diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 4430bfef88..a2cc3822f7 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -209,6 +209,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022),  # hybrid
   CarTestRoute("20ba9ade056a8c7b|2021-02-08--21-57-35", TOYOTA.TOYOTA_RAV4_PRIME),  # SecOC
   CarTestRoute("8bfb000e03b2a257/00000004--f9eee5f52e", TOYOTA.TOYOTA_SIENNA_4TH_GEN),  # SecOC
+  CarTestRoute("0b54d0594d924cd9/00000041--51e7d1ea2e", TOYOTA.TOYOTA_YARIS),  # SecOC
   CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES),  # hybrid
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
diff --git a/opendbc/car/torque_data/params.toml b/opendbc/car/torque_data/params.toml
index 4bb8d45c53..e546045c05 100644
--- a/opendbc/car/torque_data/params.toml
+++ b/opendbc/car/torque_data/params.toml
@@ -73,6 +73,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
 "TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
 "TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
+"TOYOTA_YARIS" = [1.60, 1.9407, 0.179848]
 "VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
 "VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
 "VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
diff --git a/opendbc/car/toyota/fingerprints.py b/opendbc/car/toyota/fingerprints.py
index 5338bbd0ee..b58e910a56 100644
--- a/opendbc/car/toyota/fingerprints.py
+++ b/opendbc/car/toyota/fingerprints.py
@@ -1777,4 +1777,21 @@
       b'\x028646FV201000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_YARIS: {
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663K015300\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965BK003200\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F1526K007500\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0D05300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5205200\x00\x00\x00\x008646G5202200\x00\x00\x00\x00',
+    ],
+  },
 }
diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
index ab309a438b..bab3c8d0f9 100644
--- a/opendbc/car/toyota/interface.py
+++ b/opendbc/car/toyota/interface.py
@@ -66,7 +66,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
       stop_and_go = candidate != CAR.TOYOTA_AVALON
 
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
+    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME,\
+                       CAR.TOYOTA_SIENNA_4TH_GEN, CAR.TOYOTA_YARIS):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
diff --git a/opendbc/car/toyota/values.py b/opendbc/car/toyota/values.py
index 05b880087f..66a70eb032 100644
--- a/opendbc/car/toyota/values.py
+++ b/opendbc/car/toyota/values.py
@@ -267,6 +267,11 @@ class CAR(Platforms):
     [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
   )
+  TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
+    [ToyotaCarDocs("Toyota Yaris 2023 (Non-US only)", min_enable_speed=MIN_ACC_SPEED)],
+    CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
+    flags=ToyotaFlags.RADAR_ACC,
+  )
   TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
     [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),