diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3aaba59f91..fa6c49ee62 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -649,10 +649,8 @@ class Controls:
       self.LoC.reset()
 
     if not self.joystick_mode:
-      speeds = long_plan.speeds
-      resume = False
-      if len(speeds):
-        resume = self.enabled_long and CS.standstill and speeds[-1] > 0.1 and self.CP.carName == "hyundai"
+      a_lead = self.sm['radarState'].leadOne.aLeadK
+      resume = self.enabled_long and CS.standstill and a_lead > 0.1 and self.CP.carName == "hyundai"
 
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)