diff --git a/frogpilot/controls/frogpilot_planner.py b/frogpilot/controls/frogpilot_planner.py
index 3392b9bc4..cafb04458 100644
--- a/frogpilot/controls/frogpilot_planner.py
+++ b/frogpilot/controls/frogpilot_planner.py
@@ -130,6 +130,8 @@ class FrogPilotPlanner:
 
     frogpilotPlan.frogpilotToggles = json.dumps(vars(frogpilot_toggles))
 
+    frogpilotPlan.increasedStoppedDistance = frogpilot_toggles.increase_stopped_distance
+
     frogpilotPlan.lateralCheck = self.lateral_check
 
     frogpilotPlan.maxAcceleration = float(self.frogpilot_acceleration.max_accel)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 736f7644f..66497c76b 100644
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -213,7 +213,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
              model_v_ego: float, model_data: capnp._DynamicStructReader,
-             frogpilot_toggles: SimpleNamespace,
+             frogpilot_plan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace,
              low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
@@ -246,6 +246,9 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   for track in tracks.values():
     track.leadTrackID = lead_dict.get('radarTrackId', -1)
 
+  if 'dRel' in lead_dict:
+    lead_dict['dRel'] -= frogpilot_plan.increasedStoppedDistance
+
   return lead_dict
 
 
@@ -323,8 +326,8 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], self.frogpilot_toggles, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], self.frogpilot_toggles, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=False)
 
     # FrogPilot variables
     if self.ready and (self.frogpilot_toggles.adjacent_lead_tracking or self.frogpilot_toggles.human_lane_changes):