diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index ef6b869..05a07f4 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -96,7 +96,6 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
   alerts->updateAlert(alert);
 
@@ -115,6 +114,7 @@ void OnroadWindow::updateState(const UIState &s) {
 
   if (bg != bgColor) {
     bg = bgColor;
+    CameraWidget->updateLaneEdgeColor(bg);
     update();
   }
 }
@@ -636,20 +636,16 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     map_settings_btn->setVisible(!hideBottomIcons && compass && !scene.hide_map_icon);
     main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignTop);
   }
-
-  QColor bgColor = bg_colors[s.status];
-  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
-    bgColor = bg_colors[STATUS_DISENGAGED];
-  } 
-
-  if (bg != bgColor) {
-    bg = bgColor;
-    update();
-  }
-  
+ 
   updateFrogPilotWidgets();
 }
 
+void AnnotatedCameraWidget::updateLaneEdgeColor(QColor &bgColor) {
+if (bg != bgColor) {
+    bg = bgColor;
+  }
+}
+
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.save();
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 81eb3f7..c909420 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -168,6 +168,7 @@ class AnnotatedCameraWidget : public CameraWidget {
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
+  void updateLaneEdgeColor(QColor &bgColor);
 
   MapSettingsButton *map_settings_btn;
   MapSettingsButton *map_settings_btn_bottom;