diff --git a/tests/safety/common.py b/tests/safety/common.py
index c0cf7219d..2754d73cf 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -536,9 +536,9 @@ class AngleSteeringSafetyTest(PandaSafetyTestBase):
 
   DEG_TO_CAN: int
 
-  ANGLE_DELTA_BP: List[float]
-  ANGLE_DELTA_V: List[float]  # windup limit
-  ANGLE_DELTA_VU: List[float]  # unwind limit
+  ANGLE_RATE_BP: List[float]
+  ANGLE_RATE_UP: List[float]  # windup limit
+  ANGLE_RATE_DOWN: List[float]  # unwind limit
 
   @classmethod
   def setUpClass(cls):
@@ -568,8 +568,8 @@ class AngleSteeringSafetyTest(PandaSafetyTestBase):
     angles = [-300, -100, -10, 0, 10, 100, 300]
     for a in angles:
       for s in speeds:
-        max_delta_up = np.interp(s, self.ANGLE_DELTA_BP, self.ANGLE_DELTA_V)
-        max_delta_down = np.interp(s, self.ANGLE_DELTA_BP, self.ANGLE_DELTA_VU)
+        max_delta_up = np.interp(s, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP)
+        max_delta_down = np.interp(s, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN)
 
         # first test against false positives
         self._reset_angle_measurement(a)
diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py
index bdd15f177..6c0fac119 100755
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -19,9 +19,9 @@ class TestNissanSafety(common.PandaSafetyTest, common.AngleSteeringSafetyTest):
   # Angle control limits
   DEG_TO_CAN = -100
 
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]  # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, .4]  # unwind limit
+  ANGLE_RATE_BP = [0., 5., 15.]
+  ANGLE_RATE_UP = [5., .8, .15]  # windup limit
+  ANGLE_RATE_DOWN = [5., 3.5, .4]  # unwind limit
 
   def setUp(self):
     self.packer = CANPackerPanda("nissan_x_trail_2017")
diff --git a/tests/safety/test_tesla.py b/tests/safety/test_tesla.py
index fffbfcf4d..97cc31846 100755
--- a/tests/safety/test_tesla.py
+++ b/tests/safety/test_tesla.py
@@ -71,9 +71,9 @@ class TestTeslaSteeringSafety(TestTeslaSafety, common.AngleSteeringSafetyTest):
   # Angle control limits
   DEG_TO_CAN = 10
 
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]  # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, .4]  # unwind limit
+  ANGLE_RATE_BP = [0., 5., 15.]
+  ANGLE_RATE_UP = [5., .8, .15]  # windup limit
+  ANGLE_RATE_DOWN = [5., 3.5, .4]  # unwind limit
 
   def setUp(self):
     self.packer = CANPackerPanda("tesla_can")