diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index edc9e4855f..2f1fb10804 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -147,8 +147,9 @@ class CarState(CarStateBase):
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
+      scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1  # sometimes only SCC system shows an FCW
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
-      ret.stockFcw = aeb_warning and not aeb_braking
+      ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
       ret.stockAeb = aeb_warning and aeb_braking
 
     if self.CP.enableBsm: