feat(toyota): hold stopped hybrids without driver brake

openpilot/common/params_keys.h

@@ -189,6 +189,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // toyota specific params
+    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/selfdrive/car/card.py

@@ -11,7 +11,7 @@ from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -122,7 +122,13 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
+    # set alternative experiences from parameters
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
+
     # mads
     set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)

openpilot/sunnypilot/selfdrive/car/interfaces.py

@@ -137,6 +137,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
     "ToyotaEnhancedBsm",
+    "ToyotaAutoHold",
   ])
 
   return [{k: params.get(k, return_default=True)} for k in keys]

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -2370,6 +2370,17 @@
       "title": "Toyota / Lexus Settings",
       "description": "",
       "items": [
+        {
+          "key": "ToyotaAutoHold",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
         {
           "key": "ToyotaEnhancedBsm",
           "widget": "toggle",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml

@@ -82,6 +82,12 @@ sections:
   title: Toyota / Lexus Settings
   description: ''
   items:
+  - key: ToyotaAutoHold
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS'
+    enablement:
+    - $ref: '#/macros/not_engaged'
   - key: ToyotaEnhancedBsm
     widget: toggle
     needs_onroad_cycle: true