diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 816ee659e..4666cc5e3 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -146,6 +146,19 @@ class CarInterface(CarInterfaceBase):
       else:
         tune.kpV = [0.0]
         tune.kiV = [1.2]               # appears to produce minimal oscillation on TSS-P
+    elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
+      # Credit goes to the DragonPilot team!
+      if candidate in TSS2_CAR:
+        tune.kiBP = [0., 0.1, 1., 2., 3., 5., 8., 12., 14., 20., 26., 36., 50]
+        tune.kiV = [0.346, 0.35, 0.33, 0.309, 0.287, 0.228, 0.222, 0.2085, 0.19, 0.17, 0.10, 0.06, 0.01]
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
+        ret.stopAccel = -0.40
+        ret.stoppingDecelRate = 0.40
+      else:
+        tune.kiBP = [0., 35.]
+        tune.kpV = [3.6, 2.4, 1.5]
+        tune.kiV = [0.54, 0.36]
     elif candidate in TSS2_CAR or ret.enableGasInterceptor:
       tune.kpV = [0.0]
       tune.kiV = [0.5]