diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 4d04927b2f..3a5b55de66 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -195,7 +195,7 @@ class CarController:
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
-      elif CS.out.cruiseState.standstill:
+      elif CC.cruiseControl.override:  # TODO: add an ordinal or rename override
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
 
     else:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 67eaf1588b..1c67c3b054 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -646,6 +646,8 @@ class Controls:
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
+    if len(speeds := self.sm['longitudinalPlan'].speeds) > 1:
+      CC.cruiseControl.override = CS.cruiseState.standstill and speeds[-1] > self.CP.vEgoStarting
 
     hudControl = CC.hudControl
     hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)