diff --git a/2017_toyota_ref.dbc b/2017_toyota_ref.dbc
index e67312f..f11e309 100644
--- a/2017_toyota_ref.dbc
+++ b/2017_toyota_ref.dbc
@@ -1636,11 +1636,3 @@ BO_ 1073743494 YGW1S05_0: 8 CGW
  SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX
  SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX
-
-BO_ 740 Steering_LKA: 8 XXX
-
-BO_ 166 Brake : 8 XXX
-
-BO_ 295 Gear_packet : 8 XXX
-
-BO_ 608 Steering_torque_sensor: 8 XXX
diff --git a/generator/toyota/_toyota_2017.dbc b/generator/toyota/_toyota_2017.dbc
index fbd5f4a..b100c18 100644
--- a/generator/toyota/_toyota_2017.dbc
+++ b/generator/toyota/_toyota_2017.dbc
@@ -95,7 +95,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -103,7 +103,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -130,6 +130,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -232,6 +235,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -255,8 +261,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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_ct200h_2018_pt_generated.dbc b/lexus_ct200h_2018_pt_generated.dbc
index a6f0a1b..8d38d1d 100644
--- a/lexus_ct200h_2018_pt_generated.dbc
+++ b/lexus_ct200h_2018_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 96fc1d8..d78b193 100644
--- a/lexus_gs300h_2017_pt_generated.dbc
+++ b/lexus_gs300h_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 89e0b87..e520f3a 100644
--- a/lexus_is_2018_pt_generated.dbc
+++ b/lexus_is_2018_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 1a29a7d..35a67bc 100644
--- a/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/lexus_is_hybrid_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 06e1077..1190b8f 100644
--- a/lexus_rx_350_2016_pt_generated.dbc
+++ b/lexus_rx_350_2016_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 b27a5b0..6cac415 100644
--- a/lexus_rx_hybrid_2017_pt_generated.dbc
+++ b/lexus_rx_hybrid_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 ab053aa..dccc3c6 100644
--- a/toyota_avalon_2017_pt_generated.dbc
+++ b/toyota_avalon_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 d66e0d6..2ffd2fc 100644
--- a/toyota_camry_hybrid_2018_pt_generated.dbc
+++ b/toyota_camry_hybrid_2018_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 4f75fc3..01f2df4 100644
--- a/toyota_corolla_2017_pt_generated.dbc
+++ b/toyota_corolla_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 7fa119c..7ebfef9 100644
--- a/toyota_highlander_2017_pt_generated.dbc
+++ b/toyota_highlander_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 c4dac2b..8f418bb 100644
--- a/toyota_highlander_hybrid_2018_pt_generated.dbc
+++ b/toyota_highlander_hybrid_2018_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 887b587..54b1263 100644
--- a/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/toyota_nodsu_hybrid_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 6802bc1..03ecee4 100644
--- a/toyota_nodsu_pt_generated.dbc
+++ b/toyota_nodsu_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 96f980c..c857613 100644
--- a/toyota_prius_2017_pt_generated.dbc
+++ b/toyota_prius_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 00cda18..7af870f 100644
--- a/toyota_rav4_2017_pt_generated.dbc
+++ b/toyota_rav4_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 6dafab2..54fe51d 100644
--- a/toyota_rav4_hybrid_2017_pt_generated.dbc
+++ b/toyota_rav4_hybrid_2017_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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 e06c48e..4c3272a 100644
--- a/toyota_sienna_xle_2018_pt_generated.dbc
+++ b/toyota_sienna_xle_2018_pt_generated.dbc
@@ -129,7 +129,7 @@ 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: 7 XXX
+BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
@@ -137,7 +137,7 @@ BO_ 643 PRE_COLLISION: 7 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_X003 : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ PCS_STATUS : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 740 STEERING_LKA: 5 XXX
@@ -164,6 +164,9 @@ BO_ 835 ACC_CONTROL: 8 DSU
  SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 921 PCM_CRUISE_SM: 8 XXX
  SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
  SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
@@ -266,6 +269,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
 CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
 CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
 CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
 CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
 CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
 CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
@@ -289,8 +295,7 @@ 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 BRAKE_STATUS  0 "normal" 9 "slight_brake" 132 "medium_brake" 140 "strong_brake";
-VAL_ 643 STATE 0 "normal" 1 "enginge_braking" 4 "braking";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_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";