diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index fa2da2c237..6628848ff7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -61,9 +61,9 @@ def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibra
   # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
   accel_valid = abs(CS.aEgo - accel_calibrated) < 2
 
-  excessive_actuation = (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2 or
-                         abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2)
-  counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0
+  excessive_long_actuation = sm['carControl'].longActive and accel_valid and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
+  excessive_lat_actuation = sm['carControl'].latActive and abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2
+  counter = counter + 1 if sm['carControl'].longActive and (excessive_long_actuation or excessive_lat_actuation) else 0
 
   return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT