diff --git a/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py b/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
index a08f9d7d3..c90d02b2f 100644
--- a/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
+++ b/srunner/scenariomanager/actorcontrols/npc_vehicle_control.py
@@ -43,6 +43,8 @@ def __init__(self, actor, args=None):
         if self._waypoints:
             self._update_plan()
 
+        self._brake_lights_active = False
+
     def _update_plan(self):
         """
         Update the plan (waypoint list) of the LocalPlanner
@@ -123,10 +125,15 @@ def run_step(self):
                 vy = math.sin(yaw) * target_speed
                 self._actor.set_target_velocity(carla.Vector3D(vx, vy, 0))
 
-        light_state = self._actor.get_light_state()
-        if current_speed >= target_speed:
+        # Change Brake light state
+        if (current_speed > target_speed or target_speed < 0.2) and not self._brake_lights_active:
+            light_state = self._actor.get_light_state()
             light_state |= carla.VehicleLightState.Brake
-        else:
-            light_state &= ~carla.VehicleLightState.Brake
+            self._actor.set_light_state(carla.VehicleLightState(light_state))
+            self._brake_lights_active = True
 
-        self._actor.set_light_state(carla.VehicleLightState(light_state))
+        if self._brake_lights_active and current_speed < target_speed:
+            self._brake_lights_active = False
+            light_state = self._actor.get_light_state()
+            light_state &= ~carla.VehicleLightState.Brake
+            self._actor.set_light_state(carla.VehicleLightState(light_state))
diff --git a/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py b/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
index 1208e8c98..272adf818 100644
--- a/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
+++ b/srunner/scenariomanager/actorcontrols/simple_vehicle_control.py
@@ -98,6 +98,8 @@ def __init__(self, actor, args=None):
 
         self._visualizer = None
 
+        self._brake_lights_active = False
+
         if args and 'consider_obstacles' in args and strtobool(args['consider_obstacles']):
             self._consider_obstacles = strtobool(args['consider_obstacles'])
             bp = CarlaDataProvider.get_world().get_blueprint_library().find('sensor.other.obstacle')
@@ -283,16 +285,20 @@ def _set_new_velocity(self, next_location):
                 target_speed = 0
 
         if target_speed < current_speed:
-            light_state = self._actor.get_light_state()
-            light_state |= carla.VehicleLightState.Brake
-            self._actor.set_light_state(carla.VehicleLightState(light_state))
+            if not self._brake_lights_active:
+                self._brake_lights_active = True
+                light_state = self._actor.get_light_state()
+                light_state |= carla.VehicleLightState.Brake
+                self._actor.set_light_state(carla.VehicleLightState(light_state))
             if self._max_deceleration is not None:
                 target_speed = max(target_speed, current_speed - (current_time -
                                                                   self._last_update) * self._max_deceleration)
         else:
-            light_state = self._actor.get_light_state()
-            light_state &= ~carla.VehicleLightState.Brake
-            self._actor.set_light_state(carla.VehicleLightState(light_state))
+            if self._brake_lights_active:
+                self._brake_lights_active = False
+                light_state = self._actor.get_light_state()
+                light_state &= ~carla.VehicleLightState.Brake
+                self._actor.set_light_state(carla.VehicleLightState(light_state))
             if self._max_acceleration is not None:
                 tmp_speed = min(target_speed, current_speed + (current_time -
                                                                self._last_update) * self._max_acceleration)