diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index a6f895d0..bdd1b107 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -369,8 +369,13 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
-    if ret.vEgo < self.CP.minSteerSpeed:
+    if ret.vEgo < self.CP.minSteerSpeed and not self.disable_belowSteerSpeed:
       events.add(EventName.belowSteerSpeed)
+      self.belowSteerSpeed_shown = True
+
+    # Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver
+    if self.belowSteerSpeed_shown and ret.vEgo > self.CP.minSteerSpeed:
+      self.disable_belowSteerSpeed = True
 
     if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
       events.add(EventName.speedTooLow)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index ea59e3b3..b423803e 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -102,6 +102,9 @@ class CarInterfaceBase(ABC):
     # FrogPilot variables
     params = Params()
 
+    self.belowSteerSpeed_shown = False
+    self.disable_belowSteerSpeed = False
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
     if frogpilot_variables.sport_plus: