diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 7296a28b11..31e193911e 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -102,11 +102,17 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
   return np.interp(v_ego, x_vel, y_dist)
 
 
+def get_stop_distance(v_ego):
+  v_ego = np.asarray(v_ego)
+  stop_distance = np.where(v_ego < 1.5, 8.0, STOP_DISTANCE)
+  return stop_distance
+
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
 def get_safe_obstacle_distance(v_ego, t_follow):
-  return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
+  stop_distance = get_stop_distance(v_ego)
+  return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_distance
 
 def desired_follow_distance(v_ego, v_lead, t_follow=None):
   if t_follow is None: