diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
index 8b6db639a2..60408d9a12 100644
--- a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
@@ -15,20 +15,23 @@ AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
 
 # Acceleration Profiles
 MAX_ACCEL_PROFILES = {
-  AccelPersonality.eco:       [2.0,  1.99,  1.92, .850, .500, .33, .23, .125],   # eco
-  AccelPersonality.normal:    [2.0,  1.99,  1.92, .850, .500, .33, .23, .125],   # normal
-  AccelPersonality.sport:     [2.0,  2.00,  1.97, 1.00, .635, .48, .31, .165],    # sport
-  #AccelPersonality.sport:     [2.0,  2.00,  2.00, 1.90, 1.40, .70, .42, .251],    # sport
+  AccelPersonality.eco:       [2.0,  1.99,  1.92, .850, .500, .33, .23, .125],
+  AccelPersonality.normal:    [2.0,  1.99,  1.92, .850, .500, .33, .23, .125],
+  AccelPersonality.sport:     [2.0,  2.00,  1.97, 1.00, .635, .48, .31, .165],
 }
 MAX_ACCEL_BREAKPOINTS =       [0.,   4.,   6.,   9.,   16.,  25.,  30., 55.]
 
 # Braking Profiles
 MIN_ACCEL_PROFILES = {
-  AccelPersonality.eco:    [-.0100,    -.0100,    -.060,  -.60,  -1.20],  # gentler braking
-  AccelPersonality.normal: [-.0000015, -.0000015, -.060,  -.60,  -1.20],  # normal braking
-  AccelPersonality.sport:  [-.0000020, -.0000020, -.200,  -.80,  -1.20],  # more aggressive braking
+  AccelPersonality.eco:    [-0.0000002, -0.0000002, -0.2, -0.2, -1.20],
+  AccelPersonality.normal: [-0.0000002, -0.0000002, -0.3, -0.3, -1.20],
+  AccelPersonality.sport:  [-0.0000003, -0.0000003, -0.4, -0.4, -1.20],
 }
-MIN_ACCEL_BREAKPOINTS =    [0.,   5.0,    11.,    14,  25.]
+MIN_ACCEL_BREAKPOINTS =    [0.,    5.,    8.,    14.,   25.]
+
+DECEL_SMOOTH_ALPHA = 0.08  # Very aggressive smoothing for decel (lower = smoother)
+ACCEL_SMOOTH_ALPHA = 0.20  # Less aggressive for accel (higher = more responsive)
+MAX_DECEL_RATE = 0.15      # Maximum change in decel per timestep (m/s²)
 
 
 class AccelPersonalityController:
@@ -37,6 +40,9 @@ class AccelPersonalityController:
     self.params = Params()
     self.frame = 0
     self.accel_personality = AccelPersonality.normal
+    self.last_max_accel = 2.0
+    self.last_min_accel = -0.01
+    self.first_run = True
     self.param_keys = {
       'personality': 'AccelPersonality',
       'enabled': 'AccelPersonalityEnabled'
@@ -83,9 +89,32 @@ class AccelPersonalityController:
     return int(next_personality)
 
   def get_accel_limits(self, v_ego: float) -> tuple[float, float]:
-    max_a = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
-    min_a = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.accel_personality])
-    return float(min_a), float(max_a)
+    v_ego = max(0.0, v_ego)
+    target_max_accel = np.interp(v_ego, MAX_ACCEL_BREAKPOINTS, MAX_ACCEL_PROFILES[self.accel_personality])
+    target_min_accel = np.interp(v_ego, MIN_ACCEL_BREAKPOINTS, MIN_ACCEL_PROFILES[self.accel_personality])
+
+    if self.first_run:
+      self.last_max_accel = target_max_accel
+      self.last_min_accel = target_min_accel
+      self.first_run = False
+      return float(target_min_accel), float(target_max_accel)
+
+    # exponential smoothing to max accel
+    self.last_max_accel = (ACCEL_SMOOTH_ALPHA * target_max_accel + (1 - ACCEL_SMOOTH_ALPHA) * self.last_max_accel)
+    # VERY aggressive smoothing to min accel for ultra-smooth braking
+    # Also add rate limiting as a safety net
+    smoothed_decel = (DECEL_SMOOTH_ALPHA * target_min_accel + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel)
+    # Rate limit decel changes and/or prevent sudden jerks
+    max_change_per_step = MAX_DECEL_RATE * DT_MDL
+    decel_change = smoothed_decel - self.last_min_accel
+    decel_change = np.clip(decel_change, -max_change_per_step, max_change_per_step)
+
+    self.last_min_accel = self.last_min_accel + decel_change
+
+    if self.last_min_accel > self.last_max_accel:
+      self.last_min_accel = self.last_max_accel - 0.1
+
+    return float(self.last_min_accel), float(self.last_max_accel)
 
   def get_min_accel(self, v_ego: float) -> float:
     return self.get_accel_limits(v_ego)[0]
@@ -108,7 +137,10 @@ class AccelPersonalityController:
   def reset(self):
     self.accel_personality = AccelPersonality.normal
     self.frame = 0
+    self.last_max_accel = 2.0
+    self.last_min_accel = -0.01
+    self.first_run = True
 
   def update(self):
     self.frame += 1
-    self._update_from_params()
+    self._update_from_params()
\ No newline at end of file