diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
index c4cc20e..1044cc0 100644
--- a/selfdrive/ui/qt/maps/map_panel.cc
+++ b/selfdrive/ui/qt/maps/map_panel.cc
@@ -41,3 +41,8 @@ void MapPanel::toggleMapSettings() {
   emit mapPanelRequested();
   show();
 }
+
+void MapPanel::setVisible(bool visible) {
+  QFrame::setVisible(visible);
+  uiState()->scene.map_open = visible;
+}
diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h
index 190bb63..ed287b1 100644
--- a/selfdrive/ui/qt/maps/map_panel.h
+++ b/selfdrive/ui/qt/maps/map_panel.h
@@ -9,6 +9,7 @@ class MapPanel : public QFrame {
 
 public:
   explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr);
+  void setVisible(bool visible);
 
 signals:
   void mapPanelRequested();
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 75b3117..ba1748c 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -859,6 +859,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
 
   experimentalMode = scene.experimental_mode;
 
+  mapOpen = scene.map_open;
+
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
@@ -950,7 +952,7 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
 
   // Update status text
   if (alwaysOnLateralActive) {
-    newStatus = QString("Always On Lateral active. Press the \"Cruise Control\" button to disable");
+    newStatus = QString("Always On Lateral active") + (mapOpen ? "" : ". Press the \"Cruise Control\" button to disable");
   } else if (conditionalExperimental) {
     newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
   }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index b4f1fce..664d219 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -125,6 +125,7 @@ private:
   bool blindSpotRight;
   bool conditionalExperimental;
   bool experimentalMode;
+  bool mapOpen;
   bool turnSignalLeft;
   bool turnSignalRight;
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index bf0eea9..e8ce438 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -179,6 +179,7 @@ typedef struct UIScene {
   bool dynamic_path_width;
   bool enabled;
   bool experimental_mode;
+  bool map_open;
   bool model_ui;
   bool turn_signal_left;
   bool turn_signal_right;