diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index b77be714ba..9ca67fe3a5 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -188,7 +188,7 @@ class LateralPlanner():
     next_curvature = interp(delay, self.t_idxs[:MPC_N+1], self.mpc_solution.curvature)
     psi = interp(delay, self.t_idxs[:MPC_N+1], self.mpc_solution.psi)
     next_curvature_rate = self.mpc_solution.curvature_rate[0]
-    next_curvature_from_psi = psi/(v_ego*delay)
+    next_curvature_from_psi = psi/(max(v_ego, 1e-1) * delay)
     if psi > self.mpc_solution.curvature[0] * delay * v_ego:
       next_curvature = max(next_curvature_from_psi, next_curvature)
     else: