diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 89ab0b50d..e64bc2985 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -30,8 +30,8 @@ uint32_t toyota_ts_last = 0;
 int toyota_cruise_engaged_last = 0;       // cruise state
 struct sample_t toyota_torque_meas;       // last 3 motor torques produced by the eps
 
-uint32_t acc_addr = 0;
-int is_lexus_ave30 = 0;
+uint32_t acc_addr = 0;                    // acc state address
+int is_lexus_ave30 = 0;                   // is a lexus is300h/ave30 model?
 
 static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // get eps motor torque (0.66 factor in dbc)
@@ -51,7 +51,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((to_push->RIR>>21) == acc_addr) {
-    // 4 bits: 55-52
+    // lexus ave30 1 bit: 11
+    // toyota: 4 bits: 55-52
     int cruise_engaged = is_lexus_ave30 == 1? to_push->RDLR & 0x400 : to_push->RDHR & 0xF00000;
     if (cruise_engaged && !toyota_cruise_engaged_last) {
       controls_allowed = 1;
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index f9bd3df74..6d79ace80 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -153,7 +153,7 @@ class CarInterface(object):
     elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
       ret.minEnableSpeed = 19. * CV.MPH_TO_MS
     elif candidate == CAR.LEXUS_AVE30:
-      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 AVE30R does not have stop and g
+      ret.minEnableSpeed = 19. * CV.MPH_TO_MS # MY17 is300h/AVE30R (AU ver.) does not have stop and go
 
     centerToRear = ret.wheelbase - ret.centerToFront
     # TODO: get actual value, for now starting with reasonable value for