diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 275f4354fa..3b094cf4a2 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -16,7 +16,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.sunnypilot.selfdrive.controls.lib.dec_longitudinal_planner import DecLongitudinalPlanner
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec_longitudinal_planner import DecLongitudinalPlanner
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
diff --git a/sunnypilot/selfdrive/__init__.py b/sunnypilot/selfdrive/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/controls/__init__.py b/sunnypilot/selfdrive/controls/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/controls/lib/__init__.py b/sunnypilot/selfdrive/controls/lib/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/controls/lib/dec/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
similarity index 100%
rename from sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py
rename to sunnypilot/selfdrive/controls/lib/dec/dec.py
diff --git a/sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/dec/dec_longitudinal_planner.py
similarity index 92%
rename from sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py
rename to sunnypilot/selfdrive/controls/lib/dec/dec_longitudinal_planner.py
index 101da609a5..eb7a237422 100644
--- a/sunnypilot/selfdrive/controls/lib/dec_longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec_longitudinal_planner.py
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from cereal import messaging, custom
-from openpilot.sunnypilot.selfdrive.controls.lib.dynamic_experimental_controller import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 MpcSource = custom.LongitudinalPlanSP.MpcSource
 
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/dec/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/controls/lib/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
similarity index 99%
rename from sunnypilot/selfdrive/controls/lib/tests/pytest_dynamic_controller.py
rename to sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
index cbc161d8a4..af77639424 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/pytest_dynamic_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -1,4 +1,4 @@
-from openpilot.sunnypilot.selfdrive.controls.lib.dynamic_experimental_controller import (
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import (
   DynamicExperimentalController,
   TRAJECTORY_SIZE,
   LEAD_WINDOW_SIZE,