diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 7e6a126e47..e88a8fe11b 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -13,6 +13,7 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
 from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 MAX_SPEED = 255.0
 
@@ -122,6 +123,8 @@ class Planner():
     long_control_state = sm['controlsState'].longControlState
     v_cruise_kph = sm['controlsState'].vCruise
     force_slow_decel = sm['controlsState'].forceDecel
+
+    v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
     v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS
 
     lead_1 = sm['radarState'].leadOne