diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 5aedb3764..0f2842360 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
 const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
-const int TOYOTA_MAX_RATE_DOWN = 44;      // ramp down fast
-const int TOYOTA_MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
@@ -13,7 +13,7 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks
 
 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 4000;        // 1.5 m/s2
+const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
 const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2
 
 const int TOYOTA_STANDSTILL_THRSLD = 100;  // 1kph