ssems important for stopngo (#21579)

selfdrive/car/toyota/values.py

@@ -3,7 +3,6 @@
 from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.config import Conversions as CV
-from selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MAX_VALS
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -11,8 +10,8 @@ PEDAL_HYST_GAP = 3. * CV.MPH_TO_MS
 
 class CarControllerParams:
   ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
-  ACCEL_MAX = A_CRUISE_MAX_VALS[0]
-  ACCEL_MIN = -3.0  # 3   m/s2
+  ACCEL_MAX = 1.5  # m/s2
+  ACCEL_MIN = -3.0  # m/s2
   ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 
   STEER_MAX = 1500