diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 0e47860da6dcee..57ef6e56e612e6 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -429,10 +429,10 @@ def update(self, CS, CP, VM, PP, live20, live100, md, live_map_data):
     self.lead_2 = live20.live20.leadTwo
     
     try:
-      LongitudinalMpc.get_relative_velocity(self.lead_1.vRel)
+      LongitudinalMpc().get_relative_velocity(self.lead_1.vRel)
     except: #if no lead car
       try:
-        LongitudinalMpc.get_relative_velocity(0.0)
+        LongitudinalMpc().get_relative_velocity(0.0)
       except TypeError:
         None