diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1d0facd133..bcade327c6 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -43,10 +43,11 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p
 
 LAT_SMOOTH_SECONDS = 0.1
 LONG_SMOOTH_SECONDS = 0.3
+STATIONARY_LAT_SMOOTH_SECONDS = 100.0
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
                                                      plan[:,Plan.ACCELERATION][:,0],
@@ -55,7 +56,8 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
     desired_curvature = model_output['desired_curvature'][0, 0]
-    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    low_speed_smooth_seconds = np.interp(v_ego, [0, MIN_SPEED], [STATIONARY_LAT_SMOOTH_SECONDS, 0.0])
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS+low_speed_smooth_seconds)
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
                                   desiredAcceleration=float(desired_accel),
@@ -331,7 +333,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,