diff --git a/car.capnp b/car.capnp
index e6476fb8e..af91986d4 100644
--- a/car.capnp
+++ b/car.capnp
@@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -142,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
   }
 }
 
diff --git a/log.capnp b/log.capnp
index 3e160b99b..d8f6fdd57 100644
--- a/log.capnp
+++ b/log.capnp
@@ -878,6 +878,7 @@ struct ModelDataV2 {
 
   # e2e lateral planner
   lateralPlannerSolution @25: LateralPlannerSolution;
+  action @26: Action;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -915,6 +916,9 @@ struct ModelDataV2 {
     desireState @5 :List(Float32);
     disengagePredictions @6 :DisengagePredictions;
     hardBrakePredicted @7 :Bool;
+    laneChangeState @8 :LaneChangeState;
+    laneChangeDirection @9 :LaneChangeDirection;
+
 
     # deprecated
     brakeDisengageProbDEPRECATED @2 :Float32;
@@ -956,6 +960,23 @@ struct ModelDataV2 {
     yawRateStd @7 :List(Float32);
   }
 
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
+
+  struct Action {
+    desiredCurvature @0 :Float32;
+  }
+
 }
 
 struct EncodeIndex {