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Toyota Highlander

Orientation parameters

The Toyota Highlander has 13 orientation parameters.

● Confirmed◆ In testing○ Supported× Not supported

How to read a parameter card

Deceleration HIGHLANDER_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2026

Example reply from a 2015 Toyota Highlander.

Bits 0 to 7 of the reply, 8 bits.

0x64 = 100 → (100 × 36.36 ÷ 255 − 18.18) = -3.921176 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2006, 2010, 2013 to 2015. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

  1. The parameter's name and its ID in the OBDb. Confirmed shows when a response from a real car confirms the parameter.
  2. The clutch mark shows a Connectable, a parameter that Pelican surfaces in its interface.
  3. The service and PID/DID asked for, the control module it's sent to, and how often Pelican asks.
  4. The reply's bytes. The parameter's bytes are blue. Bytes for other parameters in the same reply are grayed out. Hover over a byte to see the parameter it represents.
  5. Where the parameter is in the response, and how Pelican converts the raw value into a value.
  6. A real reply, decoded. The raw value comes first, then the reading.
  7. Which model years have tested this parameter.

Deceleration HIGHLANDER_DECELConfirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2026

Example reply from a 2015 Toyota Highlander.

Bits 0 to 7 of the reply, 8 bits.

0x64 = 100 → (100 × 36.36 ÷ 255 − 18.18) = -3.921176 m/s²

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2006, 2010, 2013 to 2015. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Deceleration 2 HIGHLANDER_DECEL_2Confirmed

  • Request21 05
  • Service 21PID 05
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2026

Bits 8 to 15 of the reply, 8 bits.

Formula
(val × 36.36 ÷ 255 − 18.18)
Range
-18.18 to 18.18 m/s²
Unit
m/s²

Confirmed for 2006, 2010, 2013 to 2015. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Deceleration open HIGHLANDER_DECELERATION_OPENConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bit 6 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Lateral g HIGHLANDER_LAT_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007, 2009, 2011 to 2012, 2017, 2020 to 2026

Example reply from a 2019 Toyota Highlander.

Bits 0 to 7 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.5 to 2.5 g
Unit
g

Confirmed for 2006, 2008, 2010, 2013 to 2016, 2018 to 2019. In testing for 2001 to 2005, 2007, 2009, 2011 to 2012, 2017, 2024, 2026. Not supported for 2020 to 2023, 2025.

Longitudinal g HIGHLANDER_LNG_GConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007, 2009, 2011 to 2012, 2017, 2020 to 2026

Example reply from a 2019 Toyota Highlander.

Bits 8 to 15 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.5 to 2.5 g
Unit
g

Confirmed for 2006, 2008, 2010, 2013 to 2016, 2018 to 2019. In testing for 2001 to 2005, 2007, 2009, 2011 to 2012, 2017, 2024, 2026. Not supported for 2020 to 2023, 2025.

Yaw rate value, degrees/sec HIGHLANDER_YAW_RATEConfirmed

  • Request21 47
  • Service 21PID 47
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007, 2009, 2011 to 2012, 2017, 2020 to 2026

Example reply from a 2019 Toyota Highlander.

Bits 16 to 23 of the reply, 8 bits.

0x80 = 128 → (128 − 128) = 0 °

Formula
(val − 128)
Range
-128 to 127 °
Unit
°

Confirmed for 2006, 2008, 2010, 2013 to 2016, 2018 to 2019. In testing for 2001 to 2005, 2007, 2009, 2011 to 2012, 2017, 2024, 2026. Not supported for 2020 to 2023, 2025.

Yaw rate, error? HIGHLANDER_YAW_RATE_OPEN_ERRORConfirmed

  • Request21 BE
  • Service 21PID BE
  • Module7B0 → 7B8
  • Every1 s
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bit 5 of the reply.

0b0 = 0 → 0

Formula
val
Range
0 to 1
Unit
No or yes

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Yaw rate, sensor 1 HIGHLANDER_YAW_1Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bits 0 to 7 of the reply, 8 bits.

0x80 = 128 → (128 − 128) = 0

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Yaw rate, sensor 2 HIGHLANDER_YAW_2Confirmed

  • Request21 06
  • Service 21PID 06
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bits 8 to 15 of the reply, 8 bits.

0x7E = 126 → (126 − 128) = -2

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Zero point of deceleration HIGHLANDER_ZP_DECConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bits 0 to 7 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.56 to 2.54 g
Unit
g

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Zero point of deceleration 2 HIGHLANDER_ZP_DEC2Confirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bits 8 to 15 of the reply, 8 bits. The value is signed.

0x00 = 0 → (0 ÷ 50) = 0 g

Formula
(val ÷ 50)
Range
-2.56 to 2.54 g
Unit
g

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

Zero point of yaw rate HIGHLANDER_ZERO_POINT_OF_YAW_RATEConfirmed

  • Request21 A1
  • Service 21PID A1
  • Module7B0 → 7B8
  • Every3600 s
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2014 to 2026

Example reply from a 2013 Toyota Highlander.

Bits 0 to 7 of the reply, 8 bits.

0x80 = 128 → (128 − 128) = 0

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2006, 2010, 2013. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2016 to 2019, 2024, 2026. Not supported for 2014 to 2015, 2020 to 2023, 2025.

Zero point of yaw rate, degrees/sec HIGHLANDER_ZP_YAWConfirmed

  • Request21 46
  • Service 21PID 46
  • Module7B0 → 7B8
  • Every250 ms
  • Testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2026

Example reply from a 2016 Toyota Highlander.

Bits 16 to 23 of the reply, 8 bits.

0x80 = 128 → (128 − 128) = 0

Formula
(val − 128)
Range
-128 to 127
Unit
Number

Confirmed for 2006, 2010, 2013 to 2016. In testing for 2001 to 2005, 2007 to 2009, 2011 to 2012, 2017 to 2019, 2024, 2026. Not supported for 2020 to 2023, 2025.

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