diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cd6525949c..7cbcbc3d49 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import car
+from cereal import car, log
 from common.conversions import Conversions as CV
 from common.numpy_fast import clip, interp
 from common.realtime import DT_MDL
@@ -23,6 +23,8 @@ CAR_ROTATION_RADIUS = 0.0
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
 
+MAX_VEL_ERR = 5.0
+
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 CRUISE_LONG_PRESS = 50
@@ -200,3 +202,11 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   )
   friction = float(friction_interp) if friction_compensation else 0.0
   return friction
+
+
+def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
+  # ToDo: Try relative error, and absolute speed
+  if len(modelV2.temporalPose.trans):
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    return float(vel_err)
+  return 0.0
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 7230b5ad14..da6465ac24 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -4,7 +4,7 @@ from common.numpy_fast import interp
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
 from selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
 from cereal import log
@@ -51,6 +51,7 @@ class LateralPlanner:
   def update(self, sm):
     # clip speed , lateral planning is not possible at 0 speed
     measured_curvature = sm['controlsState'].curvature
+    v_ego_car = sm['carState'].vEgo
 
     # Parse model predictions
     md = sm['modelV2']
@@ -60,7 +61,7 @@ class LateralPlanner:
       self.plan_yaw = np.array(md.orientation.z)
       self.plan_yaw_rate = np.array(md.orientationRate.z)
       self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
-      car_speed = np.linalg.norm(self.velocity_xyz, axis=1)
+      car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
       self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
       self.v_ego = self.v_plan[0]
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index e959b14ee3..3089499687 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -11,7 +11,7 @@ from selfdrive.modeld.constants import T_IDXS
 from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from system.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
@@ -106,8 +106,7 @@ class LongitudinalPlanner:
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
-    if len(sm['modelV2'].temporalPose.trans):
-      self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego
+    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
 
     if force_slow_decel:
       v_cruise = 0.0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index da40d7f317..8e4d9f5afc 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8f4acbdd7e5ec131a6cfd34f59a2072e7ecc1099
\ No newline at end of file
+b4a208cb84a99eb15116d2a445c278b00275fdd5
\ No newline at end of file