diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d6319e48..01b88ce1 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,6 +15,7 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs']
 -   repo: https://github.com/PyCQA/flake8
     rev: master
     hooks:
diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py
index 85acca54..dc3d1f4b 100755
--- a/selfdrive/controls/lib/vehicle_model.py
+++ b/selfdrive/controls/lib/vehicle_model.py
@@ -14,9 +14,136 @@ A depends on longitudinal speed, u [m/s], and vehicle parameters CP
 """
 import numpy as np
 from numpy.linalg import solve
+from typing import Tuple
+from cereal import car
 
 
-def create_dyn_state_matrices(u, VM):
+class VehicleModel:
+  def __init__(self, CP: car.CarParams):
+    """
+    Args:
+      CP: Car Parameters
+    """
+    # for math readability, convert long names car params into short names
+    self.m = CP.mass
+    self.j = CP.rotationalInertia
+    self.l = CP.wheelbase
+    self.aF = CP.centerToFront
+    self.aR = CP.wheelbase - CP.centerToFront
+    self.chi = CP.steerRatioRear
+
+    self.cF_orig = CP.tireStiffnessFront
+    self.cR_orig = CP.tireStiffnessRear
+    self.update_params(1.0, CP.steerRatio)
+
+  def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
+    """Update the vehicle model with a new stiffness factor and steer ratio"""
+    self.cF = stiffness_factor * self.cF_orig
+    self.cR = stiffness_factor * self.cR_orig
+    self.sR = steer_ratio
+
+  def steady_state_sol(self, sa: float, u: float) -> np.ndarray:
+    """Returns the steady state solution.
+
+    If the speed is too small we can't use the dynamic model (tire slip is undefined),
+    we then have to use the kinematic model
+
+    Args:
+      sa: Steering wheel angle [rad]
+      u: Speed [m/s]
+
+    Returns:
+      2x1 matrix with steady state solution (lateral speed, rotational speed)
+    """
+    if u > 0.1:
+      return dyn_ss_sol(sa, u, self)
+    else:
+      return kin_ss_sol(sa, u, self)
+
+  def calc_curvature(self, sa: float, u: float) -> float:
+    """Returns the curvature. Multiplied by the speed this will give the yaw rate.
+
+    Args:
+      sa: Steering wheel angle [rad]
+      u: Speed [m/s]
+
+    Returns:
+      Curvature factor [1/m]
+    """
+    return self.curvature_factor(u) * sa / self.sR
+
+  def curvature_factor(self, u: float) -> float:
+    """Returns the curvature factor.
+    Multiplied by wheel angle (not steering wheel angle) this will give the curvature.
+
+    Args:
+      u: Speed [m/s]
+
+    Returns:
+      Curvature factor [1/m]
+    """
+    sf = calc_slip_factor(self)
+    return (1. - self.chi) / (1. - sf * u**2) / self.l
+
+  def get_steer_from_curvature(self, curv: float, u: float) -> float:
+    """Calculates the required steering wheel angle for a given curvature
+
+    Args:
+      curv: Desired curvature [1/m]
+      u: Speed [m/s]
+
+    Returns:
+      Steering wheel angle [rad]
+    """
+
+    return curv * self.sR * 1.0 / self.curvature_factor(u)
+
+  def get_steer_from_yaw_rate(self, yaw_rate: float, u: float) -> float:
+    """Calculates the required steering wheel angle for a given yaw_rate
+
+    Args:
+      yaw_rate: Desired yaw rate [rad/s]
+      u: Speed [m/s]
+
+    Returns:
+      Steering wheel angle [rad]
+    """
+    curv = yaw_rate / u
+    return self.get_steer_from_curvature(curv, u)
+
+  def yaw_rate(self, sa: float, u: float) -> float:
+    """Calculate yaw rate
+
+    Args:
+      sa: Steering wheel angle [rad]
+      u: Speed [m/s]
+
+    Returns:
+      Yaw rate [rad/s]
+    """
+    return self.calc_curvature(sa, u) * u
+
+
+def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
+  """Calculate the steady state solution at low speeds
+  At low speeds the tire slip is undefined, so a kinematic
+  model is used.
+
+  Args:
+    sa: Steering angle [rad]
+    u: Speed [m/s]
+    VM: Vehicle model
+
+  Returns:
+    2x1 matrix with steady state solution
+  """
+  K = np.zeros((2, 1))
+  K[0, 0] = VM.aR / VM.sR / VM.l * u
+  K[1, 0] = 1. / VM.sR / VM.l * u
+  return K * sa
+
+
+def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]:
   """Returns the A and B matrix for the dynamics system
 
   Args:
@@ -47,26 +174,7 @@ def create_dyn_state_matrices(u, VM):
   return A, B
 
 
-def kin_ss_sol(sa, u, VM):
-  """Calculate the steady state solution at low speeds
-  At low speeds the tire slip is undefined, so a kinematic
-  model is used.
-
-  Args:
-    sa: Steering angle [rad]
-    u: Speed [m/s]
-    VM: Vehicle model
-
-  Returns:
-    2x1 matrix with steady state solution
-  """
-  K = np.zeros((2, 1))
-  K[0, 0] = VM.aR / VM.sR / VM.l * u
-  K[1, 0] = 1. / VM.sR / VM.l * u
-  return K * sa
-
-
-def dyn_ss_sol(sa, u, VM):
+def dyn_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
   """Calculate the steady state solution when x_dot = 0,
   Ax + Bu = 0 => x = A^{-1} B u
 
@@ -87,109 +195,3 @@ def calc_slip_factor(VM):
   it's positive for Oversteering vehicle, negative (usual case) otherwise.
   """
   return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR)
-
-
-class VehicleModel():
-  def __init__(self, CP):
-    """
-    Args:
-      CP: Car Parameters
-    """
-    # for math readability, convert long names car params into short names
-    self.m = CP.mass
-    self.j = CP.rotationalInertia
-    self.l = CP.wheelbase
-    self.aF = CP.centerToFront
-    self.aR = CP.wheelbase - CP.centerToFront
-    self.chi = CP.steerRatioRear
-
-    self.cF_orig = CP.tireStiffnessFront
-    self.cR_orig = CP.tireStiffnessRear
-    self.update_params(1.0, CP.steerRatio)
-
-  def update_params(self, stiffness_factor, steer_ratio):
-    """Update the vehicle model with a new stiffness factor and steer ratio"""
-    self.cF = stiffness_factor * self.cF_orig
-    self.cR = stiffness_factor * self.cR_orig
-    self.sR = steer_ratio
-
-  def steady_state_sol(self, sa, u):
-    """Returns the steady state solution.
-
-    If the speed is too small we can't use the dynamic model (tire slip is undefined),
-    we then have to use the kinematic model
-
-    Args:
-      sa: Steering wheel angle [rad]
-      u: Speed [m/s]
-
-    Returns:
-      2x1 matrix with steady state solution (lateral speed, rotational speed)
-    """
-    if u > 0.1:
-      return dyn_ss_sol(sa, u, self)
-    else:
-      return kin_ss_sol(sa, u, self)
-
-  def calc_curvature(self, sa, u):
-    """Returns the curvature. Multiplied by the speed this will give the yaw rate.
-
-    Args:
-      sa: Steering wheel angle [rad]
-      u: Speed [m/s]
-
-    Returns:
-      Curvature factor [1/m]
-    """
-    return self.curvature_factor(u) * sa / self.sR
-
-  def curvature_factor(self, u):
-    """Returns the curvature factor.
-    Multiplied by wheel angle (not steering wheel angle) this will give the curvature.
-
-    Args:
-      u: Speed [m/s]
-
-    Returns:
-      Curvature factor [1/m]
-    """
-    sf = calc_slip_factor(self)
-    return (1. - self.chi) / (1. - sf * u**2) / self.l
-
-  def get_steer_from_curvature(self, curv, u):
-    """Calculates the required steering wheel angle for a given curvature
-
-    Args:
-      curv: Desired curvature [1/m]
-      u: Speed [m/s]
-
-    Returns:
-      Steering wheel angle [rad]
-    """
-
-    return curv * self.sR * 1.0 / self.curvature_factor(u)
-
-  def get_steer_from_yaw_rate(self, yaw_rate, u):
-    """Calculates the required steering wheel angle for a given yaw_rate
-
-    Args:
-      yaw_rate: Desired yaw rate [rad/s]
-      u: Speed [m/s]
-
-    Returns:
-      Steering wheel angle [rad]
-    """
-    curv = yaw_rate / u
-    return self.get_steer_from_curvature(curv, u)
-
-  def yaw_rate(self, sa, u):
-    """Calculate yaw rate
-
-    Args:
-      sa: Steering wheel angle [rad]
-      u: Speed [m/s]
-
-    Returns:
-      Yaw rate [rad/s]
-    """
-    return self.calc_curvature(sa, u) * u
diff --git a/selfdrive/debug/internal/test_paramsd.py b/selfdrive/debug/internal/test_paramsd.py
index 3553949a..fa8c31ef 100755
--- a/selfdrive/debug/internal/test_paramsd.py
+++ b/selfdrive/debug/internal/test_paramsd.py
@@ -4,6 +4,7 @@
 import numpy as np
 import math
 from tqdm import tqdm
+from typing import cast
 
 import seaborn as sns
 import matplotlib.pyplot as plt
@@ -34,7 +35,7 @@ speeds = 10 * np.sin(2 * np.pi * ts / 200.) + 25
 
 angle_offsets = math.radians(1.0) * np.ones_like(ts)
 angle_offsets[ts > 60] = 0
-steering_angles = np.radians(5 * np.cos(2 * np.pi * ts / 100.))
+steering_angles = cast(np.ndarray, np.radians(5 * np.cos(2 * np.pi * ts / 100.)))
 
 xs = []
 ys = []