Toyota: flag for cars without PCM accel limit under 19 mph (#31724)

use flags

selfdrive/car/toyota/interface.py

@@ -61,9 +61,6 @@ class CarInterface(CarInterfaceBase):
           ret.steerActuatorDelay = 0.25
           CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
 
-    elif candidate == CAR.PRIUS_V:
-      stop_and_go = True
-
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
 
@@ -77,11 +74,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
       stop_and_go = True
 
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
-      # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
-      #  For now, don't list stop and go functionality in the docs
-      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
-
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
       # starting from 2019, all Avalon variants have stop and go
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
@@ -116,6 +108,11 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.MIRAI:
       stop_and_go = True
 
+    # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
+    #  For now, don't list stop and go functionality in the docs
+    if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
+      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
+
     ret.centerToFront = ret.wheelbase * 0.44
 
     # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.

selfdrive/car/toyota/values.py

@@ -55,6 +55,8 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
+  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  SNG_WITHOUT_DSU = 512
 
 
 class Footnote(Enum):
@@ -182,7 +184,7 @@ class CAR(Platforms):
     ],
     CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
+    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
   HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
     "TOYOTA HIGHLANDER 2020",
@@ -207,7 +209,7 @@ class CAR(Platforms):
     ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
     CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
-    flags=ToyotaFlags.NO_STOP_TIMER,
+    flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
   )
   PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
     "TOYOTA PRIUS TSS2 2021",