diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index 61c95518b..72069b679 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -13,7 +13,7 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHA
                                                                            get_jerk_factor, get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, Lead, get_max_accel
 
-from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MovingAverageCalculator
+from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import MovingAverageCalculator, calculate_lane_width
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, PROBABILITY
 
 GearShifter = car.CarState.GearShifter
@@ -43,6 +43,13 @@ class FrogPilotPlanner:
     lead_distance = self.lead_one.dRel
     stopping_distance = STOP_DISTANCE
 
+    if v_ego >= frogpilot_toggles.minimum_lane_change_speed:
+      self.lane_width_left = calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0])
+      self.lane_width_right = calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1])
+    else:
+      self.lane_width_left = 0
+      self.lane_width_right = 0
+
     self.set_acceleration(controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles)
     self.set_follow_values(controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)
     self.set_lead_status(lead_distance, stopping_distance, v_ego)
@@ -101,6 +108,9 @@ class FrogPilotPlanner:
     frogpilotPlan.speedJerkStock = float(J_EGO_COST * self.base_speed_jerk)
     frogpilotPlan.tFollow = float(self.t_follow)
 
+    frogpilotPlan.laneWidthLeft = self.lane_width_left
+    frogpilotPlan.laneWidthRight = self.lane_width_right
+
     frogpilotPlan.maxAcceleration = float(self.max_accel)
     frogpilotPlan.minAcceleration = float(self.min_accel)
 
diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_functions.py b/selfdrive/frogpilot/controls/lib/frogpilot_functions.py
index d81649894..ff7230463 100644
--- a/selfdrive/frogpilot/controls/lib/frogpilot_functions.py
+++ b/selfdrive/frogpilot/controls/lib/frogpilot_functions.py
@@ -2,6 +2,7 @@ import datetime
 import filecmp
 import glob
 import http.client
+import numpy as np
 import os
 import shutil
 import socket
@@ -50,6 +51,17 @@ def run_cmd(cmd, success_msg, fail_msg):
   except Exception as e:
     print(f"Unexpected error occurred: {e}")
 
+def calculate_lane_width(lane, current_lane, road_edge):
+  current_x, current_y = np.array(current_lane.x), np.array(current_lane.y)
+
+  lane_y_interp = interp(current_x, np.array(lane.x), np.array(lane.y))
+  road_edge_y_interp = interp(current_x, np.array(road_edge.x), np.array(road_edge.y))
+
+  distance_to_lane = np.mean(abs(current_y - lane_y_interp))
+  distance_to_road_edge = np.mean(abs(current_y - road_edge_y_interp))
+
+  return float(min(distance_to_lane, distance_to_road_edge))
+
 def backup_directory(backup, destination, success_msg, fail_msg):
   os.makedirs(destination, exist_ok=True)
   try: