diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index c709145980cd0d..b39592422687a7 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -135,15 +135,57 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
     }
 
   } else {
-    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
+    updatePathGradient(bg);
   }
 
   painter.setBrush(bg);
   painter.drawPolygon(track_vertices);
 }
 
+void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
+  static const QColor throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
+      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
+
+  static const QColor no_throttle_colors[] = {
+      QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
+      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
+  };
+
+  // Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
+  constexpr float transition_speed = 0.1f;
+
+  // Start transition if throttle state changes
+  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle();
+  if (allow_throttle != prev_allow_throttle) {
+    prev_allow_throttle = allow_throttle;
+    // Invert blend factor for a smooth transition when the state changes mid-animation
+    blend_factor = std::max(1.0f - blend_factor, 0.0f);
+  }
+
+  const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
+  const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
+  if (blend_factor < 1.0f) {
+    blend_factor = std::min(blend_factor + transition_speed, 1.0f);
+  }
+
+  // Set gradient colors by blending the start and end colors
+  bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
+  bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
+  bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
+}
+
+QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
+  if (t == 1.0f) return end;
+  return QColor::fromRgbF(
+      (1 - t) * start.redF() + t * end.redF(),
+      (1 - t) * start.greenF() + t * end.greenF(),
+      (1 - t) * start.blueF() + t * end.blueF(),
+      (1 - t) * start.alphaF() + t * end.alphaF());
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index a0476d542ac986..739dbce1c480d5 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -20,9 +20,13 @@ class ModelRenderer {
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  void updatePathGradient(QLinearGradient &bg);
+  QColor blendColors(const QColor &start, const QColor &end, float t);
 
   bool longitudinal_control = false;
   bool experimental_mode = false;
+  float blend_factor = 1.0f;
+  bool prev_allow_throttle = false;
   float lane_line_probs[4] = {};
   float road_edge_stds[2] = {};
   QPolygonF track_vertices;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index b11330a046a097..b6ce6cb02e20f6 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -93,7 +93,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster>(std::vector<const char*>{
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState",
+    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));