diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 13f573b..e6677cb 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -879,16 +879,16 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
       QColor base_color = QColor::fromRgb(base_red, base_green, base_blue);
       float _h, _s, _l;
-      base_color.getHslF(&_h, &_s, &_l);
+      base_color.getHslF(&_h, &_s, &_l);  // Extracting HSL values from the base color
 
       // Calculate saturation and lightness based on acceleration
       float adjusted_saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f);
-      float adjusted_lightness = util::map_val(adjusted_saturation, 0.f, 1.f, 0.62f, 0.95f);
+      float adjusted_lightness = util::map_val(adjusted_saturation, 0.f, 1.f, _l, 0.95f); // Using base lightness as a starting point
 
       // Calculate dynamic alpha based on lin_grad_point
       float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, base_alpha, 0.f);
 
-      QColor final_color = QColor::fromHslF(h / 360.f, adjusted_saturation, adjusted_lightness, dynamic_alpha);
+      QColor final_color = QColor::fromHslF(_h / 360.f, adjusted_saturation, adjusted_lightness, dynamic_alpha);
       bg.setColorAt(lin_grad_point, final_color);
 
       i += (i + 2) < max_len ? 1 : 0;  // Skipping a point to optimize rendering