diff --git a/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py b/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py
index 809e5eac58..26b4858eca 100644
--- a/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py
+++ b/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py
@@ -186,7 +186,7 @@ class LeadMpc():
       t += dt
 
   def init_with_sim(self, v_ego, lead_xv, a_lead_0):
-    a_ego = min(0.0, -(v_ego - lead_xv[0,1]) * (v_ego - lead_xv[0,1]) / (2.0 * lead_xv[0,0] + 0.01) + a_lead_0)
+    a_ego = min(0.0, -2 * (v_ego - lead_xv[0,1]) * (v_ego - lead_xv[0,1]) / (2.0 * lead_xv[0,0] + 0.01) + a_lead_0)
     dt =.2
     t = .0
     x_ego = 0.0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8ada2aa1ab..256adfe65b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-a1fcedda21d1ff7d53bd647dc4359c5e5941bf47
\ No newline at end of file
+03585a6e067ff58f1030450efc55cd225dc2ffc3
\ No newline at end of file