diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index f2d198338d..8ff39ceaeb 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -12,6 +12,14 @@ ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 
+def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
+  if val > val_steady + hyst_gap:
+    val_steady = val - hyst_gap
+  elif val < val_steady - hyst_gap:
+    val_steady = val + hyst_gap
+  return val_steady
+
+
 def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
                         unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
   if cur_but != unpressed:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 1614003e87..bc6c31e12c 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -9,7 +9,7 @@ from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
-from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
+from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -171,6 +171,12 @@ class CarInterfaceBase(ABC):
     else:
       self.v_ego_cluster_seen = True
 
+    # Many cars apply hysteresis to the ego dash speed
+    if self.CS is not None:
+      ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
+      if abs(ret.vEgo) < self.CS.cluster_min_speed:
+        ret.vEgoCluster = 0.0
+
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
@@ -272,6 +278,8 @@ class CarStateBase(ABC):
     self.right_blinker_cnt = 0
     self.left_blinker_prev = False
     self.right_blinker_prev = False
+    self.cluster_speed_hyst_gap = 0.0
+    self.cluster_min_speed = 0.0  # min speed before dropping to 0
 
     # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
     # R = 0.3