diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index f13cd155f1d304..9ce8092e2b6f5c 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -8,7 +8,7 @@
 #include "common/util.h"
 #include "selfdrive/modeld/models/nav.h"
 
-constexpr int FEATURE_LEN = 128;
+constexpr int FEATURE_LEN = 512;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;