diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 3d323e6c8..30fd8e583 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -23,10 +23,10 @@ AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distract
 
 # lookup tables VS speed to determine min and max accels in cruise
 # make sure these accelerations are smaller than mpc limits
+_A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
 _A_CRUISE_MIN_V_ECO = [-1.0, -0.7, -0.6, -0.5, -0.3]
 _A_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
-
-_A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
+_A_CRUISE_MIN_V_FOLLOWING = [-4.0, -4.0, -3.5, -2.5, -2.0]
 _A_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]
 
 # need fast accel at very low speed for stop and go
@@ -50,21 +50,18 @@ ACCEL_NORMAL_MODE = 0
 ACCEL_SPORT_MODE = 1
 
 def calc_cruise_accel_limits(v_ego, following, accel_profile):
-  if accel_profile == ACCEL_ECO_MODE:
-    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
-  elif accel_profile == ACCEL_SPORT_MODE:
-    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
-  else:
-    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
-
   if following:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_FOLLOWING)
     a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
   else:
     if accel_profile == ACCEL_ECO_MODE:
+      a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
       a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_ECO)
     elif accel_profile == ACCEL_SPORT_MODE:
+      a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
       a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_SPORT)
     else:
+      a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
       a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
   return np.vstack([a_cruise_min, a_cruise_max])