From dc3a22c3d5a8197148a4d4b58157abba4b7580e1 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Tue, 13 Jul 2021 15:35:27 -0700
Subject: [PATCH] ssems important for stopngo (#21579)

---
 selfdrive/car/toyota/values.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3896d40c0b..92f6db919c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/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