diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 736620d7e..c661172a8 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -44,6 +44,11 @@ VISION_LEAD_APPROACH_FULL_MODEL_PROB = 0.98
 VISION_LEAD_APPROACH_DEFICIT_MAX_DECEL = 1.30
 VISION_LEAD_APPROACH_DEFICIT_BUFFER_MIN = 3.0
 VISION_LEAD_APPROACH_DEFICIT_BUFFER_GAIN = 0.20
+VISION_LEAD_APPROACH_BRAKING_DEFICIT_MIN = 0.75
+VISION_LEAD_APPROACH_BRAKING_MIN_LEAD_BRAKE = 0.45
+VISION_LEAD_APPROACH_BRAKING_FULL_LEAD_BRAKE = 1.20
+VISION_LEAD_APPROACH_BRAKING_FLOOR_MIN_DECEL = 1.30
+VISION_LEAD_APPROACH_BRAKING_FLOOR_MAX_DECEL = 1.75
 VISION_UNTRACKED_SLOW_LEAD_MIN_MODEL_PROB = 0.9
 VISION_UNTRACKED_SLOW_LEAD_FULL_MODEL_PROB = 0.97
 VISION_UNTRACKED_SLOW_LEAD_MIN_CLOSING_SPEED = 3.0
@@ -396,6 +401,18 @@ class LongitudinalPlanner:
     deficit_decel = VISION_LEAD_APPROACH_DEFICIT_MAX_DECEL * deficit_factor * prob_factor
     deficit_decel *= 0.5 + 0.5 * closing_factor
     approach_decel = max(approach_decel, deficit_decel)
+
+    # If a tracked vision lead is already far inside the tight-follow window and
+    # it is actively braking, don't stay stuck at the softer comfort cap.
+    if deficit_factor >= VISION_LEAD_APPROACH_BRAKING_DEFICIT_MIN and lead_brake >= VISION_LEAD_APPROACH_BRAKING_MIN_LEAD_BRAKE:
+      braking_floor = float(np.interp(
+        lead_brake,
+        [VISION_LEAD_APPROACH_BRAKING_MIN_LEAD_BRAKE, VISION_LEAD_APPROACH_BRAKING_FULL_LEAD_BRAKE],
+        [VISION_LEAD_APPROACH_BRAKING_FLOOR_MIN_DECEL, VISION_LEAD_APPROACH_BRAKING_FLOOR_MAX_DECEL],
+      ))
+      braking_floor *= 0.85 + 0.15 * max(closing_factor, prob_factor)
+      approach_decel = max(approach_decel, braking_floor)
+
     if approach_decel < VISION_LEAD_APPROACH_MIN_DECEL:
       return None
 
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index 3ecc4beff..2d3bffa1f 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -228,6 +228,21 @@ def test_vision_lead_approach_cap_brakes_harder_when_inside_tight_gap():
   assert approach_cap < -0.5
 
 
+def test_vision_lead_approach_cap_brakes_harder_for_braking_tracked_lead_inside_tight_gap():
+  v_ego = 19.50
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  lead = make_lead(status=True, d_rel=19.7, v_lead=16.25, a_lead=-0.83, radar=False, model_prob=0.98)
+
+  hard_cap = planner.get_close_lead_brake_cap(lead, v_ego, -3.0)
+  approach_cap = planner.get_vision_lead_approach_cap(lead, v_ego, -3.0, 1.45)
+
+  assert hard_cap == pytest.approx(-1.01, abs=0.03)
+  assert approach_cap is not None
+  assert approach_cap < -1.35
+  assert approach_cap < hard_cap
+
+
 def test_vision_lead_approach_cap_ignores_opening_lead_with_large_gap():
   v_ego = 19.37
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)