diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index afa8cc2766..beba63a488 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -233,12 +233,18 @@ class CarState(CarStateBase):
     signals = [
       ("FORCE", "PRE_COLLISION"),
       ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
+      ("LANE_SWAY_TOGGLE", "LKAS_HUD"),
+      ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
+      ("LANE_SWAY_BUZZER", "LKAS_HUD"),
+      ("LANE_SWAY_FLD", "LKAS_HUD"),
+      ("LANE_SWAY_WARNING", "LKAS_HUD"),
     ]
 
     # use steering message to check if panda is connected to frc
     checks = [
       ("STEERING_LKA", 42),
       ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
+      ("LKAS_HUD", 1),
     ]
 
     if CP.carFingerprint != CAR.PRIUS_V: