diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 082e7725d7..f72995d414 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -92,6 +92,7 @@ class LongControl:
       v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
     else:
       v_target = 0.0
+      v_target_now = 0.0
       v_target_1sec = 0.0
       a_target = 0.0
 
@@ -132,7 +133,6 @@ class LongControl:
                                      feedforward=a_target,
                                      freeze_integrator=freeze_integrator)
 
-
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
 
     return self.last_output_accel