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NeonGalaxy75NeonGalaxy75
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Add 2019-Insight
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‎README.md

+33-35
Original file line numberDiff line numberDiff line change
@@ -58,41 +58,39 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
5858
Supported Cars
5959
------
6060

61-
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
62-
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
63-
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
64-
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
65-
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
66-
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
67-
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
68-
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
69-
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
70-
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
71-
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
72-
| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
73-
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
74-
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
75-
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
76-
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
77-
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
78-
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
79-
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
80-
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
81-
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
82-
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
83-
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
84-
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
85-
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
86-
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
87-
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
88-
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
89-
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
90-
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
91-
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
92-
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
93-
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
94-
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
95-
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
61+
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
62+
| ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
63+
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
64+
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
65+
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
66+
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
67+
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
68+
| Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
69+
| Honda | Civic 2017-18 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
70+
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
71+
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
72+
| Honda | Insight 2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
73+
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
74+
| Honda | Pilot 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
75+
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
76+
| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
77+
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
78+
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
79+
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
80+
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
81+
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
82+
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
83+
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
84+
| Toyota | C-HR 2017-18<sup>4</sup>| All | Yes | Stock | 0mph | 0mph | Toyota |
85+
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
86+
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
87+
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
88+
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
89+
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
90+
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
91+
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
92+
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
93+
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
9694

9795
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
9896
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)

‎opendbc/generator/honda/honda_insight_ex_2019_can.dbc

-2
Original file line numberDiff line numberDiff line change
@@ -7,8 +7,6 @@ BO_ 419 GEARBOX: 8 PCM
77
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
88

99
BO_ 432 STANDSTILL: 7 VSA
10-
SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
11-
SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
1210
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
1311
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
1412

‎opendbc/honda_insight_ex_2019_can_generated.dbc

+2-4
Original file line numberDiff line numberDiff line change
@@ -274,8 +274,6 @@ BO_ 419 GEARBOX: 8 PCM
274274
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
275275

276276
BO_ 432 STANDSTILL: 7 VSA
277-
SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
278-
SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
279277
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
280278
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
281279

@@ -305,7 +303,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
305303
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
306304
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
307305

308-
VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
309-
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;
306+
VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
307+
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;
310308

311309
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

‎selfdrive/car/honda/carstate.py

+5-5
Original file line numberDiff line numberDiff line change
@@ -70,7 +70,7 @@ def get_can_signals(CP):
7070

7171
if CP.radarOffCan:
7272
# Civic is only bosch to use the same brake message as other hondas.
73-
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
73+
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.INSIGHT):
7474
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
7575
checks += [("BRAKE_MODULE", 50)]
7676
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
@@ -88,7 +88,7 @@ def get_can_signals(CP):
8888
checks += [("CRUISE_PARAMS", 50),
8989
("STANDSTILL", 50)]
9090

91-
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
91+
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
9292
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
9393
else:
9494
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@@ -194,7 +194,7 @@ def update(self, cp, cp_cam):
194194

195195
# ******************* parse out can *******************
196196

197-
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
197+
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT): # TODO: find wheels moving bit in dbc
198198
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
199199
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
200200
else:
@@ -252,7 +252,7 @@ def update(self, cp, cp_cam):
252252
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
253253
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
254254

255-
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
255+
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.INSIGHT):
256256
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
257257
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
258258
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
@@ -278,7 +278,7 @@ def update(self, cp, cp_cam):
278278
if self.CP.radarOffCan:
279279
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
280280
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
281-
if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
281+
if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH, CAR.INSIGHT):
282282
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
283283
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
284284
(self.brake_switch and self.brake_switch_prev and \

‎selfdrive/car/honda/interface.py

+13
Original file line numberDiff line numberDiff line change
@@ -298,6 +298,19 @@ def get_params(candidate, fingerprint):
298298
ret.longitudinalKiBP = [0., 35.]
299299
ret.longitudinalKiV = [0.18, 0.12]
300300

301+
elif candidate == CAR.INSIGHT:
302+
stop_and_go = True
303+
ret.mass = 2987. * CV.LB_TO_KG + std_cargo
304+
ret.wheelbase = 2.7
305+
ret.centerToFront = ret.wheelbase * 0.39
306+
ret.steerRatio = 15 # 12.58 is spec end-to-end
307+
tire_stiffness_factor = 0.82
308+
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
309+
ret.longitudinalKpBP = [0., 5., 35.]
310+
ret.longitudinalKpV = [1.2, 0.8, 0.5]
311+
ret.longitudinalKiBP = [0., 35.]
312+
ret.longitudinalKiV = [0.18, 0.12]
313+
301314
elif candidate == CAR.ODYSSEY:
302315
stop_and_go = False
303316
ret.mass = 4471 * CV.LB_TO_KG + std_cargo

‎selfdrive/car/honda/values.py

+8-1
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,7 @@ class CAR:
6565
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
6666
CRV = "HONDA CR-V 2016 TOURING"
6767
CRV_5G = "HONDA CR-V 2017 EX"
68+
INSIGHT = "HONDA INSIGHT 2019 EX"
6869
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
6970
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
7071
PILOT = "HONDA PILOT 2017 TOURING"
@@ -100,6 +101,9 @@ class CAR:
100101
CAR.CRV_5G: [{
101102
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
102103
}],
104+
CAR.INSIGHT: [{
105+
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 476: 8, 477: 8, 479: 8, 490: 8, 495: 8, 507: 1, 525: 8, 531: 8, 545: 6, 547: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 829: 5, 832: 3, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 954: 2, 985: 3, 1029: 8, 1093: 4, 1115: 2, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1652: 8, 2015: 3
106+
}],
103107
# 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
104108
CAR.ODYSSEY: [{
105109
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
@@ -139,6 +143,7 @@ class CAR:
139143
CAR.CIVIC_HATCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
140144
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
141145
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
146+
CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
142147
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
143148
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
144149
CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
@@ -155,6 +160,7 @@ class CAR:
155160
CAR.CIVIC_HATCH: 1200,
156161
CAR.CRV: 1200,
157162
CAR.CRV_5G: 1200,
163+
CAR.INSIGHT: 1200,
158164
CAR.ODYSSEY: 1200,
159165
CAR.PILOT: 1200,
160166
CAR.PILOT_2019: 1200,
@@ -171,11 +177,12 @@ class CAR:
171177
CAR.CIVIC_HATCH: 1.,
172178
CAR.CRV: 1.025,
173179
CAR.CRV_5G: 1.025,
180+
CAR.INSIGHT: 1.,
174181
CAR.ODYSSEY: 1.,
175182
CAR.PILOT: 1.,
176183
CAR.PILOT_2019: 1.,
177184
CAR.RIDGELINE: 1.,
178185
}
179186

180187
# TODO: get these from dbc file
181-
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
188+
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G, CAR.INSIGHT]

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