diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index fb8b95ad7..7adddd44a 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -231,6 +231,13 @@ IONIQ_6_CENTER_TAPER_LAT = 0.07
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
+IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.22
+IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
+IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
+IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.03
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.10
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.08
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.24
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
@@ -706,7 +713,7 @@ def get_ioniq_6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: flo
                           turn_in_weight * low_speed_factor)
   unwind_taper = 1.0 - (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_TAPER_LEFT, IONIQ_6_UNWIND_TAPER_RIGHT) *
                          unwind_weight * (0.30 + 0.70 * low_speed_factor))
-  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+  return (1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))) * get_ioniq_6_directional_taper_scale(desired_lateral_accel, desired_lateral_jerk)
 
 
 def get_ioniq_6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
@@ -742,6 +749,22 @@ def get_ioniq_6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -
   return 1.0 - reduction
 
 
+def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_DIRECTIONAL_TAPER_LAT_START) / IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH)
+  cutoff = _ioniq_6_sigmoid((IONIQ_6_DIRECTIONAL_TAPER_LAT_END - abs_lateral_accel) / IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH)
+  band_weight = onset * cutoff
+  phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  unwind_weight = max(-phase, 0.0)
+  base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
+  unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
+  reduction = band_weight * (base_reduction + unwind_reduction * unwind_weight)
+  return max(1.0 - reduction, 0.70)
+
+
 def kia_ev6_lateral_testing_ground_active() -> bool:
   return testing_ground.use(KIA_EV6_LATERAL_TESTING_GROUND_ID, KIA_EV6_LATERAL_TESTING_GROUND_VARIANT)
 
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index f28612499..793d60577 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -31,6 +31,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
   get_genesis_g90_friction_scale,
   get_genesis_g90_friction_threshold,
   get_ioniq_6_center_taper_scale,
+  get_ioniq_6_directional_taper_scale,
   get_ioniq_6_ff_scale,
   get_ioniq_6_friction_scale,
   get_ioniq_6_friction_threshold,
@@ -210,9 +211,15 @@ class TestLatControl:
     assert get_ioniq_6_ff_scale(0.0, 0.0, 20.0) == 1.0
     assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
     assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
-    assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
+    assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
     assert get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < get_ioniq_6_ff_scale(0.4, 0.0, 20.0)
 
+  def test_ioniq_6_directional_taper_curve(self):
+    assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0
+    assert get_ioniq_6_directional_taper_scale(-0.5, 0.0) < get_ioniq_6_directional_taper_scale(0.5, 0.0) < 1.0
+    assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) < get_ioniq_6_directional_taper_scale(-0.5, 0.0)
+    assert get_ioniq_6_directional_taper_scale(1.2, 0.0) > 0.98
+
   def test_ioniq_6_friction_threshold_curve(self):
     base = get_friction_threshold(6.0)
     left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)