diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 85408d0eee..19b56c5b0a 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -182,7 +182,7 @@ class CarInterface(CarInterfaceBase):
         #tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06]
         #smooth
         tune.kiBP = [0.,  5.,   12.,  20.,  27.,  36.,  50]
-        tune.kiV = [0.33, 0.22, 0.20, 0.17, 0.12, 0.08, 0.06]
+        tune.kiV = [0.33, 0.205, 0.205, 0.17, 0.12, 0.08, 0.06]
         #tune.kiBP = [0.,  2.,   5.,  12.,  16,   20.,  27.,  36.,  50]
         #tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06]
         custom_tss2_longitudinal_tuning()
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 77fb07c94d..2cce6ddf17 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -56,7 +56,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 4.5
+STOP_DISTANCE = 6.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -90,13 +90,13 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
     y_dist = [1.5,  1.5,  1.5,  1.6,  1.76, 1.76,   1.78,  1.78,   1.8, 1.8]
   elif personality==custom.LongitudinalPersonalitySP.standard:
     x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11,  19.99, 20,    36]
-    y_dist = [0.65,  0.65,  0.87,  0.87,  1.09,  1.09, 1.25,   1.25,  1.65,  1.65]
+    y_dist = [0.84,  0.84,  0.91,  0.91,  1.16,  1.16, 1.32,   1.33,  1.65,  1.65]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
     x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11,  20,    20.01,  36]
-    y_dist = [0.64,  0.64,  0.85,  0.85,  1.04,  1.04, 1.20,   1.20,  1.40,   1.40]
+    y_dist = [0.82,  0.82,  0.89,  0.89,  1.20,  1.20, 1.30,   1.30,  1.40,   1.40]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11, 15,   17,    20,    20.01,  25, 25.01, 36,   36.01]
-    y_dist = [0.63,  0.53,  0.83,  0.83,  1.00,  1.00, 1.15,  1.15, 1.16,  1.24,  1.25, 1.25, 1.25, 1.25,  1.25]
+    x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11,  20,    20.01,  25, 25.01, 36,   36.01]
+    y_dist = [0.80,  0.80,  0.87,  0.87,  1.05,  1.05, 1.16,   1.16,  1.28, 1.28, 1.30, 1.30,  1.30]
   else:
     raise NotImplementedError("Dynamic personality not supported")
   return np.interp(v_ego, x_vel, y_dist)
diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py
index 3ce4f220ca..a2abf03118 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -29,15 +29,15 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw
-_DP_CRUISE_MIN_V =       [-0.06, -0.06,  -0.220,  -0.220,  -0.430,  -0.430,  -0.64,  -0.64,  -0.82]
-_DP_CRUISE_MIN_V_ECO =   [-0.05, -0.05,  -0.215,  -0.215,  -0.425,  -0.425,  -0.62,  -0.62,  -0.80]
-_DP_CRUISE_MIN_V_SPORT = [-0.07, -0.07,  -0.225,  -0.225,  -0.445,  -0.445,  -0.66,  -0.66,  -0.84]
-_DP_CRUISE_MIN_BP =      [0.,     5.55,  5.56,    18.,     18.01,   27.77,   27.78,  33.,    33.01]
+_DP_CRUISE_MIN_V =       [-0.05,  -0.05,  -0.202,  -0.202,  -0.401,  -0.401,  -0.66,  -0.66,  -0.82]
+_DP_CRUISE_MIN_V_ECO =   [-0.05,  -0.05,  -0.201,  -0.201,  -0.400,  -0.400,  -0.64,  -0.64,  -0.80]
+_DP_CRUISE_MIN_V_SPORT = [-0.05,  -0.05,  -0.203,  -0.203,  -0.402,  -0.402,  -0.68,  -0.68,  -0.84]
+_DP_CRUISE_MIN_BP =      [0.,     5.00,   5.01,    17.,     17.01,   27.77,   27.78,  33.,    33.01]
 
-_DP_CRUISE_MAX_V =       [3.5, 3.5, 3.4, 2.4,  1.4,  .91,  .70,  .51,  .42,  .13]
-_DP_CRUISE_MAX_V_ECO =   [3.5, 3.5, 3.3, 2.2,  1.1,  .75,  .53,  .42,  .31,  .085]
-_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.5, 2.8,  1.6,  1.1,  .96,  .78,  .60,  .4]
-_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  15.,  20.,  25.,  30.,  55.]
+_DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.68, 1.25, .72,  .53,  .42,  .13]
+_DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.38, 0.93, .53,  .42,  .31,  .085]
+_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.61, .96,  .78,  .60,  .4]
+_DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  20.,  25.,  30.,  55.]
 
 
 class AccelController: