diff --git a/selfdrive/controls/tests/test_starpilot_vcruise.py b/selfdrive/controls/tests/test_starpilot_vcruise.py
index 9f90c4f7b..afabe58df 100644
--- a/selfdrive/controls/tests/test_starpilot_vcruise.py
+++ b/selfdrive/controls/tests/test_starpilot_vcruise.py
@@ -522,14 +522,14 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
 
 def test_force_stop_reanchors_when_model_reopens_path_without_stop_action():
   planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
-  planner.model_length = 40.0
-  vcruise.tracked_model_length = 10.0
+  planner.model_length = 90.0
+  vcruise.tracked_model_length = 60.0
   sm = make_sm(standstill=False)
   sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
 
   result = update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
 
-  assert vcruise.tracked_model_length == pytest.approx(40.0)
+  assert vcruise.tracked_model_length == pytest.approx(90.0)
   assert result > 5.0
 
 
@@ -561,6 +561,18 @@ def test_santa_fe_force_stop_holds_through_low_speed_detector_dropout():
   assert result == pytest.approx(0.0)
 
 
+def test_force_stop_does_not_reanchor_inside_reanchor_floor():
+  planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
+  planner.model_length = 90.0
+  vcruise.tracked_model_length = 25.0
+  sm = make_sm(standstill=False)
+  sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
+
+  update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
+
+  assert vcruise.tracked_model_length < 25.0
+
+
 def test_force_stop_does_not_reanchor_committed_model_stop():
   planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
   planner.model_length = 40.0
diff --git a/starpilot/controls/lib/starpilot_vcruise.py b/starpilot/controls/lib/starpilot_vcruise.py
index b2664a081..0aa713a37 100644
--- a/starpilot/controls/lib/starpilot_vcruise.py
+++ b/starpilot/controls/lib/starpilot_vcruise.py
@@ -76,6 +76,7 @@ FORCE_STOP_TURN_VETO_STEERING_ANGLE = 25.0
 FORCE_STOP_CURVE_VETO_MAX_ROAD_CURVATURE = 0.003
 FORCE_STOP_TURN_VETO_STOP_SEEN_HOLD_TIME = 4.0
 FORCE_STOP_DISTANCE_REANCHOR_MIN_GAP = 3.0  # m — ignore small model-horizon noise
+FORCE_STOP_REANCHOR_MIN_M = 40.0
 
 # Knob bounds (mirror of UI slider; defense in depth)
 OFFSET_FT_MIN = -20
@@ -632,7 +633,7 @@ class StarPilotVCruise:
           model_wants_stop = False
         if (
           not dash_active and
-          self.tracked_model_length > force_stop_handoff_m and
+          self.tracked_model_length > max(force_stop_handoff_m, FORCE_STOP_REANCHOR_MIN_M) and
           not model_wants_stop and
           model_length > self.tracked_model_length + FORCE_STOP_DISTANCE_REANCHOR_MIN_GAP and
           (