diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 55f9ba2b9..ffcf51316 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -46,7 +46,7 @@ def add_lane_change_event(events, path_plan):
         event_name = 'preAutoLaneChangeLeft'
       events.append(create_event(event_name, [ET.WARNING]))
     else:
-      event_name = 'preLaneChangeLeft'
+      event_name = 'preLaneChangeRight'
       if path_plan.autoLCAllowed:
         event_name = 'preAutoLaneChangeRight'
       events.append(create_event(event_name, [ET.WARNING]))
diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py
index ad28db57f..fe80435da 100644
--- a/selfdrive/controls/lib/alerts.py
+++ b/selfdrive/controls/lib/alerts.py
@@ -784,20 +784,20 @@ ALERTS = [
     "Left Auto Lane Change will engage in 3 seconds",
     "Monitor Other Vehicles",
     AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
 
   Alert(
     "preAutoLaneChangeRight",
     "Right Auto Lane Change will engage in 3 seconds",
     "Monitor Other Vehicles",
     AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
 
   Alert(
     "autoLaneChange",
     "Changing Lane",
     "Monitor Other Vehicles",
     AlertStatus.normal, AlertSize.mid,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .0, .1, .1),
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 
 ]
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 68d1e6e2c..a1f6db18d 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -126,24 +126,32 @@ class PathPlanner():
 
       lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
 
+      # dragonpilot auto lc
       if self.dragon_assisted_lc_enabled:
-        # set torque_applied to Ture if auto_lc is enabled and time is up.
-        if self.dragon_auto_lc_enabled and self.dragon_auto_lc_timer is not None and cur_time > self.dragon_auto_lc_timer:
-          torque_applied = True
-
-        # only allow auto lane change above 40 mph / 65kph
+        # we allow auto lc when speed is > 40mph / 65kph
         if self.dragon_auto_lc_enabled and v_ego >= 40 * CV.MPH_TO_MS:
           self.dragon_auto_lc_allowed = True
+
+          if self.dragon_auto_lc_timer is None:
+            # we only set timer when in preLaneChange state, 2 secs delay
+            if self.lane_change_state == LaneChangeState.preLaneChange:
+              self.dragon_auto_lc_timer = cur_time + 2.
+          else:
+            # if timer is up, we set torque_applied to True to fake user input
+            if cur_time > self.dragon_auto_lc_timer:
+              torque_applied = True
         else:
+          # if too slow, we reset all the variables
           self.dragon_auto_lc_allowed = False
           self.dragon_auto_lc_timer = None
 
+      # we reset the timers when torque is applied regardless
+      if torque_applied:
+        self.dragon_auto_lc_timer = None
+
       # State transitions
       if self.dragon_assisted_lc_enabled and self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker:
         self.lane_change_state = LaneChangeState.preLaneChange
-        # only allow auto lane change above 40 mph / 65kph
-        if self.dragon_auto_lc_allowed:
-          self.dragon_auto_lc_timer = cur_time + 3.
 
       # pre
       elif self.lane_change_state == LaneChangeState.preLaneChange and not one_blinker:
@@ -158,17 +166,13 @@ class PathPlanner():
       # finishing
       elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.2:
         self.lane_change_state = LaneChangeState.preLaneChange
-        self.dragon_auto_lc_allowed = False
+        # when finishing, we reset timer to none.
         self.dragon_auto_lc_timer = None
 
       # Don't allow starting lane change below 24 mph / 40kph
       if (v_ego < 24 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange):
         self.lane_change_state = LaneChangeState.off
 
-    # always reset timer if lane change state is off
-    if self.lane_change_state == LaneChangeState.off:
-      self.dragon_auto_lc_timer = None
-
     if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
       self.lane_change_timer = 0.0
     else: