diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index e093b5e0d0..6d0f1e0c60 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -121,6 +121,9 @@ class Car:
     MadsParams().set_alternative_experience(self.CP)
     MadsParams().set_car_specific_params(self.CP)
 
+    # Dynamic Experimental Control
+    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -248,7 +251,7 @@ class Car:
     CS, RD = self.state_update()
 
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
-      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode,self.dynamic_experimental_control)
 
     self.state_publish(CS, RD)
 
@@ -263,6 +266,10 @@ class Car:
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+
+      # sunnypilot
+      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+
       time.sleep(0.1)
 
   def card_thread(self):
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index b92d0c7465..bd1bec39a3 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -120,12 +120,13 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
 
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last