diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 90b68586..e2797def 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -70,7 +70,7 @@ 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:
+        elif not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
       # LaneChangeState.laneChangeStarting