diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8024fc24e5..71fe6b99dc 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -140,6 +140,7 @@ class Controls:
     self.enabled = False
     self.active = False
     self.can_rcv_error = False
+    self.brake_pressed_prev = False
     self.soft_disable_timer = 0
     self.v_cruise_kph = 255
     self.v_cruise_kph_last = 0
@@ -194,8 +195,9 @@ class Controls:
       return
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0
-    if (CS.gasPressed and self.active) or (CS.brakePressed and not CS.standstill):
+    if (CS.gasPressed and self.active) or (CS.brakePressed and (not self.brake_pressed_prev or not CS.standstill)):
       self.events.add(EventName.pedalPressed)
+    self.brake_pressed_prev = CS.brakePressed
 
     self.events.add_from_msg(CS.events)
     self.events.add_from_msg(self.sm['driverMonitoringState'].events)