diff --git a/src/modules/simu/simuv4/car.cpp b/src/modules/simu/simuv4/car.cpp
index 8b4ae3a4..f1395841 100644
--- a/src/modules/simu/simuv4/car.cpp
+++ b/src/modules/simu/simuv4/car.cpp
@@ -275,8 +275,11 @@ SimCarUpdateForces(tCar *car)
 		else if ( (desiredTq - F.M.z) > 0.0 ) {F.M.z += 0.5 * w * car->wheelbase;}
 		else {F.M.z -= 0.5 * w * car->wheelbase;}
 		/* desired force to really stop the car when braking to 0 */
-		if ( (car->ctrl->brakeCmd > 0.05) && (fabs(car->DynGC.vel.x) < 0.02) ) {
+		if ( ((car->ctrl->brakeCmd > 0.05) || (car->ctrl->ebrakeCmd > 0.1) || (car->ctrl->brakeFrontLeftCmd > 0.02)
+		  || (car->ctrl->brakeFrontRightCmd > 0.02) || (car->ctrl->brakeRearLeftCmd > 0.02) || (car->ctrl->brakeRearRightCmd > 0.02) )
+		  && (car->ctrl->accelCmd * car->transmission.clutch.transferValue < 0.05) && (fabs(car->DynGC.vel.x) < 0.02) ) {
 			desiredF = - m * car->DynGC.vel.x / SimDeltaTime;
+			w *= 0.5;
 			if ( (fabs(desiredF - F.F.x)) < w ) {F.F.x = desiredF;}
 			else if ( (desiredF - F.F.x) > 0.0 ) {F.F.x += w;}
 			else {F.F.x -= w;}
diff --git a/src/modules/simu/simuv4/wheel.cpp b/src/modules/simu/simuv4/wheel.cpp
index a22420a8..fbe90fbd 100644
--- a/src/modules/simu/simuv4/wheel.cpp
+++ b/src/modules/simu/simuv4/wheel.cpp
@@ -262,13 +262,8 @@ void SimWheelUpdateForce(tCar *car, int index)
 		Fn -= F * sy / s;
 	}
 
-	if (car->features & FEAT_SLOWGRIP) {
-		wheel->preFn = Fn;
-		wheel->preFt = Ft;
-	} else {
-		FLOAT_RELAXATION2(Fn, wheel->preFn, 50.0f);
-		FLOAT_RELAXATION2(Ft, wheel->preFt, 50.0f);
-	}
+	FLOAT_RELAXATION2(Fn, wheel->preFn, 50.0f);
+	FLOAT_RELAXATION2(Ft, wheel->preFt, 50.0f);
 
 	wheel->relPos.az = waz;