diff --git a/release/files_common b/release/files_common
index 34d8f009732f15..d31da836b7742a 100644
--- a/release/files_common
+++ b/release/files_common
@@ -517,6 +517,7 @@ opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
 opendbc/honda_insight_ex_2019_can_generated.dbc
 opendbc/acura_ilx_2016_nidec.dbc
 opendbc/honda_civic_ex_2022_can_generated.dbc
+opendbc/honda_pilot_2023_can_generated.dbc
 
 opendbc/hyundai_canfd.dbc
 opendbc/hyundai_kia_generic.dbc
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index c98d1a72d3cc15..06807fde6ef06c 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -65,7 +65,7 @@ def get_can_messages(CP, gearbox_msg):
 
   # TODO: clean this up
   if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.HONDA_CRV_HYBRID_6G):
     pass
   elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
@@ -126,7 +126,7 @@ def update(self, cp, cp_cam, cp_body):
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
     if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G, CAR.HONDA_CRV_HYBRID_6G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 052b4b60a3ac27..20fc42486ce317 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -1140,4 +1140,13 @@
       b'37805-64S-AA10\x00\x00',
     ],
   },
+  CAR.HONDA_CRV_HYBRID_6G: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-3D4-A050\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-3D4-A060\x00\x00',
+      b'8S102-3D4-A080\x00\x00',
+    ],
+  },
 }
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1be496d9511612..4257c1529eb91e 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -1,6 +1,6 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import CanBusBase
-from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
+from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_CANFD_CAR, CAR, CarControllerParams
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -14,7 +14,7 @@ def __init__(self, CP=None, fingerprint=None) -> None:
     # use fingerprint if specified
     super().__init__(CP if fingerprint is None else None, fingerprint)
 
-    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
+    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_CANFD_CAR):
       self._pt, self._radar = self.offset + 1, self.offset
     else:
       self._pt, self._radar = self.offset, self.offset + 1
@@ -34,7 +34,7 @@ def camera(self) -> int:
 
 def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
   no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
-  if radar_disabled or no_radar:
+  if radar_disabled or no_radar or car_fingerprint in HONDA_CANFD_CAR:
     # when radar is disabled, steering commands are sent directly to powertrain bus
     return CAN.pt
   # normally steering commands are sent to radar, which forwards them to powertrain bus
@@ -43,7 +43,7 @@ def get_lkas_cmd_bus(CAN, car_fingerprint, radar_disabled=False):
 
 def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
   # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
+  return CV.MPH_TO_MS if car_fingerprint in (HONDA_BOSCH_RADARLESS | HONDA_CANFD_CAR) and not is_metric else CV.KPH_TO_MS
 
 
 def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
@@ -179,6 +179,11 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
     # car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
     lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
 
+  if CP.carFingerprint in HONDA_CANFD_CAR:
+    lkas_hud_values['LANE_LINES'] = 3
+    lkas_hud_values['SOLID_LANES'] = hud.lanes_visible
+    lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
+
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2026c385c24a7c..53b2acdcaa4419 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -5,7 +5,7 @@
 from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HONDA_CANFD_CAR
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -37,7 +37,14 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     CAN = CanBus(ret, fingerprint)
 
-    if candidate in HONDA_BOSCH:
+    if candidate in HONDA_CANFD_CAR:
+      cfgs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
+      if CAN.pt >= 4:
+        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      ret.safetyConfigs = cfgs
+      ret.radarUnavailable = True
+      ret.openpilotLongitudinalControl = False
+    elif candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
       ret.radarUnavailable = True
       # Disable the radar and let openpilot control longitudinal
@@ -136,7 +143,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       ret.wheelSpeedFactor = 1.025
 
-    elif candidate == CAR.HONDA_CRV_HYBRID:
+    elif candidate in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CRV_HYBRID_6G):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
@@ -206,7 +213,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
 
-    if candidate in HONDA_BOSCH_RADARLESS:
+    if candidate in (HONDA_BOSCH_RADARLESS | HONDA_CANFD_CAR):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 1b0da8d7de6ce4..5d7e994ef81263 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -59,6 +59,8 @@ class HondaFlags(IntFlag):
   NIDEC_ALT_PCM_ACCEL = 32
   NIDEC_ALT_SCM_MESSAGES = 64
 
+  CANFD_CAR = 128
+
 
 # Car button codes
 class CruiseButtons:
@@ -183,6 +185,13 @@ class CAR(Platforms):
     CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
     dbc_dict('acura_rdx_2020_can_generated', None),
   )
+  HONDA_CRV_HYBRID_6G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda CR-V Hybrid 2024", "All")],
+    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
+    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    dbc_dict('honda_pilot_2023_can_generated', None),
+    flags=HondaFlags.CANFD_CAR,
+  )
 
   # Nidec Cars
   ACURA_ILX = HondaNidecPlatformConfig(
@@ -300,9 +309,9 @@ class CAR(Platforms):
   # We lose these ECUs without the comma power on these cars.
   # Note that we still attempt to match with them when they are present
   non_essential_ecus={
-    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_CRV_HYBRID_6G],
     Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
-              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.HONDA_CRV_HYBRID_6G],
   },
   extra_ecus=[
     (Ecu.combinationMeter, 0x18da60f1, None),
@@ -324,6 +333,7 @@ class CAR(Platforms):
 HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
 HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
 HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
+HONDA_CANFD_CAR = CAR.with_flags(HondaFlags.CANFD_CAR)
 
 
 DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index dd3a8f633d2693..53def320fa8d52 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -98,6 +98,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
   CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
+  CarTestRoute("197afc441c1f8c4f|2024-02-21--11-18-08", HONDA.HONDA_CRV_HYBRID_6G),
 
   CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
   CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 8724a08010e3b0..af54830b2a7e77 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -48,6 +48,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
 "HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
+"HONDA_CRV_HYBRID_6G" = "HONDA_CRV_HYBRID"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"