diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c8e6da5501d0e5..6f6f31cf7e5fda 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -157,9 +157,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00004
 
     elif candidate == CAR.RAV4H_TSS2:
       stop_and_go = True
@@ -167,9 +167,9 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
       ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
+      ret.lateralTuning.pid.kf = 0.00004
 
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True