diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index c769668..b806bfb 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -95,10 +95,28 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
     PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
 
   # lane lines
-  modelV2.init('laneLines', 4)
-  for i in range(4):
-    lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+  modelV2.init('laneLines', 6)
+  for i in range(6):
+    if i < 4:
+      lane_line = modelV2.laneLines[i]
+      fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+    else:
+      lane_line = modelV2.laneLines[i]
+      far_lane, near_lane, road_edge = (0, 1, 0) if i == 4 else (3, 2, 1)
+
+      y_min = net_output_data['lane_lines'][0, near_lane,:,0]
+      z_min = net_output_data['lane_lines'][0, near_lane,:,1]
+      lane_diff = np.abs(net_output_data['lane_lines'][0,near_lane] - net_output_data['lane_lines'][0,far_lane])
+      road_edge_diff = np.abs(net_output_data['lane_lines'][0,near_lane] - net_output_data['road_edges'][0,road_edge])
+
+      y_min += np.where(lane_diff[:,0] < road_edge_diff[:,0], net_output_data['lane_lines'][0,far_lane,:,0], net_output_data['road_edges'][0,road_edge,:,0])
+      z_min += np.where(lane_diff[:,1] < road_edge_diff[:,1], net_output_data['lane_lines'][0,far_lane,:,1], net_output_data['road_edges'][0,road_edge,:,1])
+
+      y_min /= 2
+      z_min /= 2
+
+      fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), y_min, z_min)
+
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()