diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 181a510..b6bdb77 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -472,7 +472,9 @@ class VCruiseCarrot:
         if self._soft_hold_active > 0:
           self._cruise_control(-1, -1, "Cruise off,softhold mode (decelCruise)")
         elif cruise_activated:
-          v_cruise_kph = self.v_ego_kph_set
+          v_cruise_kph = max(self.v_ego_kph_set, self._cruise_speed_min)
+        elif self.v_ego_kph_set > v_cruise_kph + 2:
+          v_cruise_kph = max(self.v_ego_kph_set, self._cruise_speed_min)
         elif self._cruise_button_mode in [0, 1]:
           v_cruise_kph = button_kph
         elif self.v_ego_kph_set > self._cruise_speed_min and v_cruise_kph > self.v_ego_kph_set: