diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 7bc38491a..15df9a30b 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -222,7 +222,7 @@ class CarController(object):
     if not self.dragon_lat_ctrl:
       apply_steer_req = 0
 
-    if CS.v_ego > 12.5 and (not self.dragon_lat_ctrl or not enabled):
+    if CS.v_ego > 12.5 and not enabled:
       if right_lane_depart and not CS.right_blinker_on:
         apply_steer = self.last_steer + 3
         apply_steer = min(apply_steer , 800)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 4c6398f10..171ff611f 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -197,7 +197,10 @@ class CarState(object):
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
 
     if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
-      self.pcm_acc_active = True
+      enable_acc = True
+      if not self.gear_shifter == 'drive' or not self.seatbelt or not self.door_all_closed:
+        enable_acc = False
+      self.pcm_acc_active = enable_acc
       if self.standstill:
         self.pcm_acc_status = 7
       else: