diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 06970498d7..a10f1b26d1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -282,8 +282,10 @@ class Controls:
     for pandaState in self.sm['pandaStates']:
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)
+
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
-    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed
     if planner_fcw or model_fcw:
       self.events.add(EventName.fcw)