diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index bee5e5636a..8cd3674970 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -82,7 +82,8 @@ class LongitudinalPlanner:
     self.dt = dt
 
     self.a_desired = init_a
-    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
+    v_ego_sec = 0.75 if CP.carName == "hyundai" else 2.0
+    self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt)
     self.v_model_error = 0.0
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)