diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index e4f6bccf6c..841c77f142 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -3,6 +3,8 @@ import bz2
 import math
 import json
 import os
+import pathlib
+import psutil
 import shutil
 import subprocess
 import time
@@ -151,6 +153,8 @@ class TestOnroad(unittest.TestCase):
       cls.segments = cls.segments[:-1]
 
     finally:
+      cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()}
+
       if proc is not None:
         proc.terminate()
         if proc.wait(60) is None:
@@ -296,6 +300,9 @@ class TestOnroad(unittest.TestCase):
     # expected to go up while the MSGQ buffers fill up
     self.assertLessEqual(max(mems) - min(mems), 3.0)
 
+  def test_gpu_usage(self):
+    self.assertEqual(self.gpu_procs, {"weston", "_ui", "mapsd", "camerad", "selfdrive.modeld.modeld"})
+
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"