diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index c8b0e46ad9..74c204ca57 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -15,8 +15,8 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):
 def create_lta_steer_command(packer, apply_steer, steer_angle, driver_torque, steer_req, raw_cnt):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
-  percentage = interp(abs(driver_torque), [30, 100], [100, 0])
-  apply_steer = interp(percentage, [0, 100], [steer_angle, apply_steer])
+  percentage = interp(abs(driver_torque), [50, 100], [100, 0])
+  apply_steer = interp(percentage, [-20, 100], [steer_angle, apply_steer])
   values = {
     "COUNTER": raw_cnt,  # 0 to 62
     "SETME_X1": 1,