diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index fc29aeb087..0593becba5 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -112,7 +112,7 @@ class LateralPlanner:
         self.last_cloudlog_t = t
         cloudlog.warning("Lateral mpc - nan: True")
 
-    if self.lat_mpc.cost > 20000. or mpc_nans:
+    if self.lat_mpc.cost > 1e6 or mpc_nans:
       self.solution_invalid_cnt += 1
     else:
       self.solution_invalid_cnt = 0