diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 97407775f3..a064a0b720 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -303,7 +303,11 @@ class CarState(object):
     self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
     self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
-
+    
+    # gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
+    if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
+      if self.user_brake > 0.05:
+        self.brake_pressed = 1
 
 # carstate standalone tester
 if __name__ == '__main__':