diff --git a/selfdrive/controls/lib/model_parser.py b/selfdrive/controls/lib/model_parser.py
index 747e918f7..86856f7f3 100644
--- a/selfdrive/controls/lib/model_parser.py
+++ b/selfdrive/controls/lib/model_parser.py
@@ -13,9 +13,9 @@ class ModelParser(object):
     self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
     self._path_pinv = compute_path_pinv()
 
-    self.lane_width_estimate = 3.7
+    self.lane_width_estimate = 3.5
     self.lane_width_certainty = 1.0
-    self.lane_width = 3.7
+    self.lane_width = 3.5
     self.l_prob = 0.
     self.r_prob = 0.
 
@@ -38,7 +38,7 @@ class ModelParser(object):
       self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
       current_lane_width = abs(l_poly[3] - r_poly[3])
       self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
-      speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
+      speed_lane_width = interp(v_ego, [0., 31.], [3., 3.6])
       self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
                         (1 - self.lane_width_certainty) * speed_lane_width