diff --git a/PythonAPI/carla/agents/navigation/basic_agent.py b/PythonAPI/carla/agents/navigation/basic_agent.py
index 093749d5a..c4c9b9251 100644
--- a/PythonAPI/carla/agents/navigation/basic_agent.py
+++ b/PythonAPI/carla/agents/navigation/basic_agent.py
@@ -61,7 +61,7 @@ class BasicAgent(object):
         self._base_tlight_threshold = 5.0  # meters
         self._base_vehicle_threshold = 5.0  # meters
         self._speed_ratio = 1
-        self._max_brake = 0.5
+        self._max_brake = 0.6
         self._offset = 0
 
         # Change parameters according to the dictionary
diff --git a/PythonAPI/carla/agents/navigation/local_planner.py b/PythonAPI/carla/agents/navigation/local_planner.py
index e4f4b7fb7..4228141c9 100644
--- a/PythonAPI/carla/agents/navigation/local_planner.py
+++ b/PythonAPI/carla/agents/navigation/local_planner.py
@@ -79,7 +79,7 @@ class LocalPlanner(object):
         self._target_speed = 20.0  # Km/h
         self._sampling_radius = 2.0
         self._args_lateral_dict = {'K_P': 1.95, 'K_I': 0.05, 'K_D': 0.2, 'dt': self._dt}
-        self._args_longitudinal_dict = {'K_P': 1.0, 'K_I': 0.05, 'K_D': 0, 'dt': self._dt}
+        self._args_longitudinal_dict = {'K_P': 1.5, 'K_I': 0.05, 'K_D': 0.2, 'dt': self._dt}
         self._max_throt = 0.75
         self._max_brake = 0.3
         self._max_steer = 0.8