diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 48fe8d2f7..569bb0e87 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -243,6 +243,8 @@ class CarInterfaceBase(ABC):
     self.is_gm = self.CP.carName == "gm"
     self.prev_distance_button = False
     self.resumeRequired_shown = False
+    self.traffic_mode_active = False
+    self.traffic_mode_changed = False
 
     self.gap_counter = 0
 
@@ -418,6 +420,7 @@ class CarInterfaceBase(ABC):
     # Add any additional frogpilotCarStates
     fp_ret.alwaysOnLateralDisabled = self.always_on_lateral_disabled
     fp_ret.distanceLongPressed = self.frogpilot_distance_functions(frogpilot_toggles)
+    fp_ret.trafficModeActive = frogpilot_toggles.traffic_mode and self.traffic_mode_active
 
     # copy back for next iteration
     if self.CS is not None:
@@ -515,7 +518,7 @@ class CarInterfaceBase(ABC):
     elif not self.prev_distance_button:
       self.gap_counter = 0
 
-    if self.gap_counter == CRUISE_LONG_PRESS * (1.5 if self.is_gm else 1) and frogpilot_toggles.experimental_mode_via_distance:
+    if self.gap_counter == CRUISE_LONG_PRESS * (1.5 if self.is_gm else 1) and frogpilot_toggles.experimental_mode_via_distance or self.traffic_mode_changed:
       if frogpilot_toggles.conditional_experimental_mode:
         conditional_status = self.params_memory.get_int("CEStatus")
         override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 1 if conditional_status >= 7 else 2
@@ -523,6 +526,11 @@ class CarInterfaceBase(ABC):
       else:
         experimental_mode = self.params.get_bool("ExperimentalMode")
         self.params.put_bool("ExperimentalMode", not experimental_mode)
+      self.traffic_mode_changed = False
+
+    if self.gap_counter == CRUISE_LONG_PRESS * 5 and frogpilot_toggles.traffic_mode:
+      self.traffic_mode_active = not self.traffic_mode_active
+      self.traffic_mode_changed = frogpilot_toggles.experimental_mode_via_distance
 
     self.prev_distance_button = distance_button
     return self.gap_counter >= CRUISE_LONG_PRESS
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 217fbe188..78f7ceb5e 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -193,6 +193,7 @@ class Controls:
     self.drive_added = False
     self.onroad_distance_pressed = False
     self.openpilot_crashed_triggered = False
+    self.previous_traffic_mode = False
     self.update_toggles = False
 
     self.display_timer = 0
@@ -420,7 +421,7 @@ class Controls:
         self.events.add(EventName.modeldLagging)
 
     # Update FrogPilot events
-    self.update_frogpilot_events(CS)
+    self.update_frogpilot_events(CS, self.sm['frogpilotCarState'])
 
   def data_sample(self):
     """Receive data from sockets"""
@@ -898,7 +899,7 @@ class Controls:
       e.set()
       t.join()
 
-  def update_frogpilot_events(self, CS):
+  def update_frogpilot_events(self, frogpilotCarState, CS):
     if not self.openpilot_crashed_triggered and os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
       self.events.add(EventName.openpilotCrashed)
       self.openpilot_crashed_triggered = True
@@ -906,6 +907,13 @@ class Controls:
     if self.sm.frame * DT_CTRL == 5.5 and self.CP.lateralTuning.which() == "torque" and self.CI.use_nnff:
       self.events.add(EventName.torqueNNLoad)
 
+    if frogpilotCarState.trafficModeActive != self.previous_traffic_mode:
+      if self.previous_traffic_mode:
+        self.events.add(EventName.trafficModeInactive)
+      else:
+        self.events.add(EventName.trafficModeActive)
+      self.previous_traffic_mode = frogpilotCarState.trafficModeActive
+
     if self.sm['modelV2'].meta.turnDirection == Desire.turnLeft:
       self.events.add(EventName.turningLeft)
     elif self.sm['modelV2'].meta.turnDirection == Desire.turnRight:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index bcb56bc83..83b34c86b 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -1010,6 +1010,22 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.PERMANENT: torque_nn_load_alert,
   },
 
+  EventName.trafficModeActive: {
+    ET.PERMANENT: Alert(
+      "Traffic Mode enabled",
+      "",
+      AlertStatus.frogpilot, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
+  },
+
+  EventName.trafficModeInactive: {
+    ET.PERMANENT: Alert(
+      "Traffic Mode Disabled",
+      "",
+      AlertStatus.frogpilot, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
+  },
+
   EventName.turningLeft: {
     ET.WARNING: Alert(
       "Turning left",
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index c11d541e6..ebd7b28c0 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -356,10 +356,10 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, x, v, a, j, t_follow, frogpilot_toggles, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, t_follow, trafficModeActive, frogpilot_toggles, personality=log.LongitudinalPersonality.standard):
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
-    increased_distance = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0)
+    increased_distance = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0) if not trafficModeActive else 0
 
     lead_xv_0 = self.process_lead(radarstate.leadOne, increased_distance)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4f479ba57..3d61166e1 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -145,7 +145,7 @@ class LongitudinalPlanner:
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune)
     self.mpc.update(sm['radarState'], sm['frogpilotPlan'].vCruise, x, v, a, j, sm['frogpilotPlan'].tFollow,
-                    frogpilot_toggles, personality=sm['controlsState'].personality)
+                    sm['frogpilotCarState'].trafficModeActive, frogpilot_toggles, personality=sm['controlsState'].personality)
 
     self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
diff --git a/selfdrive/frogpilot/assets/other_images/traffic.png b/selfdrive/frogpilot/assets/other_images/traffic.png
new file mode 100644
index 000000000..b59f7bc65
Binary files /dev/null and b/selfdrive/frogpilot/assets/other_images/traffic.png differ
diff --git a/selfdrive/frogpilot/assets/other_images/traffic_kaofui.png b/selfdrive/frogpilot/assets/other_images/traffic_kaofui.png
new file mode 100644
index 000000000..9930ea8bd
Binary files /dev/null and b/selfdrive/frogpilot/assets/other_images/traffic_kaofui.png differ
diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index d23810024..1cc7c2b30 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -27,6 +27,8 @@ A_CRUISE_MAX_VALS_ECO =        [1.4, 1.2, 1.0, 0.8, 0.6, 0.4, 0.2]
 A_CRUISE_MAX_VALS_SPORT =      [3.0, 2.5, 2.0, 1.0, 0.9, 0.8, 0.6]
 A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 1.0, 0.9, 0.8, 0.6]
 
+TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
+
 def get_max_accel_eco(v_ego):
   return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
 
@@ -64,7 +66,7 @@ class FrogPilotPlanner:
 
     driving_gear = carState.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
 
-    distance_offset = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0)
+    distance_offset = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0) if not frogpilotCarState.trafficModeActive else 0
     lead_distance = self.lead_one.dRel - distance_offset
     stopping_distance = STOP_DISTANCE + distance_offset
 
@@ -116,19 +118,25 @@ class FrogPilotPlanner:
       self.min_accel = A_CRUISE_MIN
 
   def set_follow_values(self, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles):
-    self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(
-      frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed,
-      frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed,
-      frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed,
-      frogpilot_toggles.custom_personalities, controlsState.personality
-    )
+    if frogpilotCarState.trafficModeActive:
+      self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_acceleration)
+      self.base_danger_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_danger)
+      self.base_speed_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_speed)
+      self.t_follow = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_t_follow)
+    else:
+      self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(
+        frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed,
+        frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed,
+        frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed,
+        frogpilot_toggles.custom_personalities, controlsState.personality
+      )
 
-    self.t_follow = get_T_FOLLOW(
-      frogpilot_toggles.aggressive_follow,
-      frogpilot_toggles.standard_follow,
-      frogpilot_toggles.relaxed_follow,
-      frogpilot_toggles.custom_personalities, controlsState.personality
-    )
+      self.t_follow = get_T_FOLLOW(
+        frogpilot_toggles.aggressive_follow,
+        frogpilot_toggles.standard_follow,
+        frogpilot_toggles.relaxed_follow,
+        frogpilot_toggles.custom_personalities, controlsState.personality
+      )
 
     if self.tracking_lead:
       self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 4cf77d4b0..e59dbf200 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -111,7 +111,11 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   int bottom_radius = has_eu_speed_limit ? 100 : 32;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-  p.setPen(QPen(whiteColor(75), 6));
+  if (trafficModeActive) {
+    p.setPen(QPen(redColor(), 10));
+  } else {
+    p.setPen(QPen(whiteColor(75), 6));
+  }
   p.setBrush(blackColor(166));
   drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
@@ -527,6 +531,8 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     distance_btn->updateState(scene);
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom);
   }
+
+  trafficModeActive = scene.traffic_mode_active;
 }
 
 void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index cf31b91d3..ce8d49b3f 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -60,6 +60,7 @@ private:
   bool onroadDistanceButton;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
+  bool trafficModeActive;
 
   float accelerationConversion;
   float distanceConversion;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b5322e9e0..11d4da0ec 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -225,6 +225,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotCarState")) {
     auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState();
+    scene.traffic_mode_active = frogpilotCarState.getTrafficModeActive();
   }
   if (sm.updated("frogpilotPlan")) {
     auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
@@ -298,6 +299,8 @@ void UIState::updateStatus() {
       status = STATUS_OVERRIDE;
     } else if (scene.always_on_lateral_active) {
       status = STATUS_ALWAYS_ON_LATERAL_ACTIVE;
+    } else if (scene.traffic_mode_active && scene.enabled) {
+      status = STATUS_TRAFFIC_MODE_ACTIVE;
     } else {
       status = scene.enabled ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 80ee915ce..02b74b0ae 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -60,6 +60,7 @@ typedef enum UIStatus {
   STATUS_CONDITIONAL_OVERRIDDEN,
   STATUS_EXPERIMENTAL_MODE_ACTIVE,
   STATUS_NAVIGATION_ACTIVE,
+  STATUS_TRAFFIC_MODE_ACTIVE,
 } UIStatus;
 
 enum PrimeType {
@@ -83,6 +84,7 @@ const QColor bg_colors [] = {
   [STATUS_CONDITIONAL_OVERRIDDEN] = QColor(0xff, 0xff, 0x00, 0xf1),
   [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1),
   [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1),
+  [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1),
 };
 
 
@@ -133,6 +135,8 @@ typedef struct UIScene {
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool tethering_enabled;
+  bool traffic_mode;
+  bool traffic_mode_active;
   bool use_kaofui_icons;
 
   int alert_size;