diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 0edae57dd9..18df552032 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -200,12 +200,16 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.8467
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
       ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
 
+      if eps_modified:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
       ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG