diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 04817ea576..a67ef53939 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -10,6 +10,7 @@ sunnypilot - 0.9.3.1 (2023-XX-XX)
   * This is only applicable to HKG CAN platforms using openpilot longitudinal control
 * NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
   * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
+* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 5 MPH or 8 km/h
 * DISABLED: Screen Recorder
   * UI sometimes crashes on startup along with screen recorder, will reimplement in future updates
 * REMOVED: Display CPU Temperature on Sidebar
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index ad5bb5b759..3fd25e206e 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -1,4 +1,5 @@
 import numpy as np
+from common.conversions import Conversions as CV
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
 from common.params import Params
@@ -106,7 +107,9 @@ class LateralPlanner:
       self.LP.lll_prob *= self.DH.lane_change_ll_prob
       self.LP.rll_prob *= self.DH.lane_change_ll_prob
 
-    if not self.get_dynamic_lane_profile(sm['longitudinalPlan']):
+    low_speed = v_ego_car < 10 * CV.MPH_TO_MS
+
+    if not self.get_dynamic_lane_profile(sm['longitudinalPlan']) and not low_speed:
       d_path_xyz = self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz)
       self.dynamic_lane_profile_status = False
     else: