diff --git a/panda b/panda
index a723686fe2..d1b104950a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a723686fe2cc04627de9bae3f9696fa8b16879db
+Subproject commit d1b104950a8821feff9df1f25b210d0bdbc8e4f5
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index f0fbbb3bd9..3acaaf62eb 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -12,8 +12,8 @@ PEDAL_SCALE = 3.0
 
 class CarControllerParams:
   ACCEL_HYST_GAP = 0.06  # don't change accel command for small oscilalitons within this value
-  ACCEL_MAX = 1.5  # m/s2
-  ACCEL_MIN = -3.0  # m/s2
+  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
   STEER_DELTA_UP = 10       # 1.5s time to peak torque