diff --git a/cereal b/cereal
index 29f4fe89ef..a057aed167 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 29f4fe89ef710ff86a5aeb998a357187d0619fb8
+Subproject commit a057aed16747d0e414145d83d4861c50315781ad
diff --git a/common/realtime.py b/common/realtime.py
index 4a37efadab..6ef27ed3a3 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -2,6 +2,7 @@
 import gc
 import os
 import time
+from collections import deque
 from typing import Optional, List, Union
 
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
@@ -59,6 +60,8 @@ class Ratekeeper:
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
+    self._dts = deque([self._interval], maxlen=100)
+    self._last_monitor_time = sec_since_boot()
 
   @property
   def frame(self) -> int:
@@ -68,6 +71,12 @@ class Ratekeeper:
   def remaining(self) -> float:
     return self._remaining
 
+  @property
+  def lagging(self) -> bool:
+    avg_dt = sum(self._dts) / len(self._dts)
+    expected_dt = self._interval * (1 / 0.9)
+    return avg_dt > expected_dt
+
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self) -> bool:
     lagged = self.monitor_time()
@@ -77,6 +86,10 @@ class Ratekeeper:
 
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    prev = self._last_monitor_time
+    self._last_monitor_time = sec_since_boot()
+    self._dts.append(self._last_monitor_time - prev)
+
     lagged = False
     remaining = self._next_frame_time - sec_since_boot()
     self._next_frame_time += self._interval
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ffc52cb3e2..958de45995 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -285,9 +285,11 @@ class Controls:
         self.events.add(EventName.relayMalfunction)
 
     # Check for HW or system issues
-    if len(self.sm['radarState'].radarErrors):
+    if self.rk.lagging:
+      self.events.add(EventName.controlsdLagging)
+    elif len(self.sm['radarState'].radarErrors):
       self.events.add(EventName.radarFault)
-    elif not self.sm.valid["pandaStates"]:
+    elif not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     elif not self.sm.all_checks() or self.can_rcv_error:
 
@@ -352,10 +354,11 @@ class Controls:
           # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
           self.events.add(EventName.noGps)
 
-      if not self.sm.all_alive(self.camera_packets):
-        self.events.add(EventName.cameraMalfunction)
-      elif not self.sm.all_freq_ok(self.camera_packets):
-        self.events.add(EventName.cameraFrameRate)
+      if not self.rk.lagging:
+        if not self.sm.all_alive(self.camera_packets):
+          self.events.add(EventName.cameraMalfunction)
+        elif not self.sm.all_freq_ok(self.camera_packets):
+          self.events.add(EventName.cameraFrameRate)
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 19620cbf4b..12a42a7e3c 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -695,6 +695,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"),
   },
 
+  EventName.controlsdLagging: {
+    ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"),
+    ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"),
+  },
+
   # Thrown when manager detects a service exited unexpectedly while driving
   EventName.processNotRunning: {
     ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),