diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 3ecf1ac2..cf895728 100644
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -105,7 +105,7 @@ def laplacian_pdf(x: float, mu: float, b: float):
   diff = abs(x - mu) / max(b, 1e-4)
   return 0.0 if diff > 50.0 else math.exp(-diff)
 
-def match_vision_to_track_carrot(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
   #vel_tolerance = 25.0 if lead.prob > 0.99 else 10.0
   max_vision_dist = max(offset_vision_dist * 1.25, 5.0)
@@ -165,7 +165,7 @@ def match_vision_to_track_carrot(v_ego: float, lead: capnp._DynamicStructReader,
       
   return best_track
 
-def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
+def match_vision_to_track_old(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track], radar_lat_factor = 0.0):
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
   #vel_tolerance = 25.0 if lead.prob > 0.99 else 10.0
   max_offset_vision_dist = max(offset_vision_dist * 0.35, 5.0)