diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py
index d4521a899..e31766414 100644
--- a/starpilot/controls/starpilot_planner.py
+++ b/starpilot/controls/starpilot_planner.py
@@ -131,7 +131,7 @@ class StarPilotPlanner:
 
   def update_lead_status(self, stop_distance=STOP_DISTANCE):
     following_lead = self.lead_one.status
-    following_lead &= self.lead_one.dRel < self.model_length + max(float(stop_distance), 4.0)
+    following_lead &= self.lead_one.dRel < self.model_length + float(stop_distance)
 
     self.tracking_lead_filter.update(following_lead)
     return self.tracking_lead_filter.x >= THRESHOLD