Toyota: Pre-Collision Malfunction on TSS 2.5

[fyc2001]

Describe the bug

car bug: Since @Erich helped me installing OP on 2021 Highlander hybrid XLE. Every time C2 boots up to the camera screen. the "Pre-Collison Malfunction" yellow light and message appears on the dash. It will stay on unless I turn off the car or unplug C2 while the car is on.

How to reproduce or log data

Turn on the car with C2 plugged in.

Expected behavior

No light.

Device/Version information (please complete the following information):

• Device: comma two
• Dongle ID: 1f8f4de044bdbe9c
• Route: on all my drives
• Timestamp: Every drive after C2 boots up
• Version: master-ci
• Car make/model: 2021 Highlander hybrid xle

• Additional context

[adeebshihadeh]

If you'd like to try to fix this yourself, I suspect sending a blank LTA steering message will fix this. Otherwise, we'll try to find some time to look into it before next release.

[fyc2001]

How do you "send a blank LTA steering message"? I like to give it a try.

[adeebshihadeh]

Newer Toyotas have an alternate steering interface called LTA. We block the LTA message from the camera to prevent conflicting actuation messages. The fault may be from an ECU expecting the LTA message that we block. To fix this, send a blank (i.e. no torque) LTA message at the same frequency the camera sends it. Here's the code to create an LTA message - https://github.com/commaai/openpilot/blob/master/selfdrive/car/toyota/toyotacan.py#L13.

[alancyau]

Discord user pjankovi with a 2021 Camry Hybrid TSS 2.5 is also experiencing this issue.

Dongle ID ffccc77938ddbc44

I see the blank LTA code above, but I'm not sure how to "send" it to the ECU.

[adeebshihadeh]

Can you test #19731?

[alancyau]

Is this the proper way to test the new fix? I'm just trying to run the lta branch.

SSH into C2 mv openpilot mv openpilot.bak git clone -b lta https://github.com/commaai/openpilot && reboot

Also, it looks like CAR.CAMRYH_TSS2 and wasn't added to the fix yet, but I can manually add it into the C2 to test.

[adeebshihadeh]

After cloning, make sure to also run git submodule update --init. We should be able to do this for all the TSS2 cars if this works.

[alancyau]

Error still shows up. Just tested on pjankovi's 2021 Camry Hybrid. Only thing I added was CAR.CAMRYH_TSS2.

Can you add CAR.CAMRYH_TSS2 to the next commit so I don't have to manually login to add it to test?

Thanks!

[fyc2001]

Just reporting what I did. SSH into C2: ran the command. " mv openpilot mv openpilot.bak
git clone -b lta https://github.com/commaai/openpilot && reboot"

It said openpilot.bak is not a directory but it continued to the clone part. it ran fine.

after cloning, I ran the command "git submodule update --init" but got a following msg "root@localhost:/data/openpilot$ git submodule update --init fatal: .git/index: index file smaller than expected"

anyways, I will take C2 home to test it out on the highlander tonight. Thanks

[alancyau]

@fyc2001 you need to run that command one directory level up. I think you were in the openpilot directory and not the data directory, which is one folder up. You should be able to re-run the following commands.

SSH into your C2 run cd /data && rm -rf openpilot && git clone -b lta https://github.com/commaai/openpilot run git submodule update --init run reboot

[fyc2001]

OK, I ran the first line. then the second line, I got problem "Checking out files: 100% (2254/2254), done. root@localhost:/data$ git submodule update --init fatal: not a git repository (or any parent up to mount point /)

"

[alancyau]

OK, I ran the first line. then the second line, I got problem "Checking out files: 100% (2254/2254), done. root@localhost:/data$ git submodule update --init fatal: not a git repository (or any parent up to mount point /)

"

run the submodule command in the openpilot directory. see directions below:

run cd /data && rm -rf openpilot && git clone -b lta https://github.com/commaai/openpilot run cd /data/openpilot run git submodule update --init

[fyc2001]

Ran all three lines. Didn't resolve the LTA malfunction msg and yellow dash light.

[WileCyot]

I'm having the same issue in my 2021 Camry XSE V6.

I'm not sure how to do all the things you've suggested above but I'll see if I can't figure it out and try.

Comma works like a champ but I do get the nice warning message telling me to Visit my Dealer.

[pjankovi]

Just following up on this to see if anyone has been able to figure out a definite solution. I am on the latest master ci branch with my 21 hybrid Camry tss 2.5+ and it still does the same. Thanks!

[fyc2001]

From what I searched on discord, WileCyot was able to get rid of the malfunction msg by disabling and enabling openpilot from C2 UI. I tried this on my highlander hybrid 2021 this afternoon, no go. as soon as I enabled openpilot, message came on again.

[WileCyot]

This was in a 2021 Camry XSE V6 that I performed that on.

I did, however, figured out on my end how to trigger it again.

When I start my car, comma ai works fine. I set it, drive around, all is well. If I park and shut off the car but then restart it before exiting the vehicle, boom alarm message like you all see.

I have to put comma into dashcam mode via settings or shut off the car, open a door (so it shuts down fully), and restart the car.

Weird stuff.

On Sat, Feb 13, 2021, 1:47 PM fyc2001 notifications@github.com wrote:

From what I searched on discord, WileCyot was able to get rid of the malfunction msg by disabling and enabling openpilot from C2 UI. I tried this on my highlander hybrid 2021 this afternoon, no go. as soon as I enabled openpilot, message came on again.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/commaai/openpilot/issues/19654#issuecomment-778668604, or unsubscribe https://github.com/notifications/unsubscribe-auth/AFKFCCIDJ7UBPVJR6SRT2IDS63JLTANCNFSM4VUEMKQQ .

[ErichMoraga]

After @VirtuallyChris got @EMONAYY6#0998's (DongleID b257184df7026fd4) 2021 Camry FPv2 taken care of (PR https://github.com/commaai/openpilot/pull/20378), we now have another casualty of this bug... https://discord.com/channels/469524606043160576/524327905937850394/821830482663964673

[EMonayy6]

The above example is from my vehicle, & once available I am definitely willing to help test any fix that may be available later.

[Nyck310]

I'm having the same issue as EMONAYY6 (Cruise fault openpilot display, LTA error on dash) on my 21 Camry Nightshade (running 0.8.2. My DongleID 35a1d2313d50cc5f. If a Bounty starts on this issue I don't mind being included.

[edgyman74]

I can report I have this same issue for my 2021 Toyota Highlander Platinum edition. Bummer this was pushed to another release 8.4 instead of being part of 8.3. Think I will return the device in the 30 day window just to be safe in event this issue does not get solved. If it gets addressed I will repurchase.

[pjankovi]

Did you try to turn off the car, let is sit for 3-4 sec and then turn it on (the car) again? That's what I do and the code is cleared until OP needs another restart. Then I just repeat this process.

[edgyman74]

Did you try to turn off the car, let is sit for 3-4 sec and then turn it on (the car) again? That's what I do and the code is cleared until OP needs another restart. Then I just repeat this process.

Thanks for your reply. So your steps are turn are on car with OP enabled, then turn car off for a few seconds. Then just turn car back on again? I can try this if my above steps are what your saying.

[edgyman74]

Did you try to turn off the car, let is sit for 3-4 sec and then turn it on (the car) again? That's what I do and the code is cleared until OP needs another restart. Then I just repeat this process.

Thanks for your reply. So your steps are turn are on car with OP enabled, then turn car off for a few seconds. Then just turn car back on again? I can try this if my above steps are what your saying.

I can confirm the steps you mentioned work. Start car with OP on, turn off car for a few seconds and back on. Stops complaining for the drive.

[pjankovi]

Did you try to turn off the car, let is sit for 3-4 sec and then turn it on (the car) again? That's what I do and the code is cleared until OP needs another restart. Then I just repeat this process.

Thanks for your reply. So your steps are turn are on car with OP enabled, then turn car off for a few seconds. Then just turn car back on again? I can try this if my above steps are what your saying.

I can confirm the steps you mentioned work. Start car with OP on, turn off car for a few seconds and back on. Stops complaining for the drive.

Yes, sorry I did not get to reply sooner. But, yes, that fixes it. I am glad it worked for you as well! Every time you update the OP or reboot or the OP shuts down, you will need to do this little hack.

[adeebshihadeh]

The PR to fix this (https://github.com/commaai/openpilot/pull/19731) has been updated. Can someone who can reliably reproduce the issue try that PR and let us know if it fixes the issue?

[Nyck310]

The PR to fix this (#19731) has been updated. Can someone who can reliably reproduce the issue try that PR and let us know if it fixes the issue?

Just tried the lta branch on my 21 Camry Nightshade, did not fix the issue. Actually its a bit worse because the workaround (starting, remove power, start again) to remove the cruise fault error does not seem to work on this branch. if you have any questions let me know, I'll leave it installed for today in case.

[SliderApp]

I have the same warning on my 2021 Highlander Platinum ICE. I can trigger it by manually powering down C2, will get message in dash, when I turn off and turn on the car it will also give me the error while the C2 is powering up.

If I wait for C2 to be fully on, then turn the car on and off it will no longer show the Pre collision warning.

[eFiniLan]

I've tried the LTA branch on my unsupported car (2021 C-HR) and also applied the same patch to older versions (0.8.1 / 0.8.2).

I can confirm the patch works.

To me, the 2021 C-HR is a TSS2/2.5 (accurate sensor + full range DRCC) car but both toyota_adas.dbc / toyota_tss2_adas.dbc doesn't parse the radar message correctly, so I have to do more modification to make OP functioning (lateral only for now).

I'm guessing for those ones who still have errors, the issues could be something else?

[SliderApp]

I can confirm that the LTA branch fixed the error on my 21 Highlander Platinum ICE. I tried several scenarios of starting, turning off, leaving the car, shutting the door and locking it. The only time I could trigger the LTA error was having the car on with engine running, then manually shutting down the C2 via the menu. I would get the error for a few seconds but it would clear and go away by itself.

Not sure this is helpful but I also recently with the help Erich learned how to finger print my car as it was unrecognized by the release version of Open Pilot 8.3. I had to add the engine ECU fingerprint b'\x01896630EB2200\x00\x00\x00\x00',

Not sure if that has to do anything with why this works for me and not for Nyck310

[adeebshihadeh]

@eFiniLan glad to here this fixed the issue for you, and would love to get that car upstreamed. The US version of the 2021 CHR is TSS2.5, so looks like we have one case where it's fixed and one where it's not. @Nyck310 are you sure you checked out the branch properly and can you post a route where the fix didn't work? @SliderApp have you tried the fix?

[SliderApp]

@adeebshihadeh yes it worked for me. Also my highlander has TSS 2.5+,

pre collision difference from 2.5 : detects oncoming vehicles or pedestrians when performing left-hand turns at intersections, and includes emergency steering assistance to help stabilize the car during emergency maneuvers.

radar cruise control difference from 2.5: TSS 2.5+: When you engage the turn signal while behind a car slower than your preset speed, DRCC will give you a small acceleration boost during and after the lane change to help you get up to your intended speed.

I think that is it.

[Nyck310]

@adeebshihadeh reinstalled last night. it is showing openpilot 0.8.4 branch lta on the OP HUD while having the same cruise fault as before. Sorry, newer at this, but for posting the route do you want me to attach the Log Segment here? Thanks for the help so far as well.

[Nyck310]

@adeebshihadeh My mistake, I think this is the file you were referring to. if you need it in a dif format let me know Cruise Fault error.txt

[adeebshihadeh]

I'll merge the PR since it fixes the issue for at least two models. @Nyck310 did you make sure to update the submodules after pulling the branch?

[Nyck310]

@adeebshihadeh I followed the instructions above:

run cd /data && rm -rf openpilot && git clone -b lta https://github.com/commaai/openpilot run cd /data/openpilot run git submodule update --init

[adeebshihadeh]

I'll close this since it was fixed for the model it was opened for. @Nyck310 can you open a new issue for the Camry? Make sure to fill out the template and also include a short stock route (just disable openpilot before starting the car, Settings -> Toggles -> Enable openpilot).