diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 86e2f0a72..75c5e4bb1 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -363,7 +363,7 @@ def main(demo=False):
     frame_id = sm["narrowRoadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
     model.lat_delay = lateral_delay_cache.get(sm["lateralDelay"].lateralDelay)
-    lat_delay = sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
     if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]