diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 74cf1a38b..eec2bd5a6 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -225,20 +225,56 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   // current speed
   if (!(bigMapOpen || hideSpeed)) {
-    p.setFont(InterFont(176, QFont::Bold));
-    drawText(p, rect().center().x(), 210, speedStr);
-    p.setFont(InterFont(66));
-    drawText(p, rect().center().x(), 290, speedUnit, 200);
+    if (standstillDuration != 0) {
+      float transition = qBound(0.0f, standstillDuration / 120.0f, 1.0f);
+      QColor start, end;
+
+      if (standstillDuration <= 60) {
+        start = end = bg_colors[STATUS_ENGAGED];
+      } else if (standstillDuration <= 90) {
+        start = bg_colors[STATUS_ENGAGED];
+        end = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN];
+        transition = (standstillDuration - 60) / 30.0f;
+      } else if (standstillDuration <= 120) {
+        start = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN];
+        end = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE];
+        transition = (standstillDuration - 90) / 30.0f;
+      } else {
+        start = end = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE];
+        transition = 0.0f;
+      }
+
+      float red = start.redF() + transition * (end.redF() - start.redF());
+      float green = start.greenF() + transition * (end.greenF() - start.greenF());
+      float blue = start.blueF() + transition * (end.blueF() - start.blueF());
+
+      p.setPen(QPen(QColor::fromRgbF(red, green, blue)));
+
+      int minutes = standstillDuration / 60;
+      int seconds = standstillDuration % 60;
+
+      p.setFont(InterFont(176, QFont::Bold));
+      drawText(p, rect().center().x(), 210, minutes == 1 ? "1 minute" : QString("%1 minutes").arg(minutes), 255, true);
+      p.setFont(InterFont(66));
+      drawText(p, rect().center().x(), 290, QString("%1 seconds").arg(seconds));
+    } else {
+      p.setFont(InterFont(176, QFont::Bold));
+      drawText(p, rect().center().x(), 210, speedStr);
+      p.setFont(InterFont(66));
+      drawText(p, rect().center().x(), 290, speedUnit, 200);
+    }
   }
 
   p.restore();
 }
 
-void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha, bool overridePen) {
   QRect real_rect = p.fontMetrics().boundingRect(text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
 
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+  if (!overridePen) {
+    p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+  }
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
@@ -893,6 +929,17 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     drawSLCConfirmation(painter);
   }
 
+  bool stoppedTimer = scene.stopped_timer && scene.standstill && scene.started_timer / UI_FREQ >= 10;
+  if (stoppedTimer) {
+    if (!standstillTimer.isValid()) {
+      standstillTimer.start();
+    }
+    standstillDuration = standstillTimer.elapsed() / 1000.0;
+  } else {
+    standstillDuration = 0;
+    standstillTimer.invalidate();
+  }
+
   trafficModeActive = scene.traffic_mode_active;
 
   turnSignalLeft = scene.turn_signal_left;
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index f74290721..50a0400a7 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -63,7 +63,7 @@ public:
   MapSettingsButton *map_settings_btn_bottom;
 
 private:
-  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
+  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255, bool overridePen = false);
 
   QVBoxLayout *main_layout;
   ExperimentalButton *experimental_btn;
@@ -154,6 +154,7 @@ private:
   int desiredFollow;
   int obstacleDistance;
   int obstacleDistanceStock;
+  int standstillDuration;
   int stoppedEquivalence;
   int totalFrames;
 
@@ -170,6 +171,7 @@ private:
 
   std::vector<QPixmap> signalImgVector;
 
+  QElapsedTimer standstillTimer;
   QTimer *animationTimer;
 
   inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index eef9f939e..582ad6d4a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -425,6 +425,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.hide_speed = quality_of_life_visuals && params.getBool("HideSpeed");
   scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
   scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
+  scene.stopped_timer = quality_of_life_visuals && params.getBool("StoppedTimer");
 
   scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController");
   scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 25ca589dc..3c4f94d27 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -191,6 +191,7 @@ typedef struct UIScene {
   bool speed_limit_overridden;
   bool standstill;
   bool static_pedals_on_ui;
+  bool stopped_timer;
   bool tethering_enabled;
   bool traffic_mode;
   bool traffic_mode_active;
@@ -243,6 +244,7 @@ typedef struct UIScene {
   int model_length;
   int obstacle_distance;
   int obstacle_distance_stock;
+  int started_timer;
   int steering_angle_deg;
   int stopped_equivalence;
   int tethering_config;