diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index db91dbd..c4cea30 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -40,6 +40,8 @@ class DesireHelper:
     self.desire = log.Desire.none
 
     # FrogPilot variables
+    self.lane_change_completed = False
+
     self.lane_change_wait_timer = 0
 
   def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
@@ -84,8 +86,9 @@ class DesireHelper:
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
-        elif torque_applied and not blindspot_detected and lane_available and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay:
+        elif torque_applied and not blindspot_detected and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay:
           self.lane_change_state = LaneChangeState.laneChangeStarting
+          self.lane_change_completed = True if frogpilot_toggles.one_lane_change else False
           self.lane_change_wait_timer = 0
 
       # LaneChangeState.laneChangeStarting
@@ -114,6 +117,7 @@ class DesireHelper:
     else:
       self.lane_change_timer += DT_MDL
 
+    self.lane_change_completed &= one_blinker
     self.prev_one_blinker = one_blinker
 
     self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]