diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 53ab749253..adc58a2099 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -39,11 +39,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.3
 
     elif candidate == CAR.PRIUS_V:
+      stop_and_go = True
       ret.wheelbase = 2.78
-      ret.steerRatio = 17.8
+      ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
+      set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 615099cb26..391502a733 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1704,7 +1704,7 @@ DBC = {
 }
 
 # These cars have non-standard EPS torque scale factors. All others are 73
-EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100})
+EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
@@ -1714,4 +1714,4 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}