diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 02bd893eeb..d4cc71640f 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -104,8 +104,8 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
 
     if self.CP.carFingerprint in TSS2_CAR:
-      ret.leftBlindspot = cp.vl["BSM"]['L_ADJACENT'] == 1
-      ret.rightBlindspot = cp.vl["BSM"]['R_ADJACENT'] == 1
+      ret.leftBlindspot = (cp.vl["BSM"]['L_ADJACENT'] == 1) or (cp.vl["BSM"]['L_APPROACHING'] == 1)
+      ret.rightBlindspot = (cp.vl["BSM"]['R_ADJACENT'] == 1) or (cp.vl["BSM"]['R_APPROACHING'] == 1)
 
     return ret
 
@@ -173,7 +173,9 @@ class CarState(CarStateBase):
 
     if CP.carFingerprint in TSS2_CAR:
       signals += [("L_ADJACENT", "BSM", 0)]
+      signals += [("L_APPROACHING", "BSM", 0)]
       signals += [("R_ADJACENT", "BSM", 0)]
+      signals += [("R_APPROACHING", "BSM", 0)]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9de1069169..86f6ff0f56 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -183,10 +183,15 @@ class Controls:
 
     # Handle lane change
     if self.sm['pathPlan'].laneChangeState == LaneChangeState.preLaneChange:
-      if self.sm['pathPlan'].laneChangeDirection == LaneChangeDirection.left:
-        self.events.add(EventName.preLaneChangeLeft)
+      direction = self.sm['pathPlan'].laneChangeDirection
+      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
+         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        self.events.add(EventName.laneChangeBlocked)
       else:
-        self.events.add(EventName.preLaneChangeRight)
+        if direction == LaneChangeDirection.left:
+          self.events.add(EventName.preLaneChangeLeft)
+        else:
+          self.events.add(EventName.preLaneChangeRight)
     elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
                                         LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 805471903c..afa18ee207 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -206,8 +206,6 @@ EVENTS = {
 
   EventName.gasPressed: {ET.PRE_ENABLE: None},
 
-  EventName.laneChangeBlocked: {},
-
   # ********** events only containing alerts displayed in all states **********
 
   EventName.debugAlert: {
@@ -443,6 +441,14 @@ EVENTS = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
   },
 
+  EventName.laneChangeBlocked: {
+    ET.WARNING: Alert(
+      "Car Detected in Blindspot",
+      "Monitor Other Vehicles",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),
+  },
+
   EventName.laneChange: {
     ET.WARNING: Alert(
       "Changing Lane",
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 40e6c38002..bfe8597df6 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -114,6 +114,9 @@ class PathPlanner():
                        ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                         (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
+      blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
+                            (sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left))
+
       lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
 
       # State transitions
@@ -126,7 +129,7 @@ class PathPlanner():
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
-        elif torque_applied:
+        elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
       # starting
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 31fdb6ce07..de32dae9b2 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-12861083f7fdcfd2876d7f8102f1853a3248e2a7
\ No newline at end of file
+f0ff304da1765fd9cfd36d8c730f280315df91bf
\ No newline at end of file