diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index fe3ed9196f..442b6aa8ca 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -371,6 +371,15 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  radarTracks @5 :List(RadarTrack);
+  radarTracksActive @6 :Bool;
+
+  struct RadarTrack {
+    trackId @0 :UInt64;
+    dRel @1 :Float32;
+    yRel @2 :Float32;
+    vRel @3 :Float32;
+  }
 
   struct Param {
     key @0 :Text;
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 384152c71b..001e53cdec 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -60,6 +60,7 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
+  struct_dataclass.radarTracks = [structs.CarControlSP.RadarTrack(**track) for track in struct_dict.get('radarTracks', [])]
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
     **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
   )
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index c8d054243f..5cec3bf855 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -31,7 +31,7 @@ class ControlsExt(ModelStateBase):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
+    self.sm_services_ext = ['radarState', 'selfdriveStateSP', 'liveTracks']
     self.pm_services_ext = ['carControlSP']
 
   def initialize_lateral_control(self, lac, CI, dt):
@@ -91,6 +91,15 @@ class ControlsExt(ModelStateBase):
     self.get_lead_data(CC_SP.leadOne, sm['radarState'].leadOne)
     self.get_lead_data(CC_SP.leadTwo, sm['radarState'].leadTwo)
 
+    live_tracks = sm['liveTracks']
+    CC_SP.radarTracksActive = sm.valid['liveTracks'] and len(live_tracks.trackSources) > 0
+    radar_tracks = CC_SP.init('radarTracks', len(live_tracks.points) if CC_SP.radarTracksActive else 0)
+    for dst, src in zip(radar_tracks, live_tracks.points, strict=True):
+      dst.trackId = src.trackId
+      dst.dRel = src.dRel
+      dst.yRel = src.yRel
+      dst.vRel = src.vRel
+
     # MADS state
     mads_src = sm['selfdriveStateSP'].mads
     CC_SP.mads.state = mads_src.state