diff --git a/opendbc/car/ford/carcontroller.py b/opendbc/car/ford/carcontroller.py
index 91466825..df3b6111 100644
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -2,7 +2,7 @@ import math
 import numpy as np
 from opendbc.can import CANPacker
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
-from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
+from opendbc.car.lateral import AVERAGE_ROAD_ROLL, ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
 from opendbc.car.ford import fordcan
 from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
@@ -11,8 +11,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
 # CAN FD limits:
-# Limit to average banked road since safety doesn't have the roll
-AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll raises lateral acceleration
+# Limit to average banked road since safety doesn't have the roll, higher actual roll lowers lateral acceleration
 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~2.4 m/s^2
 
 
diff --git a/opendbc/car/lateral.py b/opendbc/car/lateral.py
index 5cc5f86c..46b521ab 100644
--- a/opendbc/car/lateral.py
+++ b/opendbc/car/lateral.py
@@ -1,26 +1,39 @@
 import math
 import numpy as np
 from dataclasses import dataclass
-from opendbc.car import structs, rate_limit, DT_CTRL
+from opendbc.car import structs, rate_limit, DT_CTRL, ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car.vehicle_model import VehicleModel
 
 FRICTION_THRESHOLD = 0.2
 
-# ISO 11270
+# - ISO 11270
 ISO_LATERAL_ACCEL = 3.0  # m/s^2
 ISO_LATERAL_JERK = 5.0  # m/s^3
 
+# - Common angle safety limits
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
 
+
+# TODO: deprecate in favor of vehicle-model-based limiting
+#  (need to solve cars having different steering ratios, etc.)
 @dataclass
 class AngleSteeringLimits:
-  # v1 limits (using apply_std_steer_angle_limits)
+  # uses apply_std_steer_angle_limits
   STEER_ANGLE_MAX: float
   ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]]
   ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]]
 
-  # v2 vehicle model limits (using apply_steer_angle_limits_vm)
-  MAX_LATERAL_ACCEL: float = 0
-  MAX_LATERAL_JERK: float = 0
+
+@dataclass
+class AngleSteeringLimitsVM:
+  # uses apply_steer_angle_limits_vm
+  # Max accepted by the EPS
+  STEER_ANGLE_MAX: float
+  # Add extra tolerance for average banked road since safety doesn't have the roll
+  MAX_LATERAL_ACCEL: float = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~3.6 m/s^2
+  # Lower than ISO 11270 lateral jerk limit (5.0 m/s^3) with bank tolerance, matches safety MAX_LATERAL_JERK
+  MAX_LATERAL_JERK: float = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~3.6 m/s^3
+  # Used for comfort or to prevent faults at low speed
   MAX_ANGLE_RATE: float = math.inf
 
 
diff --git a/opendbc/car/tesla/values.py b/opendbc/car/tesla/values.py
index fb018006..0acd3912 100644
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -1,7 +1,7 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
-from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.lateral import AngleSteeringLimitsVM
 from opendbc.car.structs import CarParams, CarState
 from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -106,23 +106,10 @@ GEAR_MAP = {
 }
 
 
-# Add extra tolerance for average banked road since safety doesn't have the roll
-AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
-
-
 class CarControllerParams:
-  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+  ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
     # EPAS faults above this angle
     360,  # deg
-    # Tesla uses a vehicle model instead, check carcontroller.py for details
-    ([], []),
-    ([], []),
-
-    # Vehicle model angle limits
-    # Add extra tolerance for average banked road since safety doesn't have the roll
-    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^2
-    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^3
-
     # limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
     MAX_ANGLE_RATE=5,  # deg/20ms frame, EPS faults at 12 at a standstill
   )