diff --git a/README.md b/README.md
index 45fdfc5106..1aef3664a0 100644
--- a/README.md
+++ b/README.md
@@ -158,6 +158,7 @@ Community Maintained Cars and Features
 | Nissan    | Leaf 2018-19<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
 | Nissan    | Rogue 2019<sup>2</sup>        | Propilot          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2017<sup>2</sup>      | Propilot          | Stock            | 0mph               | 0mph         |
+| Subaru    | Ascent 2019                   | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Crosstrek 2018-19             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Forester 2019                 | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 3bc13c76e1..4a0438f620 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -28,6 +28,16 @@ class CarInterface(CarInterfaceBase):
     ret.steerRateCost = 0.7
     ret.steerLimitTimer = 0.4
 
+    if candidate == CAR.ASCENT:
+      ret.mass = 2031. + STD_CARGO_KG
+      ret.wheelbase = 2.89
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 13.5
+      ret.steerActuatorDelay = 0.3   # end-to-end angle controller
+      ret.lateralTuning.pid.kf = 0.00003
+      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
+
     if candidate == CAR.IMPREZA:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 791edcf6db..d31c5cfb08 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -5,10 +5,16 @@ from cereal import car
 Ecu = car.CarParams.Ecu
 
 class CAR:
+  ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   FORESTER = "SUBARU FORESTER 2019"
 
 FINGERPRINTS = {
+  CAR.ASCENT: [
+  # SUBARU ASCENT LIMITED 2019
+  {
+    2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
+  }],
   CAR.IMPREZA: [{
     2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
   },
@@ -27,6 +33,7 @@ FINGERPRINTS = {
 }
 
 STEER_THRESHOLD = {
+  CAR.ASCENT: 80,
   CAR.IMPREZA: 80,
   CAR.FORESTER: 80,
 }
@@ -36,6 +43,7 @@ ECU_FINGERPRINT = {
 }
 
 DBC = {
+  CAR.ASCENT: dbc_dict('subaru_global_2017', None),
   CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017', None),
 }
diff --git a/selfdrive/test/test_car_models.py b/selfdrive/test/test_car_models.py
index 40ff5d0352..f8e4e37454 100755
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -360,6 +360,10 @@ routes = {
     'carFingerprint': VOLKSWAGEN.GOLF,
     'enableCamera': True,
   },
+  "3c8f0c502e119c1c|2020-06-30--12-58-02": {
+    'carFingerprint': SUBARU.ASCENT,
+    'enableCamera': True,
+  },
   "c321c6b697c5a5ff|2020-06-23--11-04-33": {
     'carFingerprint': SUBARU.FORESTER,
     'enableCamera': True,