diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
index e54d804280..a13fb67db8 100755
--- a/opendbc/car/honda/interface.py
+++ b/opendbc/car/honda/interface.py
@@ -207,7 +207,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
-    ret.radarDelay = 0.1
 
     return ret
 
diff --git a/opendbc/car/honda/radar_interface.py b/opendbc/car/honda/radar_interface.py
index 316838aa5d..a47cc70e7f 100755
--- a/opendbc/car/honda/radar_interface.py
+++ b/opendbc/car/honda/radar_interface.py
@@ -20,6 +20,8 @@ def __init__(self, CP):
     self.radar_off_can = CP.radarUnavailable
     self.radar_ts = CP.radarTimeStep
 
+    self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
+
     # Nidec
     if self.radar_off_can:
       self.rcp = None
diff --git a/opendbc/car/interfaces.py b/opendbc/car/interfaces.py
index 39819e511c..2f0a47909f 100644
--- a/opendbc/car/interfaces.py
+++ b/opendbc/car/interfaces.py
@@ -261,6 +261,7 @@ def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
+    self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
 
diff --git a/opendbc/car/structs.py b/opendbc/car/structs.py
index 425b60c620..bba40251ad 100644
--- a/opendbc/car/structs.py
+++ b/opendbc/car/structs.py
@@ -390,7 +390,6 @@ class LateralTorqueTuning:
   carFw: list['CarParams.CarFw'] = auto_field()
 
   radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
-  radarDelay: float = auto_field()
   fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can)
   # Where Panda/C2 is integrated into the car's CAN network
   networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera)