diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index b1226440bb..07a500eb41 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -105,6 +105,7 @@ class CarInterface(CarInterfaceBase):
     ret.startingState = True
     ret.vEgoStarting = 0.1
     ret.startAccel = 1.8
+    ret.longitudinalActuatorDelay = 0.5
     ret.stoppingDecelRate = 10.0  # reach standstill quickly after entering stopping state
 
     if DBC[ret.carFingerprint]["radar"] is None: