diff --git a/cereal/car.capnp b/cereal/car.capnp
index cfaa2238c..e80d64651 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -115,6 +115,7 @@ struct OnroadEvent @0x9b1657f34caf3ad3 {
     actuatorsApiUnavailable @120;
     espActive @121;
     personalityChanged @122;
+    aeb @123;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -371,6 +372,7 @@ struct CarControl {
       pid @1;
       stopping @2;
       starting @3;
+      emergencyBraking @4;
     }
   }
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index d9c922bb9..471e46b88 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -388,6 +388,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        priority=Priority.LOWEST),
   },
 
+  EventName.aeb: {
+    ET.PERMANENT: Alert(
+      "BRAKE!",
+      "Emergency Braking: Risk of Collision",
+      AlertStatus.critical, AlertSize.full,
+      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
+    ET.NO_ENTRY: NoEntryAlert("AEB: Risk of Collision"),
+  },
+
   EventName.stockAeb: {
     ET.PERMANENT: Alert(
       "BRAKE!",