diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py
index 35d616474d..0366862adf 100644
--- a/starpilot/controls/starpilot_planner.py
+++ b/starpilot/controls/starpilot_planner.py
@@ -31,9 +31,10 @@ from openpilot.starpilot.controls.lib.starpilot_vcruise import StarPilotVCruise
 from openpilot.starpilot.controls.lib.weather_checker import WeatherChecker
 
 RADARLESS_TRACK_HOLD_TIME = 0.45
-FORCE_STOP_JERK_SCALE = 0.25  # accel-change cost multiplier for the whole stop approach,
-                              # envelope included (125 -> ~31). Lower = reaches the braking
-                              # target sooner; it does not make the target deeper.
+FORCE_STOP_JERK_SCALE = 0.20  # accel-change cost multiplier for the whole stop approach,
+                              # envelope included (125 -> 25). Lower = reaches the braking
+                              # target sooner; it does not make the target deeper. Response
+                              # is super-linear here, so raise it if onset feels like a step.
 FORCE_STOP_JERK_SCALE_OVERRIDES = {
   # The Elantra's current force-stop ramp is smooth, but it waits too long
   # before building decel and then arrives at the initial brake too abruptly.