Pulling into paved parking spot on very slight uphill grade. Tried to apply brake pedal but car kept moving forward about 6ft over curb and crashed into cement wall creating slow speed impact damage to front end. Towed on flat bed to dealers lot. Tow truck driver noted brake seemed loose and had little resistance. Car still under warranty, 28.8k mi, All warranty required maintenance has been performed to date by Dealer. No prior accidents. Annunciation on screen after event saying "Parking Support Brake Malfunction Visit Your Dealer" Message has subsequently remained. Large number of same or similar annunciation messages over last 4 yrs reported on Toyota Nation web site. Messages indicate that TSB-019-19 may apply and/or DTC C13B0. However, Service Manager at Dealer has refused to investigate this and similar diagnostics to explain safety systems failure or otherwise repair under warranty agreement, unless we first sign a release for personal injury liability with Toyota legal department. Dealer has advised it is not safe to drive car in its present condition. Please note similar complaint sent a few days ago on this web site (no response so far) but there was an error in reported VIN so this is a resend