diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e5c981aa6b..342ecc52fe 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -420,16 +420,6 @@ class Controls:
       if self.sm['liveLocationKalman'].excessiveResets:
         self.events.add(EventName.localizerMalfunction)
 
-    # Only allow engagement with brake pressed when stopped behind another stopped car
-    speeds = self.sm['longitudinalPlan'].speeds
-    if len(speeds) > 1:
-      v_future = speeds[-1]
-    else:
-      v_future = 100.0
-    if CS.brakePressed and v_future >= self.CP.vEgoStarting \
-      and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
-      self.events.add(EventName.noTarget)
-
   def data_sample(self):
     """Receive data from sockets and update carState"""