diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6f6f31cf7e..a6bea00f6a 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -195,10 +195,10 @@ class CarInterface(CarInterfaceBase):
       stop_and_go = True
       ret.safetyParam = 73
       ret.wheelbase = 3.03
-      ret.steerRatio = 16.0
+      ret.steerRatio = 15.5
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
     elif candidate == CAR.LEXUS_IS: