diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index e2d83033d6..69eeb4f77f 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -44,7 +44,7 @@ class VCruiseHelper:
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
-    if CS.cruiseState.available:
+    if CS.cruiseState.available and CS.cruiseState.speed > 1:
       if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 103d3f7047..d805d6e252 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -69,6 +69,7 @@ class LongitudinalPlanner:
     self.mpc = LongitudinalMpc(dt=dt)
     self.fcw = False
     self.dt = dt
+    self.enable_frames = 0
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -105,8 +106,13 @@ class LongitudinalPlanner:
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
     force_slow_decel = sm['controlsState'].forceDecel
 
+    if not long_control_off:
+      self.enable_frames += 1
+    else:
+      self.enable_frames = 0
+
     # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
+    reset_state = (long_control_off or self.enable_frames < 10) if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)