diff --git a/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc b/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc
index c60da2c289..3ad3da4373 100644
--- a/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc
+++ b/opendbc/dbc/generator/toyota/toyota_rav4_prime.dbc
@@ -97,7 +97,7 @@ BO_ 375 PCM_CRUISE_3: 8 XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 387 ACC_CONTROL_2: 8 XXX
- SG_ ACCEL_CMD : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
  SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
  SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
diff --git a/opendbc/dbc/toyota_rav4_prime_generated.dbc b/opendbc/dbc/toyota_rav4_prime_generated.dbc
index 4d05d9f450..fb269f2430 100644
--- a/opendbc/dbc/toyota_rav4_prime_generated.dbc
+++ b/opendbc/dbc/toyota_rav4_prime_generated.dbc
@@ -100,7 +100,7 @@ BO_ 375 PCM_CRUISE_3: 8 XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
 
 BO_ 387 ACC_CONTROL_2: 8 XXX
- SG_ ACCEL_CMD : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
  SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
  SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
  SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX