diff --git a/pkg/steering/corrector.go b/pkg/steering/corrector.go
index 6727256..f3362d1 100644
--- a/pkg/steering/corrector.go
+++ b/pkg/steering/corrector.go
@@ -53,22 +53,17 @@ func (c *Corrector) AdjustFromObjectPosition(currentSteering float64, objects []
 		return currentSteering
 	}
 
-	if currentSteering > 0.1 && currentSteering < 0.1 {
-
-		if nearest.Bottom < 0.4 {
-			// object is far, so no need to fix steering now
-			return currentSteering
-		}
+	if currentSteering > -0.1 && currentSteering < 0.1 {
 
 		var delta float64
 
 		if nearest.Left < 0 && nearest.Right < 0 {
-			delta, err = c.gridMap.ValueOf(currentSteering, float64(nearest.Right))
+			delta, err = c.gridMap.ValueOf(float64(nearest.Right)*2-1., float64(nearest.Bottom))
 		}
 		if nearest.Left > 0 && nearest.Right > 0 {
-			delta, err = c.gridMap.ValueOf(currentSteering, float64(nearest.Left))
+			delta, err = c.gridMap.ValueOf(float64(nearest.Left)*2-1., float64(nearest.Bottom))
 		} else {
-			delta, err = c.gridMap.ValueOf(currentSteering, float64(nearest.Left)+(float64(nearest.Right)-float64(nearest.Left))/2.)
+			delta, err = c.gridMap.ValueOf(float64(float64(nearest.Left)+(float64(nearest.Right)-float64(nearest.Left))/2.)*2.-1., float64(nearest.Bottom))
 		}
 		if err != nil {
 			zap.S().Warnf("unable to compute delta to apply to steering, skip correction: %v", err)
diff --git a/pkg/steering/corrector_test.go b/pkg/steering/corrector_test.go
index 79d94cd..cde7969 100644
--- a/pkg/steering/corrector_test.go
+++ b/pkg/steering/corrector_test.go
@@ -55,7 +55,7 @@ var (
 	}
 )
 
-func TestCorrector_FixFromObjectPosition(t *testing.T) {
+func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
 	type args struct {
 		currentSteering float64
 		objects         []*events.Object
@@ -120,7 +120,7 @@ func TestCorrector_FixFromObjectPosition(t *testing.T) {
 				currentSteering: 0.,
 				objects:         []*events.Object{&objectOnMiddleNear},
 			},
-			want: 0.5,
+			want: 1,
 		},
 		{
 			name: "run to left with 1 near object",
@@ -143,7 +143,9 @@ func TestCorrector_FixFromObjectPosition(t *testing.T) {
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
-			c := &Corrector{}
+			c := &Corrector{
+				gridMap: &defaultGridMap,
+			}
 			if got := c.AdjustFromObjectPosition(tt.args.currentSteering, tt.args.objects); got != tt.want {
 				t.Errorf("AdjustFromObjectPosition() = %v, want %v", got, tt.want)
 			}