diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 1d7684e827a3bd..110c6def67f1d0 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -1,4 +1,3 @@
-import math
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
@@ -186,7 +185,7 @@ def update(self, sm):
     self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
 
     #  Check for infeasible MPC solution
-    mpc_nans = any(math.isnan(x) for x in self.lat_mpc.x_sol[:, 3])
+    mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
     t = sec_since_boot()
     if mpc_nans or self.lat_mpc.solution_status != 0:
       self.reset_mpc()