diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 816933f2f..56eefb0f0 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -76,7 +76,7 @@ class CarController:
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.starting
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
-                                                         acc_control, stopping, starting, CS.out.cruiseState.standstill))
+                                                         acc_control, stopping, starting, CS.out.esp_hold_confirmation))
 
     # **** HUD Controls ***************************************************** #
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 2e43b6805..8669f28db 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -118,7 +118,8 @@ class CarState(CarStateBase):
       # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
-    ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
+    self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
+    ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
     ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index e0b6c8260..04d19ac93 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -56,7 +56,7 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return acc_control_value(main_switch_on, acc_faulted, long_active)
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill):
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   acc_06_values = {
@@ -75,7 +75,7 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
 
   if starting:
     acc_hold_type = 4  # hold release / startup
-  elif standstill:
+  elif esp_hold:
     acc_hold_type = 3  # hold standby
   elif stopping:
     acc_hold_type = 1  # hold request
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 30f3fcf62..0bcbf6abb 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -59,7 +59,7 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill):
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   values = {
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 476fa87fb..f72995d41 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -23,6 +23,7 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
 
   starting_condition = (v_target_1sec > CP.vEgoStarting and
                         accelerating and
+                        not cruise_standstill and
                         not brake_pressed)
   started_condition = v_ego > CP.vEgoStarting
 
@@ -44,7 +45,7 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
         long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.starting:
-      if planned_stop:
+      if stopping_condition:
         long_control_state = LongCtrlState.stopping
       elif started_condition:
         long_control_state = LongCtrlState.pid