diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index f59a6cc0d6..fcebf1b564 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -107,7 +107,7 @@ class LongControl():
 
       # Toyota starts braking more when it thinks you want to stop
       # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
+      prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < v_target
       deadzone = interp(CS.vEgo, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
       freeze_integrator = prevent_overshoot