diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 5d850d180d..d65c4b66f0 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -17,13 +17,13 @@ LaneChangeState = log.LateralPlan.LaneChangeState
 
 PATH_COST = 1.0
 LATERAL_MOTION_COST = 0.11
-LATERAL_ACCEL_COST = 0.0
+LATERAL_ACCEL_COST = 1.0
 LATERAL_JERK_COST = 0.04
 # Extreme steering rate is unpleasant, even
 # when it does not cause bad jerk.
 # TODO this cost should be lowered when low
 # speed lateral control is stable on all cars
-STEERING_RATE_COST = 700.0
+STEERING_RATE_COST = 8.0
 
 
 class LateralPlanner: