diff --git a/cereal/car.capnp b/cereal/car.capnp
index be31f6628d8efe..aaed374f422f11 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -301,8 +301,12 @@ struct CarParams {
   tireStiffnessRear @14 :Float32;    # [N/rad] rear tire coeff of stiff
 
   # Kp and Ki for the lateral control
-  steerKp @15 :Float32;
-  steerKi @16 :Float32;
+  steerKpBP @42 :List(Float32);
+  steerKpV @43 :List(Float32);
+  steerKiBP @44 :List(Float32);
+  steerKiV @45 :List(Float32);
+  steerKpDEPRECATED @15 :Float32;
+  steerKiDEPRECATED @16 :Float32;
   steerKf @25 :Float32;
 
   # Kp and Ki for the longitudinal control
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index adac338e60a9bd..18323b834ccdd4 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -151,6 +151,7 @@ def get_params(candidate, fingerprint):
     tireStiffnessFront_civic = 85400
     tireStiffnessRear_civic = 90000
 
+    ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     if candidate == CAR.CIVIC:
       stop_and_go = True
       ret.mass = mass_civic
@@ -159,7 +160,7 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 13.0
       # Civic at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
-      ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
+      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [3.6, 2.4, 1.5]
@@ -173,7 +174,7 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 15.3
       # Acura at comma has modified steering FW, so different tuning for the Neo in that car
       is_fw_modified = os.getenv("DONGLE_ID") in ['85a6c74d4ad9c310']
-      ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
+      ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -185,7 +186,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.62
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 15.3
-      ret.steerKp, ret.steerKi = 0.8, 0.24
+      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -197,7 +198,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0
-      ret.steerKp, ret.steerKi = 0.8, 0.24
+      ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -209,7 +210,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35
-      ret.steerKp, ret.steerKi = 0.6, 0.18
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
@@ -221,7 +222,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.81
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0
-      ret.steerKp, ret.steerKi = 0.38, 0.11
+      ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
 
       ret.longitudinalKpBP = [0., 5., 35.]
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 53cfbb180a5d88..acd22e9ae25c7d 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -72,12 +72,13 @@ def get_params(candidate, fingerprint):
     tireStiffnessFront_civic = 85400
     tireStiffnessRear_civic = 90000
 
+    ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
     if candidate == CAR.PRIUS:
       ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
       ret.wheelbase = 2.70
       ret.steerRatio = 14.5  # TODO: find exact value for Prius
       ret.mass = 3045./2.205 + std_cargo
-      ret.steerKp, ret.steerKi = 0.6, 0.05
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       ret.steerRateCost = 2.
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
@@ -85,7 +86,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.65
       ret.steerRatio = 14.5 # Rav4 2017
       ret.mass = 3650./2.205 + std_cargo  # mean between normal and hybrid
-      ret.steerKp, ret.steerKi = 0.6, 0.05
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       ret.steerRateCost = 1.
     elif candidate == CAR.COROLLA:
@@ -93,7 +94,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.70
       ret.steerRatio = 17.8
       ret.mass = 2860./2.205 + std_cargo  # mean between normal and hybrid
-      ret.steerKp, ret.steerKi = 0.2, 0.05
+      ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
       ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
       ret.steerRateCost = 1.
     elif candidate == CAR.LEXUS_RXH:
@@ -101,7 +102,7 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # official specs say 14.8, but it does not seem right
       ret.mass = 4481./2.205 + std_cargo  # mean between min and max
-      ret.steerKp, ret.steerKi = 0.6, 0.1
+      ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       ret.steerRateCost = .8
 
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 74020a59204465..d2737a0496f310 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -26,7 +26,9 @@ def get_steer_max(CP, v_ego):
 
 class LatControl(object):
   def __init__(self, VM):
-    self.pid = PIController(VM.CP.steerKp, VM.CP.steerKi, k_f=VM.CP.steerKf, pos_limit=1.0)
+    self.pid = PIController((VM.CP.steerKpBP, VM.CP.steerKpV),
+                            (VM.CP.steerKiBP, VM.CP.steerKiV),
+                            k_f=VM.CP.steerKf, pos_limit=1.0)
     self.last_cloudlog_t = 0.0
     self.setup_mpc(VM.CP.steerRateCost)
 
@@ -103,7 +105,7 @@ def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offs
       self.pid.pos_limit = steers_max
       self.pid.neg_limit = -steers_max
       steer_feedforward = self.angle_steers_des * v_ego**2  # proportional to realigning tire momentum (~ lateral accel)
-      output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, feedforward=steer_feedforward)
+      output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, feedforward=steer_feedforward, speed=v_ego)
 
     self.sat_flag = self.pid.saturated
     return output_steer
diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
index 40ae836b9ece5c..b25275d668c28e 100644
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@@ -1,6 +1,5 @@
 import numpy as np
 from common.numpy_fast import clip, interp
-import numbers
 
 def apply_deadzone(error, deadzone):
   if error > deadzone:
@@ -30,21 +29,11 @@ def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, s
 
   @property
   def k_p(self):
-    if isinstance(self._k_p, numbers.Number):
-      kp = self._k_p
-    else:
-      kp = interp(self.speed, self._k_p[0], self._k_p[1])
-
-    return kp
+    return interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    if isinstance(self._k_i, numbers.Number):
-      ki = self._k_i
-    else:
-      ki = interp(self.speed, self._k_i[0], self._k_i[1])
-
-    return ki
+    return interp(self.speed, self._k_i[0], self._k_i[1])
 
   def _check_saturation(self, control, override, error):
     saturated = (control < self.neg_limit) or (control > self.pos_limit)