAS camera, however, there are some exceptions.

Radar ACC Filter (aka Radar Relay) is a CAN Filter that enables openpilot longitudinal control on some Toyota vehicles such as Camry, C-HR, Avalon and some new 2022 RAV4.

Eric Day has developed a more advanced + cheaper approach called canfilter, however, it requires some extensive modification on openpilot.

This approach uses a spare panda device I got at home with wocsor's smart_dsu firmware, works like a charm.

requirements

Diagram

Finished Product