diff --git a/system/ui/onroad/model_renderer.py b/system/ui/onroad/model_renderer.py
index a016f1cec6..44bd3f72ca 100644
--- a/system/ui/onroad/model_renderer.py
+++ b/system/ui/onroad/model_renderer.py
@@ -14,6 +14,8 @@ MAX_DRAW_DISTANCE = 100.0
 PATH_COLOR_TRANSITION_DURATION = 0.5  # Seconds for color transition animation
 PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS)
 
+MAX_POINTS = 200
+
 THROTTLE_COLORS = [
   rl.Color(13, 248, 122, 102),   # HSLF(148/360, 0.94, 0.51, 0.4)
   rl.Color(114, 255, 92, 89),    # HSLF(112/360, 1.0, 0.68, 0.35)
@@ -61,6 +63,11 @@ class ModelRenderer:
     self._transform_dirty = True
     self._clip_region = None
     self._rect = None
+
+    # Pre-allocated arrays for polygon conversion
+    self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32)
+    self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32)
+
     self._exp_gradient = {
       'start': (0.0, 1.0),  # Bottom of path
       'end': (0.0, 0.0),  # Top of path
@@ -140,10 +147,13 @@ class ModelRenderer:
     """Update positions of lead vehicles"""
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
     leads = [radar_state.leadOne, radar_state.leadTwo]
+
     for i, lead_data in enumerate(leads):
       if lead_data and lead_data.status:
         d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
         idx = self._get_path_length_idx(path_x_array, d_rel)
+
+        # Get z-coordinate from path at the lead vehicle position
         z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
         point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
         if point:
@@ -336,20 +346,22 @@ class ModelRenderer:
       return np.empty((0, 2), dtype=np.float32)
 
     # Slice points and filter non-negative x-coordinates
-    points = line[:max_idx + 1][line[:max_idx + 1, 0] >= 0]
+    points = line[:max_idx + 1]
+    points = points[points[:, 0] >= 0]
     if points.shape[0] == 0:
       return np.empty((0, 2), dtype=np.float32)
 
     # Create left and right 3D points in one array
     n_points = points.shape[0]
-    points_3d = np.empty((n_points * 2, 3), dtype=np.float32)
+    points_3d = self._temp_points_3d[:n_points * 2]
     points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
     points_3d[:n_points, 1] = points[:, 1] - y_off
     points_3d[n_points:, 1] = points[:, 1] + y_off
     points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
 
     # Single matrix multiplication for projections
-    proj = self._car_space_transform @ points_3d.T
+    proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2])  # Slice the pre-allocated array
+    np.dot(self._car_space_transform, points_3d.T, out=proj)
     valid_z = np.abs(proj[2]) > 1e-6
     if not np.any(valid_z):
       return np.empty((0, 2), dtype=np.float32)
@@ -390,15 +402,20 @@ class ModelRenderer:
 
   @staticmethod
   def _map_val(x, x0, x1, y0, y1):
-    x = max(x0, min(x, x1))
+    x = np.clip(x, x0, x1)
     ra = x1 - x0
     rb = y1 - y0
     return (x - x0) * rb / ra + y0 if ra != 0 else y0
 
   @staticmethod
   def _hsla_to_color(h, s, l, a):
-    r, g, b = [max(0, min(255, int(v * 255))) for v in colorsys.hls_to_rgb(h, l, s)]
-    return rl.Color(r, g, b, max(0, min(255, int(a * 255))))
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+        int(rgb[0] * 255),
+        int(rgb[1] * 255),
+        int(rgb[2] * 255),
+        int(a * 255)
+    )
 
   @staticmethod
   def _blend_colors(begin_colors, end_colors, t):