diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index f96eaa904..8cc561be2 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -389,7 +389,7 @@ class CarController(CarControllerBase):
       if self.frame % 20 == 0 or send_ui:
         can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                                      hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
+                                                     hud_control.rightLaneDepart, CS.lkas_hud, lat_active))
 
       if (self.frame % 100 == 0 or send_ui) and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
         can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
diff --git a/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py b/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
index e2d8c713c..48b2b9ec6 100644
--- a/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
@@ -3,8 +3,10 @@ from types import SimpleNamespace
 from hypothesis import given, settings, strategies as st
 
 from opendbc.car import Bus
+from opendbc.can import CANPacker, CANParser
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
+from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, update_permit_braking
 from opendbc.car.toyota.fingerprints import FW_VERSIONS
 from opendbc.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
@@ -260,6 +262,30 @@ class TestToyotaCarController:
 
     assert controller.standstill_req is False
 
+  def test_ui_command_shows_aol_bars_when_lateral_active(self):
+    packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
+    parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("LKAS_HUD", 0)], 0)
+
+    msg = toyotacan.create_ui_command(packer, False, False, True, True, False, False, {}, True)
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["LKAS_HUD"]["BARRIERS"] == 1
+    assert parser.vl["LKAS_HUD"]["LEFT_LINE"] == 1
+    assert parser.vl["LKAS_HUD"]["RIGHT_LINE"] == 1
+
+  def test_ui_command_hides_lane_markers_when_lateral_inactive(self):
+    packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
+    parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("LKAS_HUD", 0)], 0)
+
+    msg = toyotacan.create_ui_command(packer, False, False, True, True, False, False, {}, False)
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["LKAS_HUD"]["BARRIERS"] == 0
+    assert parser.vl["LKAS_HUD"]["LEFT_LINE"] == 0
+    assert parser.vl["LKAS_HUD"]["RIGHT_LINE"] == 0
+
   def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
     controller = self._make_controller()
     controller.CP.enableGasInterceptorDEPRECATED = True
diff --git a/opendbc_repo/opendbc/car/toyota/toyotacan.py b/opendbc_repo/opendbc/car/toyota/toyotacan.py
index d4771a771..da2771a7b 100644
--- a/opendbc_repo/opendbc/car/toyota/toyotacan.py
+++ b/opendbc_repo/opendbc/car/toyota/toyotacan.py
@@ -110,13 +110,13 @@ def create_fcw_command(packer, fcw):
   return packer.make_can_msg("PCS_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, stock_lkas_hud, lat_active):
   values = {
     "TWO_BEEPS": chime,
     "LDA_ALERT": steer,
-    "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
-    "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
-    "BARRIERS": 1 if enabled else 0,
+    "RIGHT_LINE": 0 if not lat_active else 3 if right_lane_depart else 1 if right_line else 2,
+    "LEFT_LINE": 0 if not lat_active else 3 if left_lane_depart else 1 if left_line else 2,
+    "BARRIERS": 1 if lat_active else 0,
 
     # static signals
     "SET_ME_X02": 2,