diff --git a/README.md b/README.md
index f6e3fbe7971ee8..846082326b75c1 100644
--- a/README.md
+++ b/README.md
@@ -102,6 +102,7 @@ Supported Cars
 | Toyota               | Corolla 2017-19          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Corolla 2020             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Corolla Hatchback 2019   | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
+| Toyota               | Corolla Hybrid 2020      | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander 2017-19       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 5e5cb2c8393d17..bbb1302cdce3a6 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -183,6 +183,16 @@ def get_params(candidate, fingerprint, vin=""):
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00007818594
+	  
+    elif candidate == CAR.COROLLAH_TSS2:
+      stop_and_go = True
+      ret.safetyParam = 73
+      ret.wheelbase = 2.70002
+      ret.steerRatio = 13.9
+      tire_stiffness_factor = 0.444  # not optimized yet
+      ret.mass = 3050. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kf = 0.00007818594
 
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index df535eab05a852..4cd55776371639 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -17,6 +17,7 @@ class CAR:
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
   SIENNA = "TOYOTA SIENNA XLE 2018"
+  COROLLAH_TSS2 = "TOYOTA COROLLA LE HYBRID 2020"
 
 
 class ECU:
@@ -182,6 +183,9 @@ def check_ecu_msgs(fingerprint, ecu):
   CAR.SIENNA: [{
     36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
+  CAR.COROLLAH_TSS2: [{
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+  }],
 }
 
 STEER_THRESHOLD = 100
@@ -203,8 +207,9 @@ def check_ecu_msgs(fingerprint, ecu):
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
+  CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
 }
 
-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
-TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
+NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.COROLLAH_TSS2]
+TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.COROLLAH_TSS2]
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.COROLLAH_TSS2]  # no resume button press required