diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 88ce7ebb5..137526d49 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -96,8 +96,9 @@ class ParamsLearner:
       self.steering_angle = msg.steeringAngleDeg
       self.speed = msg.vEgo
 
+      complex_dynamics = abs(msg.aEgo) > 1.0 or abs(msg.steeringRateDeg) > 20
       in_linear_region = abs(self.steering_angle) < 45
-      self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region
+      self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region and not complex_dynamics
 
       if self.active:
         self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))