diff --git a/src/drivers/usr/src/driver.cpp b/src/drivers/usr/src/driver.cpp
index f7bdc92c5..3156228e8 100644
--- a/src/drivers/usr/src/driver.cpp
+++ b/src/drivers/usr/src/driver.cpp
@@ -2098,8 +2098,9 @@ bool Driver::canOvertake2( Opponent *o, int avoidingside )
   }
 
   oAspeed = MIN(oAspeed, o->getSpeed()+2.0);
+  oAspeed = MAX(oAspeed, car->_speed_x - MIN(distance, o->getTimeImpact())/2);
 
-  if (oAspeed > o->getSpeed())
+  if (oAspeed >= o->getSpeed())  // speed on avoidside of opponent is fast enough
   {
     if (DebugMsg & debug_overtake)
       fprintf(stderr,"-> %s: OVERTAKE2 ospd=%.1f oAspd=%.1f\n",ocar->_name,o->getSpeed(),oAspeed);
@@ -2130,6 +2131,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
   speed = MIN(avspeed, (speed + MAX(0.0, (30.0 - distance) * MAX(0.1, 1.0 - MAX(0.0, rInv-0.001)*80))));
   double ospeed = o->getSpeed();
   oAspeed = MIN(oAspeed, ospeed+2.0);
+  oAspeed = MAX(oAspeed, car->_speed_x - MIN(distance, o->getTimeImpact())/2);
   double timeLimit = 3.0 - MIN(2.4, rInv * 1000);
 
   if (*mincatchdist > speed - ospeed)
@@ -2142,10 +2144,10 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
     return false;
   }
 
-  if (speed > ospeed + 2*overtakecaution + fabs(rInv) * 500 && 
-      oAspeed > ospeed && 
-      (o->getTimeImpact() * (1.0+overtakecaution) < timeLimit ||
-       distance < MAX(3.0, speed/7)))
+  if (speed > ospeed + 2*overtakecaution + fabs(rInv) * 500 &&   // our speed quicker than opponent
+      oAspeed > ospeed &&                                        // avoid speed quicker than opponent
+      (o->getTimeImpact() * (1.0+overtakecaution) < timeLimit || // approaching opponent quickly
+       distance < MAX(3.0, speed/5)))                            // close behind opponent
   {
     // faster than opponent, overtake
     *mincatchdist = speed - ospeed;
diff --git a/src/drivers/usr/src/raceline.cpp b/src/drivers/usr/src/raceline.cpp
index 4f54656bb..c98006fc7 100644
--- a/src/drivers/usr/src/raceline.cpp
+++ b/src/drivers/usr/src/raceline.cpp
@@ -2192,12 +2192,12 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
  //double offline = MIN(2.0, MAX(-2.0, (offset - car->_trkPos.toMiddle)));
  //targetAngle -= offline/15;
 
- double steer_direction = targetAngle - (car->_yaw + car->_yaw_rate/(15-MIN(8, car->_speed_x/10)));
+ double steer_direction = targetAngle - (car->_yaw + car->_yaw_rate/15); //(15-MIN(8, car->_speed_x/10)));
  NORM_PI_PI(steer_direction);
 
  steer = steer_direction / car->_steerLock;
 
- double nextangle = data->angle + car->_yaw_rate/3;
+ double nextangle = data->angle + car->_yaw_rate/4;
 
  if (fabs(nextangle) > fabs(data->speedangle))
  {
@@ -2356,14 +2356,24 @@ double LRaceLine::correctLimit(double avoidsteer, double racesteer, int insideli
  // correct would take us in the opposite direction to a corner - correct less!
  if ((SRL[SRLidx].tRInverse[Next] > 0.001 && avoidsteer > racesteer) ||
      (SRL[SRLidx].tRInverse[Next] < -0.001 && avoidsteer < racesteer))
-  return MAX(0.001, MIN(limit, limit - (fabs(SRL[SRLidx].tRInverse[Next]) * 200.0 + tbump)));
+ {
+  limit = MAX(0.001, MIN(limit, limit - (fabs(SRL[SRLidx].tRInverse[Next]) * 200.0 + tbump)));
+ }
+ else
+ {
+  // correct would take us in the opposite direction to a corner - correct less (but not as much as above)
+  int nnext = (Next + (int) (car->_speed_x/3)) % Divs;
+  //double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
+  if ((SRL[SRLidx].tRInverse[nnext] > 0.001 && avoidsteer > racesteer) ||
+      (SRL[SRLidx].tRInverse[nnext] < -0.001 && avoidsteer < racesteer))
+   limit = MAX(0.001, MIN(limit, limit - (fabs(SRL[SRLidx].tRInverse[nnext]) * 140.0 + tbump)));
+ }
 
- // correct would take us in the opposite direction to a corner - correct less (but not as much as above)
- int nnext = (Next + (int) (car->_speed_x/3)) % Divs;
- //double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
- if ((SRL[SRLidx].tRInverse[nnext] > 0.001 && avoidsteer > racesteer) ||
-     (SRL[SRLidx].tRInverse[nnext] < -0.001 && avoidsteer < racesteer))
-  return MAX(0.001, MIN(limit, limit - (fabs(SRL[SRLidx].tRInverse[nnext]) * 140.0 + tbump)));
+ if ((avoidsteer > racesteer && car->_yaw_rate < 0.0) || (avoidsteer < racesteer && car->_yaw_rate > 0.0))
+ {
+  // avoid oversteering back towards raceline
+  limit = MAX(0.001, limit - (fabs(car->_yaw_rate) * car->_speed_x) / 100.0);
+ }
 
  // ok, we're not inside the racing line.  Check and see if we're outside it and turning 
  // into a corner, in which case we want to correct more to try and get closer to the
diff --git a/src/drivers/usr/usr_ls2/ls2-boxer-96rsr/default.xml b/src/drivers/usr/usr_ls2/ls2-boxer-96rsr/default.xml
index ede0fdd54..33503967c 100755
--- a/src/drivers/usr/usr_ls2/ls2-boxer-96rsr/default.xml
+++ b/src/drivers/usr/usr_ls2/ls2-boxer-96rsr/default.xml
@@ -19,7 +19,7 @@
 		<attnum name="min corner inverse" min="0" max="2" val="0.0013"/>
 		<attnum name="increase corner inverse" min="0" max="2" val="0.045"/>
 		<attnum name="add avoid speed" min="-20" max="20" val="0.0"/>
-		<attnum name="avoid speed factor" min="-20" max="20" val="0.80"/>
+		<attnum name="avoid speed factor" min="-20" max="20" val="0.76"/>
 		<attnum name="avoid brake factor" min="-20" max="20" val="0.8"/>
 		<attnum name="exit boost factor" min="-20" max="20" val="1.40"/>
 		<attnum name="avoid exit boost factor" min="-20" max="20" val="1.3"/>
@@ -43,12 +43,12 @@
 		<attnum name="revs change down max" min="0" max="2" val="0.75"/>
 		<attnum name="steer skid" min="0" max="3" val="0.0"/>
 		<attnum name="steer gain" min="0" max="3" val="1.5"/>
-		<attnum name="max steer time" min="0.5" max="10" val="1.9"/>
-		<attnum name="min steer time" min="0.5" max="10" val="1.77"/>
+		<attnum name="max steer time" min="0.5" max="10" val="2.2"/>
+		<attnum name="min steer time" min="0.5" max="10" val="1.87"/>
 		<attnum name="int margin" min="0" max="3" val="1.7"/>
 		<attnum name="ext margin" min="0" max="2" val="1.3"/>
 		<attnum name="no team waiting" min="0" max="2" val="1"/>
-		<attnum name="inc factor" min="0" max="5" val="1.0"/>
+		<attnum name="inc factor" min="0" max="5" val="3.0"/>
 		<attnum name="overtake caution" min="-20" max="20" val="0.2"/>
 		<attnum name="tcl slip" min="0.5" max="8.5" val="4.0"/>
 		<attnum name="skid correction" min="0.0" max="8.5" val="0.5"/>
diff --git a/src/drivers/usr/usr_ls2/ls2-condor-c400r/default.xml b/src/drivers/usr/usr_ls2/ls2-condor-c400r/default.xml
index 76e3bdc72..e7b20433c 100755
--- a/src/drivers/usr/usr_ls2/ls2-condor-c400r/default.xml
+++ b/src/drivers/usr/usr_ls2/ls2-condor-c400r/default.xml
@@ -19,12 +19,12 @@
 		<attnum name="min corner inverse" min="0" max="2" val="0.0013"/>
 		<attnum name="increase corner inverse" min="0" max="2" val="0.045"/>
 		<attnum name="add avoid speed" min="-20" max="20" val="0.0"/>
-		<attnum name="avoid speed factor" min="-20" max="20" val="0.80"/>
+		<attnum name="avoid speed factor" min="-20" max="20" val="0.76"/>
 		<attnum name="avoid brake factor" min="-20" max="20" val="0.82"/>
 		<attnum name="exit boost factor" min="-20" max="20" val="1.40"/>
 		<attnum name="avoid exit boost factor" min="-20" max="20" val="1.3"/>
 		<attnum name="brake margin" min="-20" max="20" val="1.0"/>
-		<attnum name="base speed factor" min="0.0" max="50.0" val="0.94"/>
+		<attnum name="base speed factor" min="0.0" max="50.0" val="0.90"/>
 		<attnum name="base brake factor" min="0.0" max="50.0" val="0.90"/>
 		<attnum name="base speed" min="0.0" max="50.0" val="12.00"/>
 		<attnum name="base brake" min="10.0" max="100.0" val="19.00"/>
@@ -48,7 +48,7 @@
 		<attnum name="int margin" min="0" max="3" val="1.7"/>
 		<attnum name="ext margin" min="0" max="2" val="1.3"/>
 		<attnum name="no team waiting" min="0" max="2" val="1"/>
-		<attnum name="inc factor" min="0" max="5" val="1.0"/>
+		<attnum name="inc factor" min="0" max="5" val="3.0"/>
 		<attnum name="overtake caution" min="-20" max="20" val="0.2"/>
 		<attnum name="tcl slip" min="0.5" max="8.5" val="4.0"/>
 		<attnum name="skid correction" min="0.0" max="8.5" val="0.5"/>