diff --git a/opendbc_repo b/opendbc_repo
index 22b8df68fb..adb6001649 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 22b8df68fb6d8aa197fb9b432a428da6dd96c98c
+Subproject commit adb6001649c0cc022873739187652b0014483dd3
diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py
index 8b4213fcb8..f7468cbe43 100644
--- a/selfdrive/selfdrived/helpers.py
+++ b/selfdrive/selfdrived/helpers.py
@@ -5,7 +5,8 @@ from cereal import car, messaging
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.helpers import Pose
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
-from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX, ISO_LATERAL_ACCEL
+from opendbc.car.lateral import ISO_LATERAL_ACCEL
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 
 MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
 MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)