diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 69eeb4f77f..3750c34f2b 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 and CS.cruiseState.speed > 1:
+    if CS.cruiseState.available:
       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)
@@ -53,6 +53,9 @@ class VCruiseHelper:
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
+        if CS.cruiseState.speed < 1e-3:
+          self.v_cruise_kph = V_CRUISE_UNSET
+          self.v_cruise_cluster_kph = V_CRUISE_UNSET
     else:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET