diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 7d656b55a9..51676086ba 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # friction in the steering wheel that needs to be overcome to
 # move it at all, this is compensated for too.
 
-LOW_SPEED_FACTOR = 100
+LOW_SPEED_FACTOR = 200
 
 
 class LatControlTorque(LatControl):
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 9fbfd4a11f..29137defd3 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -22,8 +22,7 @@ LATERAL_JERK_COST = 0.05
 # TODO this cost should be lowered when low
 # speed lateral control is stable on all cars
 STEERING_RATE_COST = 800.0
-
-MIN_SPEED = .3
+MIN_SPEED = 1.5
 
 
 class LateralPlanner:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 998bf4e756..0b4081595b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6bb7d8baae51d88dd61f0baf561e386664ddd266
\ No newline at end of file
+1c1287691cbdd866d9e435d5d27f59f6a027d270