diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 7bd0abc115..8ee2b581bf 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -1,15 +1,20 @@
 import math
+import numpy as np
 
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
-
 class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
-    self.sat_check_min_speed = 5.
+    self.sat_check_min_speed = 5.0
+    # Initialize the filtered curvature to zero (or an appropriate initial value)
+    self.filtered_curvature = 0.0
+    # Filter coefficient: adjust between 0 (very smooth) and 1 (no filtering)
+    self.filter_speed_matrox = [0, 8.5, 11, 13.8, 22.22]
+    self.filter_alpha_matrix = [0.05, 0.1, 0.3, 0.6, 1]
 
   def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -19,11 +24,15 @@ class LatControlAngle(LatControl):
       angle_steers_des = float(CS.steeringAngleDeg)
     else:
       angle_log.active = True
-      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+      # Apply exponential smoothing to the curvature
+      adjusted_alpha = float(np.interp(CS.vEgo, self.filter_speed_matrox, self.filter_alpha_matrix))
+      self.filtered_curvature = (adjusted_alpha * desired_curvature + (1 - adjusted_alpha) * self.filtered_curvature)
+      # Convert the smoothed curvature to a steering angle
+      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-self.filtered_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
     angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
-    angle_log.steeringAngleDesiredDeg = angle_steers_des
+    angle_log.steeringAngleDesiredDeg = float(angle_steers_des)
     return 0, float(angle_steers_des), angle_log