diff --git a/generator/toyota/_toyota_2017.dbc b/generator/toyota/_toyota_2017.dbc
index 0d7b804..c0816c4 100644
--- a/generator/toyota/_toyota_2017.dbc
+++ b/generator/toyota/_toyota_2017.dbc
@@ -95,11 +95,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -252,7 +253,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/lexus_gs300h_2017_pt_generated.dbc b/lexus_gs300h_2017_pt_generated.dbc
index 61a52a6..5b0db79 100644
--- a/lexus_gs300h_2017_pt_generated.dbc
+++ b/lexus_gs300h_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/lexus_is_2018_pt_generated.dbc b/lexus_is_2018_pt_generated.dbc
index 1a09133..ae1ce9c 100644
--- a/lexus_is_2018_pt_generated.dbc
+++ b/lexus_is_2018_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/lexus_is_hybrid_2017_pt_generated.dbc b/lexus_is_hybrid_2017_pt_generated.dbc
index 25a35c6..2ef8e9b 100644
--- a/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/lexus_is_hybrid_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/lexus_rx_350_2016_pt_generated.dbc b/lexus_rx_350_2016_pt_generated.dbc
index cf69cd8..d9bbe57 100644
--- a/lexus_rx_350_2016_pt_generated.dbc
+++ b/lexus_rx_350_2016_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/lexus_rx_hybrid_2017_pt_generated.dbc b/lexus_rx_hybrid_2017_pt_generated.dbc
index 9faf9c0..5a11a94 100644
--- a/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_avalon_2017_pt_generated.dbc b/toyota_avalon_2017_pt_generated.dbc
index 60140fd..6e816ba 100644
--- a/toyota_avalon_2017_pt_generated.dbc
+++ b/toyota_avalon_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_camry_hybrid_2018_pt_generated.dbc b/toyota_camry_hybrid_2018_pt_generated.dbc
index 2fc7781..5ca190c 100644
--- a/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_corolla_2017_pt_generated.dbc b/toyota_corolla_2017_pt_generated.dbc
index b71c82e..322e3db 100644
--- a/toyota_corolla_2017_pt_generated.dbc
+++ b/toyota_corolla_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_highlander_2017_pt_generated.dbc b/toyota_highlander_2017_pt_generated.dbc
index f8a7a88..50fb1bb 100644
--- a/toyota_highlander_2017_pt_generated.dbc
+++ b/toyota_highlander_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_highlander_hybrid_2018_pt_generated.dbc b/toyota_highlander_hybrid_2018_pt_generated.dbc
index 389a926..038c306 100644
--- a/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_nodsu_hybrid_pt_generated.dbc b/toyota_nodsu_hybrid_pt_generated.dbc
index d18e98d..89056a2 100644
--- a/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/toyota_nodsu_hybrid_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_nodsu_pt_generated.dbc b/toyota_nodsu_pt_generated.dbc
index f262e0c..2488831 100644
--- a/toyota_nodsu_pt_generated.dbc
+++ b/toyota_nodsu_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_prius_2017_pt_generated.dbc b/toyota_prius_2017_pt_generated.dbc
index a280db0..85a8bab 100644
--- a/toyota_prius_2017_pt_generated.dbc
+++ b/toyota_prius_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_rav4_2017_pt_generated.dbc b/toyota_rav4_2017_pt_generated.dbc
index 5937d50..d739111 100644
--- a/toyota_rav4_2017_pt_generated.dbc
+++ b/toyota_rav4_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_rav4_hybrid_2017_pt_generated.dbc b/toyota_rav4_hybrid_2017_pt_generated.dbc
index 89dba47..f5af33b 100644
--- a/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
diff --git a/toyota_sienna_xle_2018_pt_generated.dbc b/toyota_sienna_xle_2018_pt_generated.dbc
index 2ef6d10..971da8e 100644
--- a/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/toyota_sienna_xle_2018_pt_generated.dbc
@@ -129,11 +129,12 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 643 PRE_COLLISION: 8 XXX
+BO_ 643 PRE_COLLISION: 7 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|16@0- (1,0) [0|255] "" XXX
- SG_ STATE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ BRAKE_STATUS: 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00_2 : 47|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
@@ -286,7 +287,8 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
 VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
 VAL_ 614 STATE 3 "enabled" 1 "disabled";
 VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
-VAL_ 643 STATE 0 "normal" 36 "slight_brake " 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
+VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";