diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index f720897b67..8505802693 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -247,7 +247,7 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    if ret.cruiseState.standstill:
+    if ret.cruiseState.standstill and not ret.brakePressed:
       events.add(EventName.resumeRequired)
     if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
       events.add(EventName.lowSpeedLockout)