diff --git a/README.md b/README.md
index 7a4825846..dfbb76803 100644
--- a/README.md
+++ b/README.md
@@ -101,7 +101,7 @@ Supported Cars
 | Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
-| Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2017-19            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index d964f8c43..ee7c61d94 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -3,7 +3,7 @@ from common.kalman.simple_kalman import KF1D
 from selfdrive.can.parser import CANParser
 from selfdrive.can.can_define import CANDefine
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_DSU_CAR
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR
 
 def parse_gear_shifter(gear, vals):
 
@@ -59,7 +59,7 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
-  if CP.carFingerprint in NO_DSU_CAR:
+  if CP.carFingerprint in TSS2_CAR:
     signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
   else:
     signals += [("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0)]
@@ -141,7 +141,7 @@ class CarState(object):
     self.a_ego = float(v_ego_x[1])
     self.standstill = not v_wheel > 0.001
 
-    if self.CP.carFingerprint in NO_DSU_CAR:
+    if self.CP.carFingerprint in TSS2_CAR:
       self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
     else:
       self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']