diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index f6d328131b..347c16c86f 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -116,6 +116,7 @@ class CarController:
     self.brake_last = 0.
     self.apply_brake_last = 0
     self.last_pump_ts = 0.
+    self.stopping_counter = 0
 
     self.accel = 0.0
     self.speed = 0.0
@@ -217,8 +218,9 @@ class CarController:
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping
+          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        stopping, self.CP.carFingerprint))
+                                                        self.stopping_counter, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index b7c448d1d3..1fe0a13767 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -51,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -60,8 +60,8 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
   gas_command = gas if active and accel > min_gas_accel else -30000
   accel_command = accel if active else 0
   braking = 1 if active and accel < min_gas_accel else 0
-  standstill = 1 if active and stopping else 0
-  standstill_release = 1 if active and not stopping else 0
+  standstill = 1 if active and stopping_counter > 0 else 0
+  standstill_release = 1 if active and stopping_counter == 0 else 0
 
   # common ACC_CONTROL values
   acc_control_values = {
@@ -72,7 +72,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
   if car_fingerprint in HONDA_BOSCH_RADARLESS:
     acc_control_values.update({
       "CONTROL_ON": enabled,
-      "IDLESTOP_ALLOW": 0,  # disallows idle stop
+      "IDLESTOP_ALLOW": stopping_counter > 200,  # allow idle stop after 4 seconds (50 Hz)
     })
   else:
     acc_control_values.update({