diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 98fce1cb26..a5dd3400e3 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -5,13 +5,16 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log, car, custom
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
+from opendbc.car import structs
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 1.5
@@ -157,7 +160,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -167,6 +170,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
   elif (track is None) and ready and (lead_msg.prob > .5):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
@@ -182,8 +186,19 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   return lead_dict
 
 
+def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
+                    lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
+  if CP.brand == "hyundai" and CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC:
+    lead_dict['yRel'] = float(-lead_msg.y[0])
+
+  return lead_dict
+
+
 class RadarD:
-  def __init__(self, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
@@ -239,8 +254,8 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -260,11 +275,15 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
+  cloudlog.info("radard is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(Params().get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("radard got CarParamsSP")
+
   # *** setup messaging
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
-  RD = RadarD(CP.radarDelay)
+  RD = RadarD(CP, CP_SP, CP.radarDelay)
 
   while 1:
     sm.update()