diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index cac589339763ca..c3047fa3abbb8f 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -44,9 +44,9 @@
 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
 _A_CRUISE_MAX_V = [2.0, 2.0, 1.5, .5, .3]
-_A_CRUISE_MAX_V_ECO = [1.0, 1.5, 1.0, 0.3, 0.1]
+_A_CRUISE_MAX_V_ECO = [0.6, 0.7, 0.8, 0.4, 0.2]
 _A_CRUISE_MAX_V_SPORT = [3.0, 3.5, 4.0, 4.0, 4.0]
-_A_CRUISE_MAX_V_FOLLOWING = [1.3, 1.6, 1.2, .7, .3]
+_A_CRUISE_MAX_V_FOLLOWING = [1.4, 1.3, 1.3, .7, .3]
 _A_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]
 
 # Lookup table for turns