In Chill Mode
In Chill, openpilot controls steering, gas, and brakes. It follows your set speed and lead vehicle with the standard driving plan.
Toyota Highlander Hybrid 2020–2023
Comma lists all packages for this configuration. Here is who controls what.
Official table checked Sep 2, 2026.
Simple answer
What controls the car
Steering
openpilot controls steering
You control gas and brakes unless cruise control is on.
Gas and brakes
openpilot controls gas and brakes
openpilot sets the speed and following distance.
Experimental Mode
Available
The standard release can use its driving model for steering and speed planning.
Software choices
Software for this car
6 of 9 projects list this exact year and package in the reviewed source. A listing is not a road test. “Not verified” does not mean unsupported.
openpilotDevices: comma 4 and comma 3XListed by project
Official comma.ai baseline.
Steering: All listed speeds · Gas and brakes: Software · Experimental speed: Car connection allows it
Stable source · checked 2026-09-03 · revision 70e157462304Exact source
sunnypilotDevices: comma 4 and comma 3XListed by project
Added driving and convenience settings.
Steering: All listed speeds · Gas and brakes: Software · Experimental speed: Car connection allows it
Stable source · checked 2026-09-03 · revision 6a17f75c6bcbExact source
FrogPilotDevices: comma 3X and comma 3Listed by project
Extensive driving and interface controls.
Steering: All listed speeds · Gas and brakes: Software · Experimental speed: Car connection allows it
Stable source · checked 2026-09-03 · revision 1e23dec6352cExact source
BluePilotDevices: comma 4 and comma 3XListed by project
Ford-focused sunnypilot fork.
Steering: All listed speeds · Gas and brakes: Software · Experimental speed: Car connection allows it
Stable source · checked 2026-09-03 · revision e1d051d7ba27Exact source
StarPilotDevices: comma 4, comma 3X and comma 3Listed by project
FrogPilot-derived feature fork.
Steering: All listed speeds · Gas and brakes: Software · Experimental speed: Car connection allows it
Stable source · checked 2026-09-03 · revision a497c0f83966Exact source
dragonpilotDevices: comma 3X and comma 3Listed by project
Driving and device customization.
Steering: All listed speeds · Gas and brakes: Software · Experimental speed: Car connection allows it
Stable source · checked 2026-09-03 · revision 3e8edb7e3d6dExact source
Check 3 other projects
OPKRDevices: comma 3 and comma 2Check year and package
Hyundai, Kia, and Genesis focus.
The project lists Toyota Highlander Hybrid 2020–2022, but the years or required package differ. Its table says: All.
Stable source · checked 2026-09-03 · revision 3ff6dc6081c2Exact source
IQ.PilotDevices: comma 4, comma 3X and comma 3Not verified
IQ.Dynamic driving modes plus device and network tools.
We do not have a safe exact match in this project's reviewed car table. Ask its community before installing. This does not mean the car is unsupported.
Stable source · checked 2026-09-03 · revision b073c5182bafExact source
OPGMDevices: comma 3Not verified
GM Global A specialization.
We do not have a safe exact match in this project's reviewed car table. Ask its community before installing. This does not mean the car is unsupported.
Testing source · checked 2026-09-03 · revision 9c6f7cf63b6bExact source
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On the road
How it drives
Experimental Mode: Available
You can turn on Experimental Mode. Its learned driving plan can slow for curves and can plan stops for some traffic lights and stop signs. It can miss them. You must stay ready to brake and steer.
Good to know
Two things people mix up
A bigger model does not change control access
Chestnut gives comma four more computing power for larger driving models. The connection to the car still decides whether openpilot can send steering, gas, and brake commands. What Chestnut changes
Radar and control are different things
A car may use radar, cameras, or both to see traffic. That is separate from who sends gas and brake commands. The official row does not name the sensor for this car, so CommaGuide does not guess.
Match the car
Check these details before buying
- Model years
- 2020–2023
- Required package
- All
- Harness connector
- Toyota A connector
- Device
- comma four
- Steering speed
- Available at all listed speeds
- Gas response
- Can accelerate from a stop
- Resume after a stop
- Listed as supported
- Steering authority
- Full mark in comma's table
The official list uses the US market unless the model name or a source note says otherwise. Similar trims and years are not automatically included.
What goes in the car
Hardware in the listed kit
- OBD-C cable (2 ft)
- Toyota A connector
- comma four
- comma power v3
- harness box
- mount
Quick answers
Toyota Highlander Hybrid openpilot questions
Does openpilot control steering?
Yes. The official table lists openpilot steering at all speeds.
Who controls gas and brakes?
openpilot controls gas and brakes in the standard openpilot release. openpilot sets the speed and following distance.
Can this car use Experimental Mode?
The standard release can use its driving model for steering and speed planning.
Does Chestnut add more controls?
No. Chestnut provides more compute for a larger driving model. It does not add steering, accelerator, or brake access to the car.
Which openpilot forks list this exact car?
openpilot, sunnypilot, FrogPilot, BluePilot, StarPilot, dragonpilot list this exact year and package in the reviewed project sources. A source listing is not a road test or a promise for every region.
Community guides
Guides for Toyota owners
Short summaries with a direct link to each full guide.
Next steps
Add FSD-style driving assist to a Toyota Highlander HybridWhat it does on this car, what it costs, and how to order the right kit.Install stock openpilotUse the official release and complete setup while parked.Compare community softwareFork support can differ. Check that project's exact car and release before installing.
Official source and notes
This page describes stock openpilot capability from one exact official table row. It does not prove that a community fork supports this configuration.
commaai/openpilot supported-cars rowMarks and logos identify their owners and are not proof of support. CommaGuide is an independent guide.