diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index be949764c5..3b31632721 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
 import unittest
+import itertools
+from parameterized import parameterized_class
+
 from openpilot.common.params import Params
 from cereal import log
 
@@ -23,22 +26,21 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
   return output[-1,2] - output[-1,1]
 
 
+@parameterized_class(("e2e", "personality", "speed"), itertools.product(
+                      [True, False], # e2e
+                      [log.LongitudinalPersonality.relaxed, # personality
+                       log.LongitudinalPersonality.standard,
+                       log.LongitudinalPersonality.aggressive],
+                      [0,10,35])) # speed
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
     params = Params()
-    personalities = [log.LongitudinalPersonality.relaxed,
-                     log.LongitudinalPersonality.standard,
-                     log.LongitudinalPersonality.aggressive]
-    for personality in personalities:
-      params.put("LongitudinalPersonality", str(personality))
-      for e2e in [False, True]:
-        for speed in [0,10,35]:
-          print(f'Testing {speed} m/s')
-          v_lead = float(speed)
-          simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
-          correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
-          err_ratio = 0.2 if e2e else 0.1
-          self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    params.put("LongitudinalPersonality", str(self.personality))
+    v_lead = float(self.speed)
+    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e)
+    correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
+    err_ratio = 0.2 if self.e2e else 0.1
+    self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
 
 
 if __name__ == "__main__":