diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3d0ca96ef1..bf746a58b4 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 = [0.35, 0.23, 0.20, 0.17, 0.12, 0.08, 0.06]
+        tune.kiV = [0.342, 0.23, 0.20, 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 a08c66bb6a..e453cc5320 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 = 6.0
+STOP_DISTANCE = 4.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -87,16 +87,16 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
 def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
     x_vel =  [0,    20.,   27.7]
-    y_dist = [1.75, 1.75,  2.00]
+    y_dist = [1.75, 1.75,  1.83]
   elif personality==custom.LongitudinalPersonalitySP.standard:
     x_vel =  [0,    20.,   27.7]
-    y_dist = [1.75, 1.75,  2.00]
+    y_dist = [1.75, 1.75,  1.80]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
     x_vel =  [0,    20.,   27.7]
-    y_dist = [1.45, 1.45,  1.60]
+    y_dist = [1.45, 1.45,  1.50]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     x_vel =  [0,    20.,   27.7]
-    y_dist = [1.28, 1.28,  1.35]
+    y_dist = [1.20, 1.20,  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 df3eb3b45f..334847d3a5 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-1.0, -1.0,  -0.76]
-_DP_CRUISE_MIN_V_ECO =   [-1.0, -1.0,  -0.74]
-_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0,  -0.78]
-_DP_CRUISE_MIN_BP =      [0.,   11.1,  20.]
+_DP_CRUISE_MIN_V =       [-0.04, -0.04, -0.16, -0.16, -0.26, -0.26, -0.46, -0.46,  -0.74]
+_DP_CRUISE_MIN_V_ECO =   [-0.03, -0.03, -0.15, -0.15, -0.25, -0.25, -0.45, -0.45,  -0.72]
+_DP_CRUISE_MIN_V_SPORT = [-0.05, -0.05, -0.17, -0.17, -0.27, -0,27, -0.47, -0.47,  -0.76]
+_DP_CRUISE_MIN_BP =      [0.,    3.0,   3.01,  11.1,  11.11, 20.,   20.01, 30.,    30.01]
 
 #_DP_CRUISE_MIN_V =       [-0.045, -0.045, -0.201,  -0.201,  -0.430,  -0.430,  -0.66,  -0.66,  -0.82]
 #_DP_CRUISE_MIN_V_ECO =   [-0.04,  -0.04,  -0.200,  -0.200,  -0.425,  -0.425,  -0.64,  -0.64,  -0.80]