diff --git a/car.py b/car.py
index 68b2079..a1db562 100644
--- a/car.py
+++ b/car.py
@@ -3,7 +3,7 @@ import random
 import pygame
 
 from brain import Neural_Network
-from params import GY, CAR_MAX_SPEED, CAR_SIZE, CAR_STEERING_FACTOR, VISION_LENGTH, VISION_SPAN, THROTTLE_POWER, screen
+from params import GY, CAR_MAX_SPEED, CAR_MAX_FITNESS, CAR_SIZE, CAR_STEERING_FACTOR, VISION_LENGTH, VISION_SPAN, THROTTLE_POWER, screen
 from trigo import angle_to_vector, get_line_feats, segments_intersection, distance
 
 IMG = pygame.image.load("car20.png")#.convert()
@@ -21,7 +21,6 @@ class Car(pygame.sprite.Sprite):
         self.image = self.original_image
 
         self.rect = self.image.get_rect()
-        self.rect.center = (75, GY -50)
         self.vision_length = VISION_LENGTH # line liength
         self.vision_span = VISION_SPAN # degrees
         self.draw_sensors = True
@@ -50,8 +49,12 @@ class Car(pygame.sprite.Sprite):
         self.run = True
 
     def reset_car_pos(self):
+        self.rect.center = (
+                75 - int(random.random()*20) - 10, 
+                GY -50 - int(random.random()*20)-10
+                )
         self.speed = 1
-        self.heading = 0
+        self.heading = random.random() * 20
         self.heading_change = random.random() * 30
 
     def update_sensors(self):
@@ -99,7 +102,7 @@ class Car(pygame.sprite.Sprite):
 
     def probe_brain(self):
         res = self.brain.predict(np.array(self.probes))
-        self.heading_change = res[0] * 10
+        self.heading_change = res[0] * 15
         self.throttle = res[1] * 10 
 
 
@@ -110,7 +113,7 @@ class Car(pygame.sprite.Sprite):
         self.rect = self.image.get_rect()
         self.rect.center = old_center
         self.update_position()
-        if self.speed < 0.01 :
+        if self.speed < 0.01 or self.brain.fitness > CAR_MAX_FITNESS :
             self.run = False
             print(f'Car {id(self)} crashed')
         # print(
diff --git a/genetics.py b/genetics.py
index 6fde45b..5653284 100644
--- a/genetics.py
+++ b/genetics.py
@@ -1,6 +1,7 @@
 import numpy as np
 import random
 from brain import Neural_Network
+from params import MUTATION_RATE
 
 def genetic_selection(brains):
     # tot_fitness = sum ([int(b.fitness) for b in brains])
@@ -36,7 +37,7 @@ def cross_mutate_genes(p1_gene, p2_gene):
         else :
             choice = p2_gene[idx]
         # Mutation
-        if random.random() < 0.005 :
+        if random.random() < MUTATION_RATE :
             choice[random.randint(0, len(choice) - 1)] = random.random()
             print("Mutation !")
         child.append(choice)
diff --git a/maps.py b/maps.py
index dc8665e..0b03be3 100644
--- a/maps.py
+++ b/maps.py
@@ -7,8 +7,8 @@ def generate_map_1() :
         (int(GX/2 + 75),    int(GY-150)),
         (int(GX/2 + 150),   int(GY-150)),
         (int(GX -75),       int(GY/2)),
-        (int(GX/2),         int(GY/2 - 75)),
-        (int(GX/2),         int(GY/2 - 150)),
+        (int(GX - 100),         int(GY/2 - 75)),
+        (int(GX - 100),         int(GY/2 - 150)),
         (int(GX -50),       int( GY/4 )),
         (int(3*GX/4 - 50),  int(50)),
         (int(50),           int(50)),
@@ -22,8 +22,8 @@ def generate_map_1() :
         (int(GX/2 + 50),    int(GY-210)),
         (int(GX/2 + 110),   int(GY-210)),
         (int(GX - 170),     int(GY/2 + 30)),
-        (int(GX/2 - 60 ),   int(GY/2 - 20)),
-        (int(GX/2 - 60),    int(GY/2 - 200)),
+        (int(GX - 200 ),   int(GY/2 - 20)),
+        (int(GX - 200),    int(GY/2 - 200)),
         (int(GX -170),      int( GY/4 -20)),
         (int(3*GX/4 - 100), int(120)),
         (int(120),          int(120)),
diff --git a/params.py b/params.py
index e977ae4..7437585 100644
--- a/params.py
+++ b/params.py
@@ -7,12 +7,14 @@ GX                      = 1000
 GY                      = 1000
 CELL_COLOR              = (80,80,80)
 CAR_SIZE                = 20
-CAR_MAX_SPEED           = 7
+CAR_MAX_SPEED           = 6
+CAR_MAX_FITNESS         = 5000
 CAR_STEERING_FACTOR     = 10
-VISION_LENGTH           = 50
+VISION_LENGTH           = 60
 VISION_SPAN             = 35 # degrees
 THROTTLE_POWER          = 3
 
+MUTATION_RATE           = 0.01
 
 pygame.init()
 screen = pygame.display.set_mode((GX, GY), FLAGS)