diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index dd9343bda9da2f..0e47860da6dcee 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -427,12 +427,12 @@ def update(self, CS, CP, VM, PP, live20, live100, md, live_map_data):
 
     self.lead_1 = live20.live20.leadOne
     self.lead_2 = live20.live20.leadTwo
-    longitudinal_mpc = LongitudinalMpc()
+    
     try:
-      longitudinal_mpc.get_relative_velocity(self.lead_1.vRel)
+      LongitudinalMpc.get_relative_velocity(self.lead_1.vRel)
     except: #if no lead car
       try:
-        longitudinal_mpc.get_relative_velocity(0.0)
+        LongitudinalMpc.get_relative_velocity(0.0)
       except TypeError:
         None