diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index e34ed50843..0c24f28f8c 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -57,30 +57,31 @@ class DesireHelper:
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed
-    # Cancel nudgeless lane change in any state under these conditions:
-    # - Brake is pressed
-    # - Driver is applying opposing steering torque.
 
-    # Reset canceled flag when blinker is off or driver applies torque
-    if not one_blinker or carstate.steeringPressed:
-      self.lane_change_canceled = False
-    # Cancel logic
-    cancel_lane_change = (carstate.brakePressed and frogpilot_toggles.nudgeless)
-    if self.lane_change_direction == LaneChangeDirection.left and (carstate.steeringPressed and carstate.steeringTorque < 0):
-      cancel_lane_change = frogpilot_toggles.nudgeless
-    elif self.lane_change_direction == LaneChangeDirection.right and (carstate.steeringPressed and carstate.steeringTorque > 0):
-      cancel_lane_change = frogpilot_toggles.nudgeless
+    if not below_lane_change_speed:
+      # Cancel nudgeless lane change in any state under these conditions:
+      # - Brake is pressed
+      # - Driver is applying opposing steering torque.
+      # Reset canceled flag when blinker is off or driver applies torque
+      if not one_blinker or carstate.steeringPressed:
+        self.lane_change_canceled = False
+      # Cancel logic
+      cancel_lane_change = (carstate.brakePressed and frogpilot_toggles.nudgeless)
+      if self.lane_change_direction == LaneChangeDirection.left and (carstate.steeringPressed and carstate.steeringTorque < 0):
+        cancel_lane_change = frogpilot_toggles.nudgeless
+      elif self.lane_change_direction == LaneChangeDirection.right and (carstate.steeringPressed and carstate.steeringTorque > 0):
+        cancel_lane_change = frogpilot_toggles.nudgeless
 
-    if cancel_lane_change or self.lane_change_canceled:
-      self.lane_change_state = LaneChangeState.off
-      self.lane_change_direction = LaneChangeDirection.none
-      self.lane_change_timer = 0.0
-      self.lane_change_ll_prob = 1.0
-      self.lane_change_completed = False
-      self.lane_change_canceled = True
-      self.desire = log.Desire.none
-      self.prev_one_blinker = one_blinker
-      return
+      if cancel_lane_change or self.lane_change_canceled:
+        self.lane_change_state = LaneChangeState.off
+        self.lane_change_direction = LaneChangeDirection.none
+        self.lane_change_timer = 0.0
+        self.lane_change_ll_prob = 1.0
+        self.lane_change_completed = False
+        self.lane_change_canceled = True
+        self.desire = log.Desire.none
+        self.prev_one_blinker = one_blinker
+        return
 
     if not (frogpilot_toggles.lane_detection and one_blinker) or below_lane_change_speed:
       lane_available = True