diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 5d44651d1..570cde7ed 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -71,7 +71,7 @@ def get_can_parser(CP):
     ]
   else:
     signals += [
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
       ("GAS_PEDAL", "GAS_PEDAL", 0),
     ]
     checks += [
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index cfee015d5..de909110e 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -29,7 +29,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
   path_from_right_lane = r_poly.copy()
   path_from_right_lane[3] += lane_width / 2.0
 
-  lr_prob = l_prob * r_prob
+  lr_prob = l_prob + r_prob - l_prob * r_prob
 
   d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
   return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
diff --git a/selfdrive/test/tests/process_replay/ref_commit b/selfdrive/test/tests/process_replay/ref_commit
index 3744386a8..94457fe32 100644
--- a/selfdrive/test/tests/process_replay/ref_commit
+++ b/selfdrive/test/tests/process_replay/ref_commit
@@ -1 +1 @@
-8a11bcbc9833e154e10b59a8babb2b4545372f56
\ No newline at end of file
+9124fa5837ead9b74d97aef85897478a5e8b92d2
\ No newline at end of file