diff --git a/config/car1_params.yaml b/config/car1_params.yaml
index 41b0554fe1521e4420c0995ae7b19aeaffb4e10c..ca611b78bceec41d8ea9e9dfec423ab724c41d65 100644
--- a/config/car1_params.yaml
+++ b/config/car1_params.yaml
@@ -1,7 +1,7 @@
 rate: 40
 speed_Kp: 20.0
-speed_Ki: 10.0
-speed_Kd: 0.05
+speed_Ki: 50.0
+speed_Kd: 0.00
 speed_i_max: 20.0
 speed_deadband: 0.1
 watchdog_time: 0.5
diff --git a/config/car2_params.yaml b/config/car2_params.yaml
index 41b0554fe1521e4420c0995ae7b19aeaffb4e10c..ca611b78bceec41d8ea9e9dfec423ab724c41d65 100644
--- a/config/car2_params.yaml
+++ b/config/car2_params.yaml
@@ -1,7 +1,7 @@
 rate: 40
 speed_Kp: 20.0
-speed_Ki: 10.0
-speed_Kd: 0.05
+speed_Ki: 50.0
+speed_Kd: 0.00
 speed_i_max: 20.0
 speed_deadband: 0.1
 watchdog_time: 0.5
diff --git a/config/params.yaml b/config/params.yaml
index 41b0554fe1521e4420c0995ae7b19aeaffb4e10c..ca611b78bceec41d8ea9e9dfec423ab724c41d65 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -1,7 +1,7 @@
 rate: 40
 speed_Kp: 20.0
-speed_Ki: 10.0
-speed_Kd: 0.05
+speed_Ki: 50.0
+speed_Kd: 0.00
 speed_i_max: 20.0
 speed_deadband: 0.1
 watchdog_time: 0.5