diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index a7b563f6f..bb5a45bfc 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -90,7 +90,8 @@ LEAD_DEPART_ACCEL_HOLD_MIN_MODEL_PROB = 0.85
 LEAD_DEPART_ACCEL_HOLD_MIN_MODEL_ACCEL = 0.12
 LEAD_DEPART_ACCEL_HOLD_MAX_LEAD_BRAKE = 0.2
 LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL = 0.25
-LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL = 0.45
+LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL = 0.55
+LEAD_DEPART_ACCEL_ASSIST = 0.10
 LEAD_DEPART_ACCEL_HOLD_REUSE_MIN_GAP = 3.75
 LEAD_DEPART_ACCEL_HOLD_REUSE_MAX_CLOSING_SPEED = 0.45
 LEAD_DEPART_ACCEL_HOLD_REUSE_MAX_LEAD_BRAKE = 0.2
@@ -1418,7 +1419,8 @@ class LongitudinalPlanner:
                                 max(LEAD_DEPART_ACCEL_HOLD_FULL_LEAD_SPEED - LEAD_DEPART_ACCEL_HOLD_MIN_LEAD_SPEED, 0.1), 0.0, 1.0))
     accel_cap = LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL + (LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL - LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL) * np.clip(
       0.55 * lead_factor + 0.45 * gap_factor, 0.0, 1.0)
-    return min(accel_cap, max(float(model_desired_accel), LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL))
+    assisted_model_accel = float(model_desired_accel) + LEAD_DEPART_ACCEL_ASSIST
+    return min(accel_cap, max(assisted_model_accel, LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL))
 
   def get_reusable_lead_depart_accel_floor(self, lead, v_ego, t_follow):
     if self.lead_depart_accel_hold_floor is None or lead is None or not lead.status:
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index ab6c54e56..8a60e9e4e 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -1896,6 +1896,24 @@ def test_standstill_moving_lead_holds_depart_accel_floor_after_stop_release(mode
   assert outputs[4] >= 0.25
 
 
+def test_route_251682_rav4_confirmed_depart_adds_bounded_accel_assist():
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.0)
+  lead = make_lead(
+    status=True,
+    d_rel=7.7,
+    v_lead=2.0,
+    a_lead=1.79,
+    radar=False,
+    model_prob=1.0,
+  )
+
+  floor = planner.get_lead_depart_accel_floor(lead, v_ego=0.0, model_desired_accel=0.44)
+
+  assert 0.52 <= floor <= 0.54
+  assert floor <= longitudinal_planner_module.LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL
+
+
 @pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
 def test_standstill_depart_accel_hold_reuses_floor_through_softening_lead_delta(model_version):
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)