diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 0e2a82bf2..3085a320a 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -104,6 +104,8 @@ class CarState(CarStateBase):
     self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"])
+
     self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint in RAM_CARS:
       self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"]
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 5bbbf7740..253a0ae93 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -274,6 +274,12 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
     # FrogPilot CarState functions
+    brake_light_cars = (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH,
+                        CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E)
+
+    if self.CP.carFingerprint in brake_light_cars or (self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS):
+      fp_ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else bool(ret.brake > 0.4)
+
     self.prev_distance_button = self.distance_button
     self.distance_button = self.cruise_setting == 3
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 4149dec39..a9663a9d9 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -190,6 +190,8 @@ class CarState(CarStateBase):
       self.main_enabled = not self.main_enabled
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"])
+
     fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
 
     self.prev_distance_button = self.distance_button
@@ -286,6 +288,8 @@ class CarState(CarStateBase):
                                           else cp_cam.vl["CAM_0x2a4"])
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["TCS"]["DriverBraking"])
+
     fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
 
     self.prev_distance_button = self.distance_button
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 9c96076ae..8553a3616 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -129,7 +129,10 @@ class CarState(CarStateBase):
     # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
     if self.car_fingerprint not in PREGLOBAL_CARS:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_DashStatus"]["Brake_Lights"])
       self.lkas_enabled = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"]
+    else:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_Brake"]["Cruise_Brake_Lights"])
 
     return ret, fp_ret
 
@@ -202,6 +205,7 @@ class CarState(CarStateBase):
       messages = [
         ("ES_DashStatus", 20),
         ("ES_Distance", 20),
+        ("ES_Brake", 20),
       ]
     else:
       messages = [
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index a9a9e6c96..4faa40019 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -209,6 +209,8 @@ class CarState(CarStateBase):
         self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"])
+
     self.cruise_decreased_previously = self.cruise_decreased
     self.cruise_decreased = self.pcm_acc_status == 10
     self.cruise_increased_previously = self.cruise_increased
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index db9c61243..4a6122093 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -154,6 +154,8 @@ class CarState(CarStateBase):
     self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
+
     self.prev_distance_button = self.distance_button
     self.distance_button = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
 
@@ -258,6 +260,8 @@ class CarState(CarStateBase):
     ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
 
     # FrogPilot CarState functions
+    fp_ret.brakeLights = bool(pt_cp.vl["Motor_2"]['Bremstestschalter'])
+
     self.prev_distance_button = self.distance_button
     self.distance_button = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
 
diff --git a/selfdrive/frogpilot/assets/other_images/brake_pedal.png b/selfdrive/frogpilot/assets/other_images/brake_pedal.png
new file mode 100644
index 000000000..9c0ee24d1
Binary files /dev/null and b/selfdrive/frogpilot/assets/other_images/brake_pedal.png differ
diff --git a/selfdrive/frogpilot/assets/other_images/gas_pedal.png b/selfdrive/frogpilot/assets/other_images/gas_pedal.png
new file mode 100644
index 000000000..754a0bbf7
Binary files /dev/null and b/selfdrive/frogpilot/assets/other_images/gas_pedal.png differ
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 37942a86b..32f44b86e 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -17,8 +17,21 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
+  QHBoxLayout *buttons_layout = new QHBoxLayout();
+  buttons_layout->setSpacing(0);
+
   experimental_btn = new ExperimentalButton(this);
-  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
+  buttons_layout->addWidget(experimental_btn);
+
+  QVBoxLayout *top_right_layout = new QVBoxLayout();
+  top_right_layout->setSpacing(0);
+  top_right_layout->addLayout(buttons_layout);
+
+  pedal_icons = new PedalIcons(this);
+  top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight);
+
+  main_layout->addLayout(top_right_layout, 0);
+  main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight);
 
   map_settings_btn = new MapSettingsButton(this);
   main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -642,6 +655,12 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom);
   }
 
+  bool enablePedalIcons = scene.pedals_on_ui;
+  pedal_icons->setVisible(enablePedalIcons);
+  if (enablePedalIcons) {
+    pedal_icons->updateState(scene);
+  }
+
   reverseCruise = scene.reverse_cruise;
 
   speedLimitController = scene.speed_limit_controller;
@@ -755,6 +774,56 @@ void Compass::paintEvent(QPaintEvent *event) {
   }
 }
 
+PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent) {
+  setFixedSize(btn_size, btn_size);
+
+  brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size));
+  gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size));
+}
+
+void PedalIcons::updateState(const UIScene &scene) {
+  acceleration = scene.acceleration;
+  brakeLightOn = scene.brake_lights_on;
+  dynamicPedals = scene.dynamic_pedals_on_ui;
+  standstill = scene.standstill;
+  staticPedals = scene.static_pedals_on_ui;
+
+  accelerating = acceleration > 0.25f;
+  decelerating = acceleration < -0.25f;
+
+  if (accelerating || decelerating) {
+    update();
+  }
+}
+
+void PedalIcons::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  int totalWidth = 2 * img_size;
+  int startX = (width() - totalWidth) / 2;
+
+  int brakeX = startX + img_size / 2;
+  int gasX = startX + img_size;
+
+  float brakeOpacity = 1.0f;
+  float gasOpacity = 1.0f;
+
+  if (dynamicPedals) {
+    brakeOpacity = standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
+    gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
+  } else if (staticPedals) {
+    brakeOpacity = standstill || brakeLightOn || acceleration < -0.5f ? 1.0f : 0.25f;
+    gasOpacity = !standstill && acceleration > 0 ? 1.0f : 0.25f;
+  }
+
+  p.setOpacity(brakeOpacity);
+  p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img);
+
+  p.setOpacity(gasOpacity);
+  p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img);
+}
+
 void AnnotatedCameraWidget::drawSLCConfirmation(QPainter &p) {
   p.save();
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index f8d28b9c4..d36789a61 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -29,6 +29,29 @@ private:
   QPixmap staticElements;
 };
 
+class PedalIcons : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit PedalIcons(QWidget *parent = 0);
+  void updateState(const UIScene &scene);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap brake_pedal_img;
+  QPixmap gas_pedal_img;
+
+  bool accelerating;
+  bool brakeLightOn;
+  bool decelerating;
+  bool dynamicPedals;
+  bool standstill;
+  bool staticPedals;
+
+  float acceleration;
+};
+
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
 
@@ -76,6 +99,7 @@ private:
 
   Compass *compass_img;
   DistanceButton *distance_btn;
+  PedalIcons *pedal_icons;
 
   QHBoxLayout *bottom_layout;
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 8f5c4e8e4..d9e9a11c5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -222,6 +222,8 @@ static void update_state(UIState *s) {
     scene.blind_spot_left = carState.getLeftBlindspot();
     scene.blind_spot_right = carState.getRightBlindspot();
     scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
+    scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    scene.standstill = carState.getStandstill() && !scene.reverse;
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -240,6 +242,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotCarState")) {
     auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState();
+    scene.brake_lights_on = frogpilotCarState.getBrakeLights();
     scene.traffic_mode_active = frogpilotCarState.getTrafficModeActive();
   }
   if (sm.updated("frogpilotPlan")) {
@@ -314,6 +317,9 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.adjacent_path_metrics = scene.adjacent_path && params.getBool("AdjacentPathMetrics");
   scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
   scene.compass = custom_onroad_ui && params.getBool("Compass");
+  scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI");
+  scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
+  scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
   scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 22a4043d0..778f49305 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -129,10 +129,12 @@ typedef struct UIScene {
   bool blind_spot_left;
   bool blind_spot_path;
   bool blind_spot_right;
+  bool brake_lights_on;
   bool compass;
   bool conditional_experimental;
   bool disable_smoothing_mtsc;
   bool disable_smoothing_vtsc;
+  bool dynamic_pedals_on_ui;
   bool enabled;
   bool experimental_mode;
   bool experimental_mode_via_screen;
@@ -142,6 +144,8 @@ typedef struct UIScene {
   bool online;
   bool onroad_distance_button;
   bool parked;
+  bool pedals_on_ui;
+  bool reverse;
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool right_hand_drive;
@@ -152,6 +156,8 @@ typedef struct UIScene {
   bool speed_limit_changed;
   bool speed_limit_controller;
   bool speed_limit_overridden;
+  bool standstill;
+  bool static_pedals_on_ui;
   bool tethering_enabled;
   bool traffic_mode;
   bool traffic_mode_active;