diff --git a/selfdrive/car/modules/ALCA_module.py b/selfdrive/car/modules/ALCA_module.py
index 5ed31d38b..9cb3d54be 100644
--- a/selfdrive/car/modules/ALCA_module.py
+++ b/selfdrive/car/modules/ALCA_module.py
@@ -62,7 +62,7 @@
 ALCA_line_prob_high = 0.4
 ALCA_distance_jump = 1.1
 ALCA_lane_change_coefficient = 0.65
-ITERATIONS_AHEAD_TO_ESTIMATE = 4
+ITERATIONS_AHEAD_TO_ESTIMATE = 2
 ALCA_duration_seconds = 5.
 ALCA_right_lane_multiplier = 1.