From c7462fa5c1104cf659942a3ffe0d11730bb4e08a Mon Sep 17 00:00:00 2001
From: rav4kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Mon, 17 Aug 2026 15:18:52 -0700
Subject: [PATCH] fix(long): widen lead follow

---
 .../selfdrive/controls/lib/accel_controller/accel_controller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py
index c1f0520e16..cfdfbb6134 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py
@@ -36,7 +36,7 @@ LEAD_GAP_WIDEN_PROFILES = {
   AccelProfile.normal: 0.20,
   AccelProfile.sport:  0.10,
 }
-LEAD_DECEL_FOR_MAX_WIDEN = 4.5  # m/s^2, lead decel that saturates the widen amount
+LEAD_DECEL_FOR_MAX_WIDEN = 3.0  # m/s^2, lead decel that saturates the widen amount
 GAP_WIDEN_ONSET_ALPHA = 0.15
 GAP_WIDEN_RELEASE_ALPHA = 0.08
 # Taper out below city speed so the lever only shapes higher-speed anticipation.