diff --git a/panda b/panda
index 6e4f1af2b9448e..7e9a83008dac8b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 6e4f1af2b9448e3dcc8f50d3750710f4a2ca65d5
+Subproject commit 7e9a83008dac8b590e9a6cd7e07ec2ac2b114387
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 68328cce10ecb7..aafba8ed319bdb 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -270,7 +270,7 @@ def update(self, CC, CS, now_nanos):
     # *** Below here is for OEM+ behavior modification of OEM ACC *** #
     # Modify Motor_2, Bremse_8, Bremse_11
     if VolkswagenFlags.PQ and not self.CP.openpilotLongitudinalControl:
-      stopped = CS.out.vEgoRaw == 0
+      stopped = CS.out.vEgoRaw == 0 and self.EPB_enable
 
       if CS.acc_sys_stock["COUNTER"] != self.acc_sys_counter_last:
         EPB_handler(self, CS.acc_sys_stock["ACS_Sta_ADR"], CS.acc_sys_stock["ACS_Sollbeschl"], CS.out.vEgoRaw)