diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f2b2ddc98e..3704389304 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -709,8 +709,8 @@ class Controls:
     model_v2 = self.sm['modelV2']
     desire_prediction = model_v2.meta.desirePrediction
     if len(desire_prediction) and ldw_allowed:
-      right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
-      left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
+      right_lane_visible = model_v2.laneLineProbs[2] > 0.5
+      left_lane_visible = model_v2.laneLineProbs[1] > 0.5
       l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
       r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]