diff --git a/panda b/panda
index a140406a2e52de..2447aeb2545146 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a140406a2e52dedccf1ff0fee51f837762b2efa4
+Subproject commit 2447aeb25451460dbaee019b4e8d7d431c68114a
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 96722087d3ae1a..a7804520d42f7a 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -31,6 +31,8 @@ def __init__(self, dbc_name, CP, VM):
     self.last_button_frame = 0
     self.accel_last = 0
     self.motor2_frame = 0
+    self.AWV_brake = 0
+    self.AWV_enable = 0
 
     self.deviationBP = [-0.13, -0.1, -0.05, 0.]     # accel        (m/s squared)
     self.deviationV = [0., 0.08, 0.14, 0.15]        # comfort-band (m/s squared)
@@ -150,22 +152,24 @@ def update(self, CC, CS, now_nanos):
 
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
-      accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
-      accel_diff = (accel - self.accel_last) * 50
-      clip(accel_diff, self.rateLimitBP[0], self.rateLimitBP[3])
-      self.accel_diff_smoothed = (self.longSignalSmooth * accel_diff) + (1 - self.longSignalSmooth) * getattr(self, 'accel_diff_smoothed', 0)
-      deviation_lookup = interp(self.accel_diff_smoothed, self.deviationBP, self.deviationV)
-      ratelimit_lookup = interp(self.accel_diff_smoothed, self.rateLimitBP, self.ratelimitV)
-      self.long_deviation = (0.019 * deviation_lookup) + (1 - 0.019) * getattr(self, 'long_deviation', 0)  # 100 SMA equivalence
-      self.long_ratelimit = (0.007 * ratelimit_lookup) + (1 - 0.007) * getattr(self, 'long_ratelimit', 0)  # 250 SMA equivalence
-      self.long_deviation = self.long_deviation * interp(CS.out.vEgo, [0,4,7,8], [0,0,1,1])       #  1x - 0x interpolation for RegelAbw during FTS
-      # self.long_ratelimit = self.long_ratelimit * interp(CS.out.vEgo, [0,1,20,21], [.5,.5,1,1])   # .5x - 1x interpolation for AendGrad during 0-100kph
-      clip(self.long_deviation, self.deviationV[0], self.deviationV[3])
-      clip(self.long_ratelimit, self.ratelimitV[3], self.ratelimitV[0])
-      self.accel_last = self.accel_last if accel == self.CCP.ACCEL_MIN else accel
-
+      if self.CCS == pqcan and CC.longActive and (clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) <= 0) and CS.out.vEgoRaw <= 6:
+        accel = 0
+        if not self.AWV_enable:
+          self.AWV_enable = 1
+          self.AWV_brake = 0
+        else:
+          self.AWV_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
+      else:
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
+        self.AWV_enable = 0
+        self.AWV_brake = 0
+      self.long_deviation = 0  # TODO: make dynamic again
+      self.long_ratelimit = 4  # TODO: make dynamic again
+
+      if self.CCS == pqcan:
+        can_sends.append(self.CCS.create_awv_control(self.packer_pt, CANBUS.pt, self.AWV_brake, self.AWV_enable))
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, accel,
                                                          acc_control, stopping, starting, CS.esp_hold_confirmation,
                                                          self.long_deviation, self.long_ratelimit))
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 28adc88c33f698..500e76906d80ec 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -99,6 +99,17 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
 
   return commands
 
+def create_awv_control(packer, bus, apply_brake, enabled):
+
+  values = {
+    "AWV_1_Parameter": 1 if enabled else 0,
+    "ANB_Teilbremsung_Freigabe": enabled,
+    "ANB_Ziel_Teilbrems_Verz_Anf": apply_brake if enabled else 0,
+    "AWV_Halten": 0,  # Hold at stop, configure later? Not needed?
+  }
+
+  return packer.make_can_msg("AWV", bus, values)
+
 
 def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance, distance):
   values = {