diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 59ccb8d0d6..4b31aeea3f 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.,   8.,   12.,  20.,  27.,  36.,  50]
-        tune.kiV = [0.336, 0.22, 0.20, 0.17, 0.12, 0.08, 0.06]
+        tune.kiV = [0.336, 0.213, 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 8395635b67..1acc5928f1 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -93,13 +93,13 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
     y_dist = [1.0,  1.0,  1.75,  1.75,  1.83]
   elif personality==custom.LongitudinalPersonalitySP.standard:
     x_vel =  [0,    5.,   5.01,  20.,   27.7]
-    y_dist = [1.1,  1.4,  1.75,  1.75,  1.80]
+    y_dist = [1.45, 1.45, 1.75,  1.75,  1.80]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,    5.,   5.01,  20.,   27.7]
-    y_dist = [1.0,  1.3,  1.45,  1.45,  1.50]
+    x_vel =  [0,    27.69, 27.7]
+    y_dist = [1.45, 1.45,  1.50]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,    5.,   5.01,  14,   14.01,  20.,   27.7]
-    y_dist = [0.8,  1.1,  1.10,  1.10, 1.10,   1.10,  1.30]
+    x_vel =  [0,    27.69, 27.7]
+    y_dist = [1.10, 1.10,  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 dc9e8fd05d..9c56c4902a 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -31,7 +31,7 @@ AccelPersonality = custom.AccelerationPersonality
 # accel personality by @arne182 modified by cgw and kumar
 _DP_CRUISE_MIN_V =       [-0.031, -0.031, -0.101, -0.101, -0.39, -0.39, -0.59, -0.59, -0.79, -0.79, -1.0,  -1.0, -0.75]
 _DP_CRUISE_MIN_V_ECO =   [-0.030, -0.030, -0.100, -0.100, -0.38, -0.38, -0.58, -0.58, -0.78, -0.78, -1.0,  -1.0, -0.65]
-_DP_CRUISE_MIN_V_SPORT = [-0.032, -0.032, -0.102, -0.102, -0.40, -0.40, -0.60, -0.60, -0.80, -0.80, -1.0,  -1.0, -0.85]
+_DP_CRUISE_MIN_V_SPORT = [-0.102, -0.102, -0.102, -0.102, -0.40, -0.40, -0.60, -0.60, -0.80, -0.80, -1.0,  -1.0, -0.85]
 _DP_CRUISE_MIN_BP =      [0.,     5.0,    5.01,   10.,    10.01, 14.,   14.01, 18.,   18.01,  22.,  22.01, 30.,  30.01]
 
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 1.9, 1.60, 1.11, .73,  .55,  .38,  .16]