diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d3bc931b67..85b55697be 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -170,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 }
 
 
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@@ -463,19 +463,18 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (scene.end_to_end_long) {
     const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
     float acceleration_future = 0;
-    if (acceleration.getZ().size() > 16) {
-      acceleration_future = acceleration.getX()[16];  // 2.5 seconds
+    if (acceleration.getZ().size() > 10) {
+      acceleration_future = acceleration.getX()[10];  // 1.0 second
     }
-    start_hue = 60;
-    // speed up: 120, slow down: 0
-    end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0);
+    // speed up: 148, slow down: 0
+    start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0);
 
     // FIXME: painter.drawPolygon can be slow if hue is not rounded
-    end_hue = int(end_hue * 100 + 0.5) / 100;
+    start_hue = int(start_hue * 100 + 0.5) / 100;
 
     bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
+    bg.setColorAt(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35));
+    bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0));
   } else {
     const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
     float orientation_future = 0;
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 7edca6b3d5..1f6a49bf8c 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -87,6 +87,7 @@ protected:
 
   double prev_draw_t = 0;
   FirstOrderFilter fps_filter;
+  FirstOrderFilter accel_filter;
 };
 
 // container for all onroad widgets