diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index f1d1ee5..953704d 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -103,6 +103,8 @@ class CarState(CarStateBase):
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["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 9029f43..790cead 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -274,6 +274,14 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
     # FrogPilot carstate functions
+    brake_light_cars = (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_BOSCH,
+                        CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E)
+
+    if self.CP.carFingerprint in brake_light_cars:
+      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)
+    elif 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 ff282a8..17a80bf 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -186,6 +186,8 @@ 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
@@ -282,6 +284,8 @@ class CarState(CarStateBase):
                                           else cp_cam.vl["CAM_0x2a4"])
 
     # FrogPilot carstate functions
+    fp_ret.brakeLights = cp.vl["TCS"]["DriverBraking"] == 1
+
     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 8ce62dd..28f75ff 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -128,8 +128,11 @@ class CarState(CarStateBase):
 
     # FrogPilot carstate functions
     if self.car_fingerprint not in PREGLOBAL_CARS:
+      fp_ret.brakeLights = bool(cp_cam.vl["ES_DashStatus"]["Brake_Lights"])
       self.lkas_previously_enabled = self.lkas_enabled
       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
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 99d9e1e..c7843e2 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -208,6 +208,8 @@ 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_increased_previously = self.cruise_increased
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index f42eb86..4bea1aa 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -151,6 +151,10 @@ class CarState(CarStateBase):
     self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
 
     self.frame += 1
+
+    # FrogPilot carstate functions
+    fp_ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
+
     return ret, fp_ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
@@ -251,6 +255,10 @@ class CarState(CarStateBase):
     ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
 
     self.frame += 1
+
+    # FrogPilot carstate functions
+    fp_ret.brakeLights = bool(pt_cp.vl["Motor_2"]['Bremstestschalter'])
+
     return ret, fp_ret
 
   def update_hca_state(self, hca_status):
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 0000000..f4fe0ef
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 0000000..ef1a87e
Binary files /dev/null and b/selfdrive/frogpilot/assets/other_images/gas_pedal.png differ
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 12b7e55..6204883 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -339,8 +339,21 @@ 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);
@@ -970,6 +983,12 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft));
   }
 
+  bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen;
+  pedal_icons->setVisible(enablePedalIcons);
+  if (enablePedalIcons) {
+    pedal_icons->updateState();
+  }
+
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {
     map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass);
@@ -1153,6 +1172,52 @@ void DistanceButton::paintEvent(QPaintEvent *event) {
   }
 }
 
+PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
+  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() {
+  acceleration = scene.acceleration;
+
+  accelerating = acceleration > 0.25;
+  decelerating = acceleration < -0.25;
+
+  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 (scene.dynamic_pedals_on_ui) {
+    brakeOpacity = scene.standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f;
+    gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f;
+  } else if (scene.static_pedals_on_ui) {
+    brakeOpacity = scene.standstill || scene.brake_lights_on || acceleration < -0.5 ? 1.0f : 0.25f;
+    gasOpacity = !scene.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.h b/selfdrive/ui/qt/onroad.h
index f20d34f..6c83430 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -119,6 +119,27 @@ private:
   QPixmap settings_img;
 };
 
+class PedalIcons : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit PedalIcons(QWidget *parent = 0);
+  void updateState();
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap brake_pedal_img;
+  QPixmap gas_pedal_img;
+
+  UIScene &scene;
+
+  bool accelerating;
+  bool decelerating;
+
+  float acceleration;
+};
+
 // container window for the NVG UI
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
@@ -169,6 +190,7 @@ 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 1008b60..76105f1 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -223,6 +223,7 @@ 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.standstill = carState.getStandstill();
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -242,6 +243,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotCarState")) {
     auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState();
+    scene.brake_lights_on = frogpilotCarState.getBrakeLights();
   }
   if (sm.updated("frogpilotPlan")) {
     auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan();
@@ -304,6 +306,9 @@ void ui_update_frogpilot_params(UIState *s) {
   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 8757d55..4fb458b 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -193,10 +193,12 @@ 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;
@@ -204,6 +206,7 @@ typedef struct UIScene {
   bool online;
   bool onroad_distance_button;
   bool parked;
+  bool pedals_on_ui;
   bool reverse_cruise;
   bool reverse_cruise_ui;
   bool right_hand_drive;
@@ -214,6 +217,8 @@ 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;