diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 22cdd8c631..295072d1ef 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -38,10 +38,12 @@ enum class SpeedLimitMode {
   OFF,
   INFORMATION,
   WARNING,
+  ASSIST,
 };
 
 inline const QString SpeedLimitModeTexts[]{
   QObject::tr("Off"),
   QObject::tr("Information"),
   QObject::tr("Warning"),
+  QObject::tr("Assist"),
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 6f48833611..848ae93934 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -28,6 +28,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::ASSIST)],
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index f83f450557..7ef7bbce55 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -56,8 +56,11 @@ private:
     QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
     QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
     QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
+    QString assist_str = tr("⦿ Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons.");
 
-    if (mode == SpeedLimitMode::WARNING) {
+    if (mode == SpeedLimitMode::ASSIST) {
+      assist_str = "<font color='white'><b>" + assist_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::WARNING) {
       warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
     } else if (mode == SpeedLimitMode::INFORMATION) {
       info_str = "<font color='white'><b>" + info_str + "</b></font>";
@@ -68,6 +71,7 @@ private:
     return QString("%1<br>%2<br>%3")
         .arg(off_str)
         .arg(info_str)
-        .arg(warning_str);
+        .arg(warning_str)
+        .arg(assist_str);
   }
 };