diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 2a1b666efd..664e866636 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -77,7 +77,7 @@ class LatControlTorque(LatControl):
       low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
       setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor * error
+      error_lsf = error + low_speed_factor / self.torque_params.kp * error
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(error_lsf)