diff --git a/common/params.cc b/common/params.cc
index ecefe31..42102f6 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -311,8 +311,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SoftHoldMode", PERSISTENT},
     {"CarrotLatControl", PERSISTENT},
     {"LatMpcPathCost", PERSISTENT},
+    {"LatMpcPathCostTurn", PERSISTENT },
     {"LatMpcMotionCost", PERSISTENT},
-    {"LatMpcMotionCost2", PERSISTENT},
+    {"LatMpcMotionCostTurn", PERSISTENT},
     {"LatMpcAccelCost", PERSISTENT},
     {"LatMpcJerkCost", PERSISTENT},
     {"LatMpcSteeringRateCost", PERSISTENT},
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index 261e11f..a045975 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -131,6 +131,19 @@
       "default": 1,
       "unit": 10
     },
+    {
+      "group": "조향튜닝",
+      "name": "LatMpcPathCostTurn",
+      "title": "*LATMPC.PathCostTurn(200)",
+      "descr": "경로추종가중치, 높으면 경로우선시함.",
+      "egroup": "LAT",
+      "etitle": "*LATMPC.PathCostTurn(200)",
+      "edescr": "",
+      "min": 0,
+      "max": 500,
+      "default": 1,
+      "unit": 10
+    },
     {
       "group": "조향튜닝",
       "name": "LatMpcMotionCost",
@@ -146,11 +159,11 @@
     },
     {
       "group": "조향튜닝",
-      "name": "LatMpcMotionCost2",
-      "title": "*LATMPC.MotionCost2(11)",
+      "name": "LatMpcMotionCostTurn",
+      "title": "*LATMPC.MotionCostTurn(1)",
       "descr": "헤딩가중치",
       "egroup": "LAT",
-      "etitle": "*LATMPC.MotionCost2(11)",
+      "etitle": "*LATMPC.MotionCostTurn(1)",
       "edescr": "",
       "min": 0,
       "max": 500,
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index edf62cf..2f4dcbe 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -81,15 +81,16 @@ class LateralPlanner:
     self.lat_mpc.reset(x0=self.x0)
 
   def update(self, sm):
-    global PATH_COST, LATERAL_ACCEL_COST, LATERAL_JERK_COST, STEERING_RATE_COST
+    global LATERAL_ACCEL_COST, LATERAL_JERK_COST, STEERING_RATE_COST
     self.readParams -= 1
     if self.readParams <= 0:
       self.readParams = 100
       self.useLaneLineSpeedApply = self.params.get_int("UseLaneLineSpeedApply")
       self.pathOffset = float(self.params.get_int("PathOffset")) * 0.01
-      PATH_COST = self.params.get_float("LatMpcPathCost") * 0.01
+      self.lateralPathCost = self.params.get_float("LatMpcPathCost") * 0.01
+      self.lateralPathCostTurn = self.params.get_float("LatMpcPathCostTurn") * 0.01
       self.lateralMotionCost = self.params.get_float("LatMpcMotionCost") * 0.01
-      self.lateralMotionCost2 = self.params.get_float("LatMpcMotionCost2") * 0.01
+      self.lateralMotionCostTurn = self.params.get_float("LatMpcMotionCostTurn") * 0.01
       LATERAL_ACCEL_COST = self.params.get_float("LatMpcAccelCost") * 0.01
       LATERAL_JERK_COST = self.params.get_float("LatMpcJerkCost") * 0.01
       STEERING_RATE_COST = self.params.get_float("LatMpcSteeringRateCost")
@@ -138,15 +139,15 @@ class LateralPlanner:
       self.LP.lane_change_multiplier = 1.0
 
     lateral_motion_cost = self.lateralMotionCost
-    path_cost = PATH_COST
+    path_cost = self.lateralPathCost
     atc_type = sm['carrotMan'].atcType
     if atc_activate:
       if atc_type == "turn left" and (md.orientationRate.z[-1] > 0.1 or md.meta.desireState[1] > 0.1):
-        lateral_motion_cost = self.lateralMotionCost2
-        #path_cost *= 2
+        lateral_motion_cost = self.lateralMotionCostTurn
+        path_cost = self.lateralPathCostTurn
       elif atc_type == "turn right" and (md.orientationRate.z[-1] < -0.1 or md.meta.desireState[2] > 0.1):
-        lateral_motion_cost = self.lateralMotionCost2
-        #path_cost *= 2
+        lateral_motion_cost = self.lateralMotionCostTurn
+        path_cost = self.lateralPathCostTurn
 
     # lanelines calculation?
     self.LP.lanefull_mode = self.useLaneLineMode
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 04aa508..8beb64c 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -134,8 +134,9 @@ def get_default_params():
     ("LateralTorqueKf", "100"),
     ("LateralTorqueKd", "0"),
     ("LatMpcPathCost", "100"),
+    ("LatMpcPathCostTurn", "200"),
     ("LatMpcMotionCost", "11"),
-    ("LatMpcMotionCost2", "11"),
+    ("LatMpcMotionCostTurn", "1"),
     ("LatMpcAccelCost", "0"),
     ("LatMpcJerkCost", "4"),
     ("LatMpcSteeringRateCost", "700"),