diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index ea05c00d35..80ce10380a 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vRel": float(lead_v_rel_pred),
     "vLead": float(v_ego + lead_v_rel_pred),
     "vLeadK": float(v_ego + lead_v_rel_pred),
-    "aLeadK": 0.0,
+    "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 1cdd551dd0..b73dfd1357 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b8595cc8351043a7c49b41e7c36f93ffd2e3dc6d
+8ecdfeb36e20e43a82e1ff7bec2c2f389e5d0723
\ No newline at end of file