diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 2335f0885f..09e68faf90 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -81,7 +81,7 @@ class LongControl():
     if len(long_plan.speeds) == CONTROL_N:
       v_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.speeds)
       v_target_future = long_plan.speeds[-1]
-      a_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.accels)
+      a_target = 2 * (v_target - long_plan.speeds[0])/DEFAULT_LONG_LAG - long_plan.accels[0]
     else:
       v_target = 0.0
       v_target_future = 0.0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c832d7012d..c33901e2c7 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3e8037d39f40c59a2b9e86539e0952645b2cb3ea
\ No newline at end of file
+9f181202bbd6c64330bf4903ec265a179201057c
\ No newline at end of file