diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ebfd0c734e..39687ab72a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -148,10 +148,7 @@ class Controls:
 
     CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
-
-    speeds = self.sm['longitudinalPlan'].speeds
-    if len(speeds):
-      CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+    CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
     hudControl = CC.hudControl
     hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)