diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 986c5349f5..de201303c8 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -5,7 +5,7 @@ from collections import deque, defaultdict
 import cereal.messaging as messaging
 from cereal import car, log
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, DT_MDL
+from openpilot.common.realtime import config_realtime_process, DT_MDL, DT_CTRL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -41,6 +41,73 @@ def slope2rot(slope):
   return np.array([[cos, -sin], [sin, cos]])
 
 
+MAX_SANE_LAG = 3.0
+MIN_HIST_LEN_SEC = 20
+MAX_HIST_LEN_SEC = 120
+
+
+class LagEstimator(ParameterEstimator):
+  def __init__(self, CP):
+    self.hist_len = int(MIN_HIST_LEN_SEC / DT_CTRL)
+    self.min_hist_len = int(MIN_HIST_LEN_SEC / DT_CTRL)
+    self.initial_lag = CP.steerActuatorDelay
+    self.current_lag = self.initial_lag
+
+    self.lat_active = False
+    self.steering_pressed = False
+    self.points = defaultdict(lambda: deque(maxlen=self.hist_len))
+
+  def correlation_lags(self, sig_len, dt):
+    return np.arange(-sig_len + 1, 1) * dt
+
+  def actuator_delay(self, expected_sig, actual_sig, dt, max_lag=MAX_SANE_LAG):
+    assert len(expected_sig) == len(actual_sig)
+    correlations = np.correlate(expected_sig, actual_sig, mode='full')
+    lags = self.correlation_lags(len(expected_sig), dt)
+
+    # only consider negative time shifts within the max_lag
+    n_frames_max_delay = int(max_lag / dt)
+    correlations = correlations[len(expected_sig) - n_frames_max_delay:len(expected_sig)]
+    lags = lags[len(expected_sig) - n_frames_max_delay:len(expected_sig)]
+
+    max_corr_index = np.argmax(correlations)
+
+    lag, corr = lags[max_corr_index], correlations[max_corr_index]
+    return lag, corr
+
+  def handle_log(self, t, which, msg) -> None:
+    if which == "carControl":
+      self.lat_active = msg.carControl.latActive
+    elif which == "carState":
+      self.steering_pressed = msg.carState.steeringPressed
+    elif which == "controlsState":
+      curvature = msg.controlsState.curvature
+      desired_curvature = msg.controlsState.desiredCurvature
+      if self.lat_active and not self.steering_pressed:
+        self.points['curvature'].append((t, curvature))
+        self.points['desired_curvature'].append((t, desired_curvature))
+
+  def get_msg(self, valid: bool, with_points: bool):
+    steer_actuation_delay = self.initial_lag
+    if len(self.points['curvature']) >= self.min_hist_len:
+      _, curvature = zip(*self.points['curvature'])
+      _, desired_curvature = zip(*self.points['desired_curvature'])
+      delay_curvature, _ = self.actuator_delay(curvature, desired_curvature, DT_CTRL)
+
+      steer_actuation_delay = (self.current_lag + delay_curvature) / 2.
+
+    self.current_lag = steer_actuation_delay
+
+    msg = messaging.new_message('liveActuatorDelay')
+    msg.valid = valid
+
+    liveActuatorDelay = msg.liveActuatorDelay
+    liveActuatorDelay.steerActuatorDelay = steer_actuation_delay
+    liveActuatorDelay.totalPoints = len(self.points['curvature'])
+
+    return msg
+
+
 class TorqueBuckets(PointBuckets):
   def add_point(self, x, y):
     for bound_min, bound_max in self.x_bounds: